Hydraulic support control device and control system based on time sensitive network

Abstract

The invention provides a hydraulic support control device and control system based on a time sensitive network, the control device comprises a control module, a TSN switch module and an execution module, the control module is used for sending sensing data of a hydraulic support and operation data of the control module to the TSN switch module, and the TSN switch module is used for sending the sensing data of the hydraulic support and the operation data of the control module to the execution module; the TSN switch module is used for uploading the sensing data and the operation data to the main communication link according to the corresponding time slot bandwidth, obtaining a control instruction from the main communication link and adding a corresponding timestamp so that the control module can control the execution module to drive the hydraulic support to act according to the control instruction and the synchronization information. According to the hydraulic support control device and control system based on the time-sensitive network, high synchronization of control actions between the control device and other control devices is guaranteed, the production efficiency is effectively improved, and potential safety hazards are reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of hydraulic support control, and in particular to a hydraulic support control device and control system based on a time-sensitive network. Background Art

[0002] With the vigorous promotion of intelligent construction of coal mines, the demand for efficient coal mining is increasing. The requirements for real-time and precise control of hydraulic supports and reliability of communication links in comprehensive mining are getting higher and higher. However, due to the relatively scattered data uploaded by the current control devices and the lack of strict synchronization information, it is impossible to use the uploaded data to estimate the status of the hydraulic supports and control devices, and thus it is impossible to achieve real-time adjustment based on the posture of the hydraulic supports. Moreover, due to the complexity of the comprehensive mining working face environment, once the communication link is congested or the hydraulic support does not move in place, other control devices can only rely on manual intervention to interrupt or increase the delay time to ensure the reliability of the system's synchronous operation.

[0003] As a result, the clocks of the control devices cannot be synchronized, and the delay of the control devices is uncontrollable, resulting in asynchronous control actions of the control devices, which seriously restricts production efficiency and poses certain safety hazards. Summary of the invention

[0004] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0005] To this end, an object of the present disclosure is to provide a hydraulic support control device and control system based on a time-sensitive network.

[0006] To achieve the above-mentioned purpose, the first aspect of the present disclosure provides a hydraulic support control device based on a time-sensitive network, comprising: a control module, a TSN switch module and an execution module, wherein the control module is connected to the TSN switch module and the execution module respectively; wherein the control module is used to send the sensor data of the hydraulic support and the operation data of the control module to the TSN switch module, and the TSN switch module is used to upload the sensor data and the operation data to a main communication link according to a corresponding time slot bandwidth, and obtain control instructions from the main communication link, and add corresponding timestamps, so that the control module controls the execution module to drive the hydraulic support to move according to the control instructions and synchronization information.

[0007] Optionally, the control module is also used to add a collection timestamp and a sending timestamp to the sensor data and the operation data, and to add a receiving timestamp to the control instruction; the TSN switch module is also used to add an upload timestamp to the sensor data and the operation data, and to add an acquisition timestamp to the control instruction.

[0008] Optionally, the control device further includes: a BR interface, the BR interface is connected to the TSN switch module, and the TSN switch module is connected to the main communication link through the BR interface.

[0009] Optionally, the main communication link is a BR two-core Gigabit link.

[0010] Optionally, the control device further includes: a wireless communication module, the wireless communication module is connected to the TSN switch module, and the TSN switch module is connected to the main communication link via the wireless communication module.

[0011] Optionally, the control device further includes: a power supply module, which is respectively connected to the control module, the TSN switch module and the execution module, and is used to supply power to the control module, the TSN switch module and the execution module.

[0012] Optionally, the control device also includes: a storage module, which is respectively connected to the control module and the TSN switch module, and is used to store control parameters and operating programs of the control module, and store configuration parameters of the TSN switch module; an encapsulation body, in which the control module, the TSN switch module and the storage module are arranged.

[0013] Optionally, the control device further includes: a collection module, which is connected to the control module and is used to collect sensor data of the hydraulic support and operating data of the control module.

[0014] Optionally, the acquisition module includes: a data acquisition unit, which is connected to the control module and is used to acquire analog sensor data of the hydraulic support; a field bus unit, which is connected to the control module and is used to acquire digital sensor data of the hydraulic support; and a fault diagnosis unit, which is connected to the control module and is used to acquire operating status data of the control device.

