A control method and related device of a support controller of a fully-mechanized coal mining face

Abstract

The present disclosure relates to the technical field of intelligent control of hydraulic supports, and provides a control method of a support controller of a fully-mechanized coal mining face and related devices, which comprises: dividing a plurality of support controllers of the fully-mechanized coal mining face into master nodes and slave nodes based on a voting election process; the slave nodes acquire first key information and send it to the master nodes; the master nodes determine second key information based on the received first key information; and the master nodes broadcast the second key information to all slave nodes. The present disclosure targets key information affecting system stability through a decentralization scheme, and only broadcasts the content involved in the key information log to the slave nodes, which reduces the amount of broadcast content and can improve the speed and accuracy of broadcasting. All controllers of the working face cooperate with each other, so that the system can continue to operate even if a node fails, thereby improving the robustness of the system and reducing the risk of system collapse.

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 of a support controller of a fully mechanized coal mining face and a related device. BACKGROUND

[0002] An electro-hydraulic control system is one of important devices for realizing intelligentization of coal mines. With continuous improvement of intelligent production level of coal mine production, the reliability and stability of integration of a controller of a fully mechanized coal mining face are required higher and higher. Controller faults of the fully mechanized coal mining face can be classified according to equipment as sensing and perception faults, communication faults, attitude control faults, etc. The electro-hydraulic control communication system of a hydraulic support has the characteristics of a large number of nodes, long communication distance, large amount of information, and high reliability requirement. The control method in the prior art mainly adopts a mode of collecting sensing information and uploading to a centralized control center for unified analysis. However, the communication link of the fully mechanized coal mining face is relayed, if a node is damaged, the information before the node cannot be transmitted to the centralized control center. If only the centralized control center is used for processing, in the case of communication interruption of the centralized control center, the whole control system can not work normally. Moreover, the communication condition of the fully mechanized coal mining face is poor and is easily interfered by electromagnetic waves, and the communication abnormality often occurs, which easily causes problems of inconsistent emergency stop support numbers displayed by multiple emergency stops of the fully mechanized coal mining face, inconsistent follow-up information of the support controllers, and misoperation, and threatens the safety production of the fully mechanized coal mining face. How to solve the above problems and improve the stability of the controller operation is a problem to be solved at present. SUMMARY

[0003] The present disclosure aims to at least solve the technical problem that only the centralized control center is used for processing in the prior art, which easily causes problems of inconsistent emergency stop support numbers displayed by multiple emergency stops of the fully mechanized coal mining face, inconsistent follow-up information of the support controllers, and misoperation, and threatens the safety production of the fully mechanized coal mining face.

[0004] To this end, one purpose of the present disclosure is to provide a control method of a support controller of a fully mechanized coal mining face, which comprises:

[0005] dividing a plurality of support controllers of the fully mechanized coal mining face into a master node and slave nodes based on a voting election process;

[0006] the slave node acquires 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 slave nodes.

[0009] In some embodiments, the method of dividing the plurality of support controllers of the fully mechanized coal mining face into master nodes and slave nodes based on a voting election process comprises:

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

[0011] When a first slave node among the slave nodes does not receive the heartbeat signal for more than the preset time, the first slave node initiates a voting election request;

[0012] The slave nodes respond to the voting election request based on a preset voting rule and send 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 method of electing a new master node by the first slave node based on the voting result comprises:

[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, a candidate master node data set is determined;

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

[0017] In some embodiments, the method of determining the second key information by the master node based on the received first key information comprises:

[0018] The master node compares the received first key information with third key information obtained 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 the consistency of the first key information and the third key information.

[0021] In some embodiments, the first key information and the second key information at least include emergency stop information and following machine information.

[0022] In some embodiments, the method of dividing the plurality of support controllers of the fully mechanized coal mining face into master nodes and slave nodes based on a voting election process further comprises: designating one of the support controllers as a 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 support controller of a fully mechanized coal mining face, comprising:

[0024] The classification module is configured to divide the plurality of support controllers of the fully mechanized coal mining face into master nodes and slave nodes based on a voting election process.

[0025] The acquisition and sending module is configured to acquire the first key information by the slave node and send the first key information to the master node.

[0026] The determination module is configured to determine second key information by the master node based on the received first key information.

[0027] The broadcast module is configured to broadcast the second key information by the master node to all the slave nodes.

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

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

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

[0031] (1) By means of the decentralization scheme, the target is positioned on the key information affecting the stability of the system, only the content involved in the key information log is broadcast to the slave node, the broadcast content is small, and the broadcast speed and accuracy can be improved; all the support controllers of the fully mechanized coal mining face run independently, which are both master controllers and slave controllers, and can control each other without interference, even if a node fails, the system can still continue to run, the system robustness is improved, and the system collapse risk is reduced.

