Electro-hydraulic control system of hydraulic support

Abstract

The invention relates to the technical field of fully-mechanized coal mining, in particular to an electro-hydraulic control system for a hydraulic support. A fully mechanized coal mining face hydraulic support electro-hydraulic control system is built through the time sensitive network (TSN) technology, a host, a network switch, a signal converter and a support controller in the system all have hardware TSN functions, time slot bandwidths are divided according to planned data types, real-time and reliable transmission of high-priority control data is guaranteed, and the reliability of the system is improved. Meanwhile, high-precision time synchronization is established for each device of the system, the real-time performance of data transmission is ensured, a redundant communication link is established to ensure the reliability of the data, and the network architecture is simple and easy to manage.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine comprehensive mining, in particular to an electro-hydraulic control system for a hydraulic support. Background Art

[0002] At present, in the field of electro-hydraulic control technology of hydraulic supports in coal mines, the mainstream still uses field industrial bus as the main communication link of the system. In recent years, with the rapid development of intelligent mines, vehicle Ethernet and 5G technologies have gradually matured, and the communication link of the working face has been upgraded from field industrial bus technology to Ethernet communication technology. Although there is a significant improvement in the data bandwidth and rate of transmission, due to the delay time of Ethernet communication technology and the uncertainty of data transmission, when transmitting hydraulic support control data with very high real-time and reliability requirements, it is necessary to build another industrial communication bus to ensure the reliability of the data. The system structure and software protocol are relatively complex, which increases the installation and maintenance costs and software development cycle, and cannot guarantee the reliability of the system and quickly respond to customer needs. At the same time, in the case of a very complex network architecture, once there is a problem with network management, the communication network is at risk of paralysis, and the video data and sensor data transmitted on the Ethernet communication link will also be stuck, packet loss or even disconnection, affecting the normal operation of the system. Summary of the invention

[0003] To this end, the technical problem to be solved by the present invention is to overcome the problems in the prior art that the system structure and software protocol are relatively complex, which increases the installation and maintenance costs and software development cycle, and cannot ensure the reliability of the system and quickly respond to customer needs.

[0004] In order to solve the above technical problems, the present invention provides an electro-hydraulic control system for a hydraulic support, comprising:

[0005] The TSN host is used to plan the communication link bandwidth according to the type of data to be transmitted, and transmit data according to the planned bandwidth;

[0006] A TSN network switch, connected to the TSN host, the TSN network switch is a system master clock, and is used to output a time synchronization strategy for each device in the system according to a time synchronization protocol;

[0007] A TSN signal converter, connected to the TSN network switch, for issuing time synchronization information according to the time synchronization strategy;

[0008] A plurality of cascaded TSN hydraulic support controllers are connected to the TSN signal converter and are used to send control signals to corresponding hydraulic supports according to received data.

[0009] Preferably, the TSN network switch is connected to the TSN host via an Ethernet electrical signal or an optical fiber signal.

[0010] Preferably, the TSN signal converter is connected to the TSN network switch via an Ethernet electrical signal or an Ethernet optical fiber signal.

[0011] Preferably, the multiple cascaded TSN hydraulic support controllers are connected to the TSN signal converter via a Gigabit vehicle Ethernet signal.

[0012] Preferably, the time synchronization strategy includes cascade time synchronization and regional time synchronization.

[0013] Preferably, the specific steps of the cascade time synchronization are:

[0014] The TSN network switch is used as the system master clock to transmit time synchronization information downward step by step.

[0015] Preferably, the specific steps of regional time synchronization are:

[0016] Divide the system into multiple subsystems, and set a device in each subsystem as the subsystem master clock to establish subsystem time synchronization;

[0017] Establish time synchronization of the large system for multiple time-synchronized subsystems, and initiate synchronization correction through the system master clock at regular intervals to correct the time errors of each subsystem that deviate over time.

[0018] Preferably, the data types include support control data, support sensor data and work surface video data.

[0019] Preferably, planning the communication link bandwidth according to the type of data to be transmitted includes:

[0020] Under the condition of giving priority to ensuring the real-time and reliable transmission of the support control data, the priority adjustment of the support sensor data and the working surface video data is dynamically realized, and the dynamic realization of the priority adjustment of the support sensor data and the working surface video data includes:

[0021] When the work scene relies on video remote intervention, the priority of the work surface video data is increased to ensure real-time control of the support movement under remote monitoring;

[0022] When in the work scenario of machine automation, the priority of the bracket sensor data is increased so that the system can collect the bracket status in real time and realize automatic control of the bracket.

[0023] Preferably, the hydraulic support electro-hydraulic control system further includes:

[0024] A backup communication link is built between the TSN network switch and the TSN hydraulic support controller for redundant transmission of control data so that the TSN hydraulic support controller can filter and select the received control data according to time arrival and frame integrity;

[0025] It is also used to provide backup data transmission paths so that the system can automatically allocate different data transmission paths according to bandwidth status and link communication quality.