[0015] Optionally, the control device also includes: a human-computer interaction unit, which is connected to the control module and is used for human-computer interaction of the control module; and / or an emergency stop locking unit, which is connected to the control module and is used to send an emergency stop locking signal to the control module so that the control module performs an emergency stop locking action.

[0016] Optionally, the execution module includes: a driving unit, which is connected to the control module and is used to respond to the control instructions of the control module to drive the hydraulic support to move; and / or an sound and light alarm unit, which is connected to the control module and is used to respond to the alarm instructions of the control module to execute sound and light alarm actions.

[0017] A second aspect of the present disclosure provides a control system, comprising: a plurality of hydraulic support control devices based on a time-sensitive network as provided in the first aspect of the present disclosure.

[0018] The technical solution provided by the present disclosure may have the following beneficial effects:

[0019] Through the close cooperation of the control module and the TSN switch module, clock synchronization between the control device and other control devices is achieved, and the delay of the control device is controllable, thereby ensuring a high degree of synchronization of control actions between the control device and other control devices, thereby effectively improving production efficiency and reducing safety hazards.

[0020] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 is a circuit diagram of a hydraulic support control device based on a time-sensitive network proposed in an embodiment of the present disclosure;

[0023] Figure 2 is a circuit diagram of a hydraulic support control device based on a time-sensitive network proposed in an embodiment of the present disclosure;

[0024] As shown in the figure: 1. Control module, 2. TSN switch module;

[0025] 3. Execution module, 31. Driving unit, 32. Sound and light alarm unit;

[0026] 4. BR interface, 5. wireless communication module, 6. power module, 7. storage module;

[0027] 8. acquisition module, 81. data acquisition unit, 82. field bus unit, 83. fault diagnosis unit;

[0028] 9. Human-machine interaction unit, 10. Emergency stop locking unit. DETAILED DESCRIPTION

[0029] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure, and are not to be construed as limitations of the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications, and equivalents that fall within the spirit and connotation of the appended claims.

[0030] like Figure 1 and Figure 2 As shown, the embodiment of the present disclosure proposes a hydraulic support control device based on time-sensitive networking (TSN), including a control module 1, a TSN switch module 2 and an execution module 3, wherein the control module 1 is connected to the TSN switch module 2 and the execution module 3 respectively, wherein the control module 1 is used to send the sensor data of the hydraulic support and the operation data of the control module 1 to the TSN switch module 2, and the TSN switch module 2 is used to upload the sensor data and the operation data to the main communication link according to the corresponding time slot bandwidth, and obtain control instructions from the main communication link, and add corresponding timestamps, so that the control module 1 controls the execution module 3 to drive the hydraulic support to move according to the control instructions and synchronization information.

[0031] It can be understood that since the TSN switch module 2 adds corresponding timestamps when uploading sensor data and operation data, and when obtaining control instructions from the main communication link, the control module 1 can use the clock synchronization function of the TSN switch module 2 to upload and obtain highly synchronized information, thereby facilitating the use of synchronization information to determine the status of the hydraulic support and the control device, and then facilitating real-time adjustment based on the posture of the hydraulic support. Moreover, since the TSN switch module 2 uploads the sensor data and operation data to the main communication link according to the corresponding time slot bandwidth, the communication bandwidth is divided in the main communication link, so that the sensor data of the hydraulic support, the operation data of the control module 1 and the control instructions of the control module 1 can be transmitted in the same main communication link without interfering with each other, thereby ensuring efficient and synchronous operation between the control devices.

[0032] Therefore, through the close cooperation between the control module 1 and the TSN switch module 2, the clock synchronization between the control device and other control devices is achieved, and the delay of the control device is controllable, thereby ensuring a high degree of synchronization of the control actions between the control device and other control devices, thereby effectively improving production efficiency and reducing safety hazards.

[0033] It should be noted that, in the relevant embodiments, the sensor data of the hydraulic support and the operating data of the control module 1 are transmitted by the high-speed and low-reliability industrial Ethernet, and the control instructions of the control module 1 are transmitted by the low-speed and high-reliability field bus. There are two main communication links, which not only makes the system complex and difficult to install and maintain, but also makes the links prone to congestion, making the synchronization between the control devices more difficult. In this embodiment, due to the use of the TSN switch module 2 to divide the communication bandwidth, the sensor data of the hydraulic support and the operating data of the control module 1 only occupy a small bandwidth in the main communication link, which can not only reduce the setting of the total bandwidth of the main communication link and reduce the cost of use, but also realize that the sensor data of the hydraulic support, the operating data of the control module 1 and the control instructions of the control module 1 can be transmitted in the same main communication link without interfering with each other, ensuring efficient and synchronous operation between the control devices.