[0032] (2) Each support controller can be used as a master controller or a slave controller, even if the number and data volume of the support controllers are increased, the increase of the number of the support controllers will not make the system more complex, and the system scalability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Fig. 1is a step flow chart of a control method of a support controller of a fully mechanized coal mining face in the embodiment of the disclosure;

[0035] Fig. 2 is a step flow chart of a control method of a support controller of a fully mechanized coal mining face in the embodiment of the disclosure;

[0036] Fig. 3 is a step flow chart of a control method of a support controller of a fully mechanized coal mining face in the embodiment of the disclosure. DETAILED DESCRIPTION

[0037] Various aspects of the disclosure, as well as a feature, will be described herein in reference to the drawings.

[0038] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be construed as limiting, but merely as exemplification of the embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the disclosure.

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

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

[0041] It should also be understood that, although the present disclosure has been described herein with reference to particular embodiments, many alternatives, modifications, and variations will be apparent to those skilled in the art as determinations of equivalents which are within the spirit of the present disclosure and the purview of the claims which follow.

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

[0043] Specific embodiments of the present disclosure will hereinafter be described in conjunction with the appended drawings; it being understood, however, that the embodiments presented are merely examples of the present disclosure, which can be implemented in numerous ways. Well-known and / or redundant functions and structures have not been described in detail to avoid obscuring the present disclosure needlessly. Thus, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.

[0044] A first embodiment of the present disclosure provides a control method of a support controller of a fully mechanized coal mining face, as shown in Figs. 1-3 The control method comprises:

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

[0046] S100: Based on the voting election process, the plurality of support controllers of the fully mechanized coal 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 every preset time.

[0048] S102: When the first slave node in the slave node does not receive the heartbeat signal for more than 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 effectiveness of the connection, which is used to detect network connectivity. If the heartbeat signal does not receive the expected response, the support can judge that the link has been disconnected. There are many ways to implement the heartbeat mechanism. The heartbeat mechanism adopted here is one-way heartbeat. The sender (master node) sends a heartbeat signal to the receiver (slave node) at regular intervals, 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 of the master node. The first slave node initiates a voting election request to elect a new master node.

[0050] S103: The slave node responds to the voting election request based on the preset voting rules 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, it includes:

[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 slave nodes participating in the voting election, a candidate master node data set is determined.

[0054] S1042: The new master node is determined based on the value of the support serial number in the candidate master node data set.

[0055] When voting is conducted here, there can be multiple slave nodes obtaining votes exceeding two-thirds of the number of slave nodes participating in the voting election, so that multiple slave nodes meeting the conditions form a candidate master node data set, and a new master node is determined according to the value of the support serial number of the slave node in the candidate data set, for example, the slave node with the smallest support serial number value is determined as the new master node. In this way, a new master node can be elected after the previous master node breaks down to ensure the connectivity of the link, and only one new master node can be determined, and there is no situation of multiple new master nodes.

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

[0057] The first key information at least includes follow-up information and emergency stop information. The follow-up information here includes whether the follow-up stage information of each support controller is consistent and whether the follow-up state information determined by each support controller is consistent, wherein the follow-up stage usually refers to the process of the hydraulic support following the coal mining machine for automatic control in the fully mechanized coal mining face, and the follow-up stage information refers to the stage of retracting the support help plate of the support for coal wall support, the stage of extending the telescopic beam for roof support, the stage of moving the support, and the stage of pushing the scraper conveyor, etc. determined by the hydraulic support according to the position of the coal mining machine and the coal mining process. The hydraulic support is in the stages of pushing, pulling, moving, etc. The follow-up state information refers to the state of the hydraulic support automatically completing 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 follow-up state. The emergency stop information here refers to the state information of the hydraulic support that needs to be stopped urgently, including the support serial number and the time of emergency stop.

[0058] The first key information obtained by the slave node is recorded in the local log here, which ensures the completeness of the hydraulic support work record.

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

[0060] Specifically, it includes:

[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 consistent with the type of the first key information, and the specific forms may be the same or different.

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

[0065] Further, the master node records the second key information in a key information log. The key information log refers to a log recording and describing a series of key parameters and indexes of the performance and state 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 the slave nodes, so that all the slave nodes have the same key log information, and the states of the slave nodes are adjusted to be consistent, ensuring data consistency. For example, if the sequence and value of the support emergency stop support sequence number recorded in the key information log of each slave node are inconsistent. After receiving the first key information sent by the master node, the slave node determines that the first key information is inconsistent with the sequence and value of the support emergency stop support sequence number recorded in the key log of the master node, and takes the second key information recorded in the key log of the master node as the basis for state synchronization and logical judgment. All the slave nodes are converted to the same second key information. The working face controller data and state are consistent with the master node, thereby avoiding misoperation. At the same time, the system plays a backup and redundancy role, ensuring that the system can still operate even if some nodes fail.