[0026] The above technical solution of the present invention has the following advantages compared with the prior art:

[0027] The present invention builds an electro-hydraulic control system for hydraulic supports of a comprehensive mining working face through time-sensitive network technology (TSN). The host, network switch, signal converter, and support controller in the system all have hardware TSN functions, and divide the time slot bandwidth according to the planned data type to ensure real-time and reliable transmission of high-priority control data. At the same time, high-precision time synchronization is established for each device in the system to ensure the real-time nature of data transmission, and redundant communication links are built to ensure data reliability. The network architecture is simple and easy to manage. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 It is a structural schematic diagram of an electro-hydraulic control system of a hydraulic support provided by the present invention;

[0030] Figure 2 It is a functional schematic diagram of the hydraulic support electro-hydraulic control system. DETAILED DESCRIPTION

[0031] The core of the present invention is to provide an electro-hydraulic control system for a hydraulic support, which effectively ensures the real-time and reliability of data transmission.

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] Please refer to Figure 1 and Figure 2 , Figure 1 This is a structural schematic diagram of an electro-hydraulic control system of a hydraulic support provided by the present invention. Figure 2It is a functional diagram of the hydraulic support electro-hydraulic control system; the hydraulic support electro-hydraulic control system specifically includes:

[0034] The TSN host is used to plan the communication link bandwidth according to the type of data to be transmitted, and transmit data according to the planned bandwidth, that is, to divide the link into time slot bandwidths according to the type of data to be transmitted, and transmit data according to the divided time slot bandwidths;

[0035] A TSN network switch, connected to the TSN host, the TSN network switch is a system master clock, and is used to output a time synchronization strategy for each device in the system according to a time synchronization protocol;

[0036] A TSN signal converter, connected to the TSN network switch, for issuing time synchronization information according to the time synchronization strategy;

[0037] A plurality of cascaded TSN hydraulic support controllers are connected to the TSN signal converter and are used to send control signals to corresponding hydraulic supports according to received data.

[0038] Based on the above embodiments, this embodiment further describes the TSN host:

[0039] The TSN host is also used to issue scanning instructions for scanning the components of the hydraulic support electro-hydraulic control system equipment;

[0040] The TSN host is also used to obtain all device information and device connection relationships in the system, and establish a system connection relationship network according to the device connection relationships;

[0041] The TSN host is also used to number all the devices in the system. This automatic numbering function can solve the problem that the Ethernet in the system cannot perform device cascade parameter transfer and numbering after the "hand-in-hand" connection bus in the traditional hydraulic support control system is cancelled. Compared with the previous manual numbering of each device, efficiency is improved.

[0042] Based on the above embodiments, this embodiment further describes the TSN signal converter:

[0043] The TSN signal converter is also used to receive the above-mentioned scanning instructions and configure the scanned parameters of the hydraulic support controller;

[0044] The TSN signal converter is also used to transmit coal machine position information.

[0045] Based on the above embodiments, this embodiment further describes the TSN hydraulic support controller:

[0046] Each TSN hydraulic support controller is used to control the synchronous action of the hydraulic support at the installed position, the synchronous collection and transmission of sensor data on the hydraulic support at the installed position, and the synchronous transmission of video data at the installed position.

[0047] Based on the above embodiments, this embodiment describes the connection relationship between the various devices of the hydraulic support electro-hydraulic control system:

[0048] The devices of the hydraulic support electro-hydraulic control system based on the time-sensitive network communicate with each other through Ethernet links, which include hardware communication links such as standard Ethernet, fiber-optic Ethernet, wireless WiFI, and vehicle-mounted Ethernet. Cascading is used between the devices to realize data forwarding in sequence. Specifically:

[0049] The TSN host is connected to the TSN network switch via Ethernet electrical signals or optical fiber signals, the TSN network switch is connected to the TSN signal converter via Ethernet electrical signals or Ethernet optical fiber signals, and the TSN signal converter is connected to the TSN hydraulic support controller via Gigabit vehicle-mounted Ethernet signals.

[0050] Based on the above embodiments, the time synchronization strategy includes cascade time synchronization and regional time synchronization:

[0051] The TSN network switch is used as the system master clock, and the time synchronization information is transmitted downward step by step. For example, the TSN network switch is first synchronized with the TSN signal converter, the TSN signal converter is synchronized with the first TSN hydraulic support controller, the first TSN hydraulic support controller is synchronized with the second TSN hydraulic support controller, and so on, to achieve the time synchronization of the entire system. At the same time, when the number of system devices is large, the convergence accuracy and time of cascade time synchronization are long, and it is necessary to divide the area for time synchronization within the area:

[0052] The system is automatically divided into N subsystems, and each subsystem uses one device as the system master clock to establish subsystem time synchronization; after synchronization, the N subsystems then establish time synchronization for the larger system. At the same time, the system master clock periodically initiates synchronization correction to revise the time errors of each subsystem as it deviates over time, and when the system communication link fails, the remaining intact system will autonomously select the master clock to automatically achieve system time synchronization, ensuring real-time and reliable communication data transmission.