[0034] In the relevant embodiments, since the clocks between the control devices cannot be synchronized and the delay is uncontrollable, the control actions of the control devices are not synchronized. For example, the hydraulic support is not synchronized with the coal machine during linkage support, which leads to collision between the coal machine and the guard plate; the group push slides are not in place at the same time, which leads to the problem of being unable to straighten the working surface. In this embodiment, through the close cooperation of the control module 1 and the TSN switch module 2, a high degree of synchronization of the control actions of the control devices is achieved, which can effectively avoid various problems caused by the asynchronous action of the hydraulic support.

[0035] In the relevant embodiments, the working face hydraulic support control system includes a controller, a remote control device, a signal converter, a wireless base station, a power box, a sensor, an electromagnetic driver, an electromagnetic pilot valve, etc. Due to the large number and types of equipment, and the fact that control instructions, sensor data and other data are transmitted through industrial Ethernet or field bus, the signal transmission delay is uncontrollable, and the system clock synchronization is difficult, so it is impossible to realize the real-time detection of the support posture and the synchronous linkage of various devices. The current remote intervention is only a rough remote control method, which requires miners to remotely observe the posture of the hydraulic support through a camera, and the control of the hydraulic support is manually controlled, which restricts the production efficiency of the coal mine comprehensive mining working face. In this embodiment, through the close cooperation of the control module 1 and the TSN switch module 2, a high degree of synchronization of the control actions of each control device is achieved, thereby effectively improving the production efficiency of the coal mine comprehensive mining working face.

[0036] Time-sensitive networking is also called time-effective networking. Different TSN standard documents specified by IEEE (Institute of Electrical and Electronics Engineers) 802.1 can be grouped into three basic key component categories required for a complete real-time communication solution. Each standard specification can be used alone and is mainly self-sufficient. However, only when used in collaboration can TSN as a communication system fully realize its potential. The three basic components are: 1) Time synchronization: All devices involved in real-time communication need to have a common understanding of time; 2) Scheduling and traffic shaping: All devices involved in real-time communication follow the same rules when processing and forwarding communication data packets; 3) Selecting communication paths, path reservation and fault tolerance: All devices involved in real-time communication follow the same rules when selecting communication paths and reserving bandwidth and time slots.

[0037] The TSN switch module 2 has a time-sensitive network function. The combination of the TSN switch module 2 and the control module 1 is not a simple combination, but requires the control module 1 to cooperate with the TSN switch module 2 to add corresponding timestamps, process control instructions containing clock synchronization information, and control the execution module 3 according to the control instructions and synchronization information. Therefore, the control module 1 of this embodiment is greatly improved compared with the control module 1 of the related embodiment, and the control module 1 of this embodiment and the TSN switch module 2 can be closely combined, thereby achieving a high degree of synchronization of the control actions of each control device.

[0038] The specific types of the control module 1 and the TSN switch module 2 can be set according to actual needs and are not limited thereto.

[0039] The execution module 3 is used to drive the hydraulic support to move. The specific type of the execution module 3 can be set according to actual needs and is not limited to this. For example, the execution module 3 can be a driving component such as a liquid pump, a solenoid valve, etc. of the hydraulic support, or it can be an auxiliary component such as an audible and visual alarm, a driving unit 31, etc. on the hydraulic support.

[0040] Among them, each control device corresponds to at least one hydraulic support, and a single control device can serve as a centralized control center for all control devices, or a separate centralized control device can be set up to control all control devices.

[0041] The main communication link is used to transmit the sensor data of the hydraulic support, the operating data of the control module 1 and the control instructions of the control module 1. The specific type of the main communication link can be set according to actual needs and is not limited to this. For example, the main communication link can be Ethernet, fiber optic network, wireless network, etc. The main communication link can be Gigabit network, 10 Gigabit network, etc.