[0068] The target of the method is not to diagnose all faults, but to locate the key information affecting the stability of the system. Therefore, only the content related to the key information log is broadcast to the slave nodes, which reduces the amount of broadcast content and improves the speed and accuracy of the broadcast.

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

[0070] Further, in the embodiment, the control method is mainly applied to fault diagnosis of the fully mechanized working face support controller. For action control of the fully mechanized working face support controller, the centralized control center still adopts the mode of broadcasting to all slave nodes.

[0071] Further, in another embodiment, the control method can be directly applied to the action control of the support controller of the fully mechanized coal mining face, effectively avoiding the phenomenon that the stop numbers of the stop displays at multiple positions of the coal mining face are inconsistent and the follow-machine information of each support controller is not unified.

[0072] The first key information is taken as an example for illustration:

[0073] A slave node detects that the support of the slave node stops, and the slave node sends the first key information to the master node, wherein the first key information includes the information of the support number and the time when the stop occurs. After receiving the first key information, the master node records the stop time and the support number of the first key information in the key information table if the information is correct. The master node broadcasts the first key information to all slave nodes, so that all slave nodes record the stop support number and the time when the stop occurs of the slave node.

[0074] The first key information is taken as an example for illustration:

[0075] The upper computer of the coal mining machine broadcasts the position of the coal mining machine to each support controller. The slave node calculates the first key information (root machine information, including the follow-machine phase and the follow-machine state) and sends it to the master node. The master node analyzes 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 master node broadcasts the first key information to all slave nodes. If the first key information and the third key information are inconsistent, the master node broadcasts the third key information to all slave nodes. The master node sends the 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, the second embodiment of the disclosure provides a control device of a support controller of a fully mechanized coal mining face, which comprises the control method of the support controller of the fully mechanized coal mining face. The system comprises:

[0077] A classification module is configured to divide a plurality of support controllers of a fully mechanized coal mining face into a master node and slave nodes based on a voting election process.

[0078] An acquisition and sending module is configured to acquire first key information by the slave node and send the first key information to the master node.

[0079] A determination module is configured to determine second key information by the master node based on the received first key information.

[0080] A broadcasting module is configured to broadcast the second key information to all slave nodes by the master node.

[0081] Further, the classification module comprises:

[0082] The signal sending module is configured to send a heartbeat signal to the slave nodes at a preset time interval by the master node.

[0083] The request raising module is configured to initiate a voting election request by a first slave node when the first slave node does not receive the heartbeat signal within the preset time.

[0084] The voting module is configured to send voting information to the first slave node based on a preset voting rule in response to the voting election request by the slave nodes.

[0085] The election module is configured to elect a new master node based on the voting result by the first slave node.

[0086] Further, the election module comprises:

[0087] The first determination unit is configured to determine a candidate master node data set 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 configured to determine a new master node based on the value of the support number in the candidate master node data set.

[0089] Further, the determination module comprises:

[0090] The comparison unit is configured to compare the first key information received by the master node with third key information obtained by the master node.

[0091] The third determination unit is configured to determine the second key information based on the comparison result.

[0092] Further, the third determination unit comprises a consistency determination subunit configured to determine the second key information based on the consistency of the first key information and the third key information.

[0093] Further, the system further comprises a designation module configured to designate one of the support controllers as a master node and the other support controllers as slave nodes.

[0094] In this embodiment, the target is positioned on the key information affecting the stability of the system by using a decentralized scheme. Only the content involved in the key information log is broadcast to the slave nodes, and the amount of broadcast content is small, which can improve the broadcast speed and accuracy. All controllers on the working face cooperate with each other, so that the system can continue to run even if a node fails, improve the robustness of the system, and reduce the risk of system collapse.

[0095] The third embodiment of the present disclosure provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above method, including:

[0096] S11: dividing a plurality of support controllers of a fully mechanized coal mining face into master nodes and slave nodes based on a voting election process;

[0097] S12: acquiring first key information by the slave node and sending the first key information to the master node;

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

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

[0100] Of course, other steps of the control method for implementing the above embodiments can also be used.