[0053] We should note that the hydraulic support control system is generally composed of 200-300 cascaded devices, and each device in the system is required to establish high-precision time synchronization in a very short time. This is different from other industries in that hundreds of devices establish high-precision time synchronization in a relatively short time, which is the key innovation of the present invention.

[0054] Based on the above embodiments, the TSN host can define the time slot bandwidth allocation of the entire communication link, and divide the main data of the hydraulic support electro-hydraulic control system into three parts: support control data, support sensor data, and working surface video data; and divide the priority of data transmission according to the data characteristics, give priority to ensuring the real-time and reliable transmission of support control data, and dynamically realize the priority adjustment of support sensor data and working surface video data. For example, in a work scenario that relies on video remote intervention, the priority of working surface video data is automatically increased to ensure the control of support movements under real-time remote monitoring; and in a work scenario with machine automation, the priority of support sensor data is automatically increased, and the system collects the support status in real time to realize automatic control of the support.

[0055] Based on the above embodiments, the hydraulic support electro-hydraulic control system based on the time-sensitive network can also lay a second backup communication link. According to the time-sensitive network frame replication and frame elimination technical protocol, highly reliable control data can be redundantly transmitted in two different communication links, and filtered and selected at the receiving terminal according to time arrival and frame integrity. At the same time, the system can also automatically allocate different data transmission paths according to bandwidth status and link communication quality.

[0056] At present, in the field of electro-hydraulic control technology of hydraulic supports in coal mine comprehensive mining working faces, real-time and reliable communication technologies are mostly transmitted in the form of fieldbus, which is characterized by low bandwidth and single data type, and cannot realize unified communication of various types of data such as control, sensing, and video. The use of traditional Ethernet technology cannot guarantee the reliability and real-time performance of data, so the electro-hydraulic control system of hydraulic supports based on time-sensitive network technology belongs to the technical blank of this industry; and the present invention builds an electro-hydraulic control system of hydraulic supports in comprehensive mining working faces through time-sensitive network technology (TSN), and the host, network switch, signal converter, and support controller in the system all have hardware TSN functions, and divide the time slot bandwidth according to the planned data type to ensure the real-time and reliable transmission of high-priority control data, and at the same time establishes high-precision time synchronization for each device in the system to ensure the real-time performance of data transmission, and builds redundant communication links to ensure the reliability of data, and the network architecture is simple and easy to manage.

[0057] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A hydraulic support electro-hydraulic control system, characterized in that: include: The TSN host is used to plan the communication link bandwidth according to the type of data to be transmitted, and transmit data according to the planned bandwidth; A TSN network switch, connected to the TSN host, the TSN network switch is a system master clock, and is used to output a time synchronization strategy for each device in the system according to a time synchronization protocol; A TSN signal converter, connected to the TSN network switch, for issuing time synchronization information according to the time synchronization strategy; A plurality of cascaded TSN hydraulic support controllers are connected to the TSN signal converter and are used to send control signals to corresponding hydraulic supports according to received data.

2. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: The TSN network switch is connected to the TSN host via an Ethernet electrical signal or an optical fiber signal.

3. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: The TSN signal converter is connected to the TSN network switch via an Ethernet electrical signal or an Ethernet optical fiber signal.

4. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: The multiple cascaded TSN hydraulic support controllers are connected to the TSN signal converter via a Gigabit vehicle Ethernet signal.

5. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: The time synchronization strategy includes cascade time synchronization and regional time synchronization.

6. The hydraulic support electro-hydraulic control system according to claim 5, characterized in that: The specific steps of the cascade time synchronization are: The TSN network switch is used as the system master clock to transmit time synchronization information downward step by step.

7. The hydraulic support electro-hydraulic control system according to claim 5, characterized in that: The specific steps of regional time synchronization are: Divide the system into multiple subsystems, and set a device in each subsystem as the subsystem master clock to establish subsystem time synchronization; Establish time synchronization of the large system for multiple time-synchronized subsystems, and initiate synchronization correction through the system master clock at regular intervals to correct the time errors of each subsystem that deviate over time.

8. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: The data types include support control data, support sensor data and work surface video data.

9. The hydraulic support electro-hydraulic control system according to claim 8, characterized in that: The planning of the communication link bandwidth according to the data type required to be transmitted includes: Under the condition of giving priority to ensuring the real-time and reliable transmission of the support control data, the priority adjustment of the support sensor data and the working surface video data is dynamically realized, and the dynamic realization of the priority adjustment of the support sensor data and the working surface video data includes: When the work scene relies on video remote intervention, the priority of the work surface video data is increased to ensure real-time control of the support movement under remote monitoring; When in the work scenario of machine automation, the priority of the bracket sensor data is increased so that the system can collect the bracket status in real time and realize automatic control of the bracket.

10. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: Also includes: A backup communication link is built between the TSN network switch and the TSN hydraulic support controller for redundant transmission of control data so that the TSN hydraulic support controller can filter and select the received control data according to time arrival and frame integrity; It is also used to provide backup data transmission paths so that the system can automatically allocate different data transmission paths according to bandwidth status and link communication quality.

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