[0042] In some embodiments, the control module 1 is also used to add a collection timestamp and a sending timestamp to the sensor data and the operation data, and to add a receiving timestamp to the control instruction. The TSN switch module 2 is also used to add an upload timestamp to the sensor data and the operation data, and to add an acquisition timestamp to the control instruction.

[0043] It can be understood that since the control module 1 adds a collection timestamp and a sending timestamp to the sensor data and operation data, and adds a receiving timestamp to the control instruction, and the TSN switch module 2 adds an upload timestamp to the sensor data and operation data, and adds an acquisition timestamp to the control instruction, the control module 1 can use the clock synchronization function of the TSN switch module 2 to upload and obtain highly synchronized information, thereby realizing clock synchronization between the control device and other control devices, and making the delay of the control device controllable, thereby ensuring a high degree of synchronization of control actions between the control device and other control devices, thereby effectively improving production efficiency and reducing safety hazards.

[0044] It should be noted that the collection timestamp refers to the time information when the hydraulic support sensor data and the control module 1 operation data are collected, the sending timestamp refers to the time information when the control module 1 sends the hydraulic support sensor data and the control module 1 operation data to the TSN switch module 2, and the receiving timestamp refers to the time information when the control module 1 receives the control instruction from the TSN switch module 2.

[0045] The upload timestamp refers to the time information when the hydraulic support sensor data and the control module 1 operation data are uploaded to the main communication link. The acquisition timestamp refers to the time information when the control instruction is obtained from the main communication link. The acquisition timestamp, sending timestamp, receiving timestamp, upload timestamp and acquisition timestamp are used to facilitate the TSN switch module 2 to achieve clock synchronization between various control devices.

[0046] like Figure 1 and Figure 2 As shown, in some embodiments, the control device further includes a BR (Broad-Reach) interface 4 , the BR interface 4 is connected to the TSN switch module 2 , and the TSN switch module 2 is connected to the main communication link through the BR interface 4 .

[0047] It can be understood that since the TSN switch module 2 is connected to the main communication link through the BR interface 4, the main communication link forms a BR Ethernet link, so that the sensor data of the hydraulic support, the operating data of the control module 1 and the control instructions of the control module 1 can be transmitted in the same BR Ethernet link without interfering with each other. Therefore, not only the communication link of the control device is simplified, but also the real-time and reliability of the control instructions of the control device are guaranteed.

[0048] It should be noted that the BR interface 4 is used to connect the TSN switch module 2 to the BR Ethernet link. The specific type of the BR interface 4 can be set according to actual needs and is not limited to this. For example, the control device includes three BR interfaces 4, one BR interface 4 is used to connect the control device to the BR interface 4 of the previous control device, and another BR interface 4 is used to connect the control device to the BR interface 4 of the next control device, thereby forming a BR Ethernet link. The remaining BR interface 4 can be used for the control device to connect to a camera, a WI-FI base station, a 5G base station, etc.

[0049] In some embodiments, the primary communication link is a BR two-core Gigabit link.

[0050] It can be understood that by setting the main communication link to a BR two-core gigabit link, the number of communication cable cores can be reduced while ensuring that the main communication link has sufficient bandwidth, thereby reducing the cost of the control device while achieving highly synchronized control actions of each control device.

[0051] like Figure 2 As shown, in some embodiments, the control device further includes a wireless communication module 5 , the wireless communication module 5 is connected to the TSN switch module 2 , and the TSN switch module 2 is connected to the main communication link via the wireless communication module 5 .

[0052] It can be understood that since the TSN switch module 2 is connected to the main communication link through the wireless communication module 5, the main communication link forms a wireless link, so that the sensor data of the hydraulic support, the operating data of the control module 1 and the control instructions of the control module 1 can be transmitted in the same wireless network without interfering with each other. This not only improves the communication flexibility and adaptability of the control device, but also ensures the real-time and reliability of the control instructions of the control device.

[0053] It should be noted that the wireless communication module 5 is used for the TSN switch module 2 to connect to the wireless link. The specific type of the wireless communication module 5 can be set according to actual needs and is not limited to this.

[0054] The control device may include both the BR interface 4 and the wireless communication module 5 , so that the control module 1 and the main communication link can be connected using at least one of the BR interface 4 and the wireless communication module 5 .

[0055] like Figure 1 and Figure 2 As shown, in some embodiments, the control device also includes a power supply module 6, which is respectively connected to the control module 1, the TSN switch module 2 and the execution module 3, and the power supply module 6 is used to supply power to the control module 1, the TSN switch module 2 and the execution module 3.