[0101] In the present embodiment, by means of a decentralized scheme, the target is positioned on the key information affecting the stability of the system, only the content involved in the key information log is broadcast to the slave node, the amount of broadcast content is reduced, and the broadcast speed and accuracy can be improved. All support controllers of the fully mechanized coal mining face run independently, which are master controllers and slave controllers, and can control each other without interfering with each other. Even if a node fails, the system can still continue to run, improve the robustness of the system, and reduce the risk of system collapse.

[0102] The fourth embodiment of the present disclosure provides an electronic device, which at least includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program on the memory, specifically including:

[0103] S21: dividing a plurality of support controllers of a fully mechanized coal mining face into master nodes and slave nodes based on a voting election process;

[0104] S22: acquiring first key information by the slave node and sending the first key information to the master node;

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

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

[0107] Of course, other steps of the control method for implementing the above embodiments can also be used.

[0108] In this embodiment, by the decentralized scheme, the target is positioned on the key information affecting the stability of the system, only the content involved in the key information log is broadcast to the slave node, and the broadcast content is small, which can improve the broadcast speed and accuracy. The master node forces all slave nodes to send key information to ensure that the root information of all slave nodes is consistent, even if a node fails, the system can still continue to run, improve the system robustness, and reduce the risk of system collapse.

[0109] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the application. The specific working process of the unit and module in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0110] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can refer to the relevant description of other embodiments.

[0111] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

[0112] In the embodiments of the present application, it should be understood that the disclosed apparatus / terminal device and method can be implemented in other manners. For example, the described apparatus / terminal device embodiments are merely schematic. For example, the division of the modules or units is merely logical function division. There can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units.

[0113] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0114] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0115] The integrated module, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. When the processor executes the computer program, the steps of the above-mentioned control method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the computer readable medium can include appropriate contents according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0116] Furthermore, the features of the various embodiments shown in the drawings or described in the specification can not be understood to be independent of one another. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from one or more other embodiments, thus producing other embodiments not literally described or claimed.

[0117] The above-described embodiments are merely intended to illustrate the technical solutions of the present application, but not to limit the same; even though the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should 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, the 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 the second key information based on the received first key information; The master node broadcasts the second key information to all the slave nodes; Among them, the multiple support controllers of the fully mechanized mining face are divided into master nodes and slave nodes based on the voting election process, including: The master node sends a heartbeat signal to the slave node at preset intervals; If the first slave node among the slave nodes does not receive the heartbeat signal for more than the preset time, the first slave node initiates a voting election request; The slave node responds to the voting request based on preset voting rules and sends voting information to the first slave node; Based on the voting results, the first slave node elects a new master node; The first slave node elects a new master node based on the voting results, including: Determine the dataset of potential master nodes; A new master node is determined based on the numerical value of the support serial number in the candidate master node dataset; The master node determines the second key information based on the received first key information, including: The master node compares the first key information it receives with the third key information it acquires. The second key information is determined based on the comparison results; The second key information is determined based on the consistency between the first key information and the third key information, and the first key information and the second key information include at least emergency stop information and follow-up information.

2. The control method for the fully mechanized mining face support controller according to claim 1, characterized in that, The candidate master node dataset is determined when some of the slave nodes participating in the voting receive more than two-thirds of the total number of slave nodes participating in the voting.

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

4. A control device for a fully mechanized mining face support controller, characterized in that, include: The classification module is used to divide multiple support controllers of the fully mechanized mining face into master nodes and slave nodes based on the voting process; The acquisition and transmission module is used to acquire first key information from the slave node and send it to the master node; The determination module is used by the master node to determine the second key information based on the received first key information; The broadcast module is used by the master node to broadcast the second key information to all the slave nodes; The classification module includes: The signal transmission module is used for the master node to send a heartbeat signal to the slave node at preset intervals; The request initiation module is used to initiate a voting election request when the first slave node among the slave nodes has not received the heartbeat signal for a preset time. The voting module is used by the slave node to respond to the voting request based on preset voting rules and send voting information to the first slave node; An election module is used by the first slave node to elect a new master node based on the voting results; The election module includes: The first determining unit is used to determine the dataset of candidate master nodes; The second determining unit is used to determine a new master node based on the numerical value of the support sequence number in the candidate master node dataset; The determining module includes: The comparison unit is used for the master node to compare the received first key information with the third key information obtained by the master node. The third determining unit is used to determine the second key information based on the comparison result; The third determining unit includes a consistency determining subunit, used to determine the second key information based on the consistency between the first key information and the third key information. The first key information and the second key information include at least emergency stop information and following information.

5. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

6. An electronic device, comprising at least a memory and a processor, wherein the memory stores a computer program, characterized in that, The processor implements the steps of the method according to any one of claims 1 to 3 when executing a computer program on the memory.

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