[0056] It can be understood that, through the setting of the power module 6, power is supplied to the control module 1, the TSN switch module 2 and the execution module 3, thereby ensuring the stable operation of the control module 1, the TSN switch module 2 and the execution module 3.

[0057] It should be noted that the specific type of the power module 6 can be set according to actual needs and is not limited to this. Among them, the control module 1 can control the shutdown and power supply parameters of the power module 6, and the power module 6 can transmit the power supply information to the control module 1.

[0058] like Figure 1 and Figure 2 As shown, in some embodiments, the control device also includes a storage module 7 and a package (not shown in the figure), the storage module 7 is respectively connected to the control module 1 and the TSN switch module 2, the storage module 7 is used to store the control parameters and running programs of the control module 1, and store the configuration parameters of the TSN switch module 2, the control module 1, the TSN switch module 2 and the storage module 7 are arranged in the package.

[0059] It can be understood that, through the setting of the storage module 7, it is convenient for the control module 1 to use the control parameters and running programs in the storage module 7 to achieve automatic control, and it is convenient for the TSN switch module 2 to use the configuration parameters in the storage module 7 to achieve clock synchronization, thereby ensuring that each control device achieves a high degree of synchronization of control actions.

[0060] Through the setting of the encapsulation body, the centralized encapsulation of the control module 1, the TSN switch module 2 and the storage module 7 is realized, so that the control module 1, the TSN switch module 2 and the storage module 7 form an independent overall structure, which facilitates the real-time processing and precise synchronization of the control device.

[0061] It should be noted that the specific type of the storage module 7 can be set according to actual needs and is not limited to this.

[0062] like Figure 1 As shown, in some embodiments, the control device further includes a collection module 8 , which is connected to the control module 1 , and is used to collect sensor data of the hydraulic support and operating data of the control module 1 .

[0063] It can be understood that through the setting of the acquisition module 8, the collection of the hydraulic support sensor data and the control module 1 operation data is realized, so that the control module 1 can send the sensor data and operation data to the TSN switch module 2 and realize clock synchronization, thereby ensuring efficient synchronization of control actions between various control devices.

[0064] It should be noted that the specific type of the acquisition module 8 can be set according to actual needs and is not limited to this.

[0065] like Figure 2 As shown, in some embodiments, the acquisition module 8 includes a data acquisition unit 81, a field bus unit 82 and a fault diagnosis unit 83. The data acquisition unit 81 is connected to the control module 1, and the data acquisition unit 81 is used to acquire analog sensor data of the hydraulic support. The field bus unit 82 is connected to the control module 1, and the field bus unit 82 is used to acquire digital sensor data of the hydraulic support. The fault diagnosis unit 83 is connected to the control module 1, and the fault diagnosis unit 83 is used to acquire operating status data of the control device.

[0066] It can be understood that through the setting of the data acquisition unit 81, the collection of analog sensor data of the hydraulic support is realized, through the setting of the field bus unit 82, the collection of digital sensor data of the hydraulic support is realized, and through the setting of the fault diagnosis unit 83, the collection of the operating status data of the control device is realized. As a result, the control module 1 can send the sensor data of the hydraulic support and the operating data of the control module 1 to the TSN switch module 2 and realize clock synchronization, thereby ensuring efficient synchronization of control actions between the control devices.

[0067] It should be noted that the analog sensor data refers to the sensor data collected by the analog sensor in the hydraulic support, and the analog sensor data may be the current sensor data, voltage sensor data, etc. of the hydraulic support.

[0068] The specific type of the data acquisition unit 81 can be set according to actual needs and is not limited thereto. For example, the data acquisition unit 81 may include a current sensor, a voltage sensor, and the like.

[0069] The digital sensor data refers to the sensor data collected by the digital sensor in the hydraulic support. The digital sensor data can be RS (Recommended Standard) 485 sensor data, RS232 sensor data, CAN (Controller Area Network) sensor data, etc. of the hydraulic support.

[0070] The specific type of the field bus unit 82 can be set according to actual needs, and there is no limitation on this. For example, the field bus unit 82 can include an RS485 sensor, an RS232 sensor, a CAN sensor, etc.

[0071] The operating status data refers to the operating status data collected by various sensors in the control device. The operating status data may be current sensing data, voltage sensing data, etc. of the control device.

[0072] The specific type of the fault diagnosis unit 83 can be set according to actual needs, and there is no limitation on this. For example, the fault diagnosis unit 83 may include a current sensor, a voltage sensor, etc.

[0073] like Figure 2 As shown, in some embodiments, the control device also includes: a human-computer interaction unit 9 and / or an emergency stop locking unit 10, the human-computer interaction unit 9 is connected to the control module 1, the human-computer interaction unit 9 is used for human-computer interaction of the control module 1, the emergency stop locking unit 10 is connected to the control module 1, and the emergency stop locking unit 10 is used to send an emergency stop locking signal to the control module 1 so that the control module 1 performs an emergency stop locking action.

[0074] It can be understood that, through the setting of the human-computer interaction unit 9, the control module 1 can utilize the human-computer interaction unit 9 to interact with the operating personnel, and through the setting of the emergency stop locking unit 10, the control module 1 can utilize the emergency stop locking unit 10 to perform an emergency stop locking action, thereby realizing emergency control of the hydraulic support.

[0075] It should be noted that the human-computer interaction unit 9 is used for human-computer interaction between the control module 1 and the operator. The specific type of the human-computer interaction unit 9 can be set according to actual needs and is not limited to this. The human-computer interaction unit 9 can be a display, a speaker, a keyboard, etc.

[0076] The emergency stop locking unit 10 is used for emergency stop locking of the hydraulic support. The specific type of the emergency stop locking unit 10 can be set according to actual needs and is not limited to this.

[0077] like Figure 2 As shown, in some embodiments, the execution module 3 includes: a driving unit 31 and / or an audible and visual alarm unit 32, the driving unit 31 is connected to the control module 1, the driving unit 31 is used to respond to the control instructions of the control module 1 to drive the hydraulic support to move, the audible and visual alarm unit 32 is connected to the control module 1, the audible and visual alarm unit 32 is used to respond to the alarm of the control module 1 to execute the audible and visual alarm action.

[0078] It can be understood that, through the setting of the drive unit 31, the control module 1 can use the drive unit 31 to drive the hydraulic support to move, thereby realizing the automatic operation of the comprehensive mining working face, and through the setting of the sound and light alarm unit 32, the control module 1 can use the sound and light alarm unit 32 to perform sound and light alarm actions, thereby realizing sound and light prompts to the operating personnel.

[0079] It should be noted that the driving unit 31 is used to drive the hydraulic support to move, and the specific type of the driving unit 31 can be set according to actual needs and is not limited to this.

[0080] The sound and light alarm unit 32 is used to drive the hydraulic support to perform the sound and light alarm action. The specific type of the sound and light alarm unit 32 can be set according to actual needs and is not limited to this. Among them, the sound and light alarm unit 32 can drive the sound and light alarm of the hydraulic support to perform the sound and light alarm action.

[0081] The embodiment of the present disclosure also provides a control system, including multiple hydraulic support control devices based on a time-sensitive network as in the embodiment of the present disclosure.

[0082] It can be understood that since the TSN switch module 2 adds corresponding timestamps when uploading sensor data and operation data, and when obtaining control instructions from the main communication link, the control module 1 can use the clock synchronization function of the TSN switch module 2 to upload and obtain highly synchronized information, thereby facilitating the use of synchronization information to determine the status of the hydraulic support and the control device, and then facilitating real-time adjustment based on the posture of the hydraulic support. Moreover, since the TSN switch module 2 uploads the sensor data and operation data to the main communication link according to the corresponding time slot bandwidth, the communication bandwidth is divided in the main communication link, so that the sensor data of the hydraulic support, the operation data of the control module 1 and the control instructions of the control module 1 can be transmitted in the same main communication link without interfering with each other, thereby ensuring efficient and synchronous operation between the control devices.

[0083] Therefore, through the close cooperation between the control module 1 and the TSN switch module 2, the clock synchronization between the control devices in the control system is achieved, and the delay of the control device is controllable, thereby ensuring a high degree of synchronization of the control actions between the control devices, thereby effectively improving production efficiency and reducing safety hazards.

[0084] It should be noted that the control system includes multiple control devices, and uses the time-sensitive network function to achieve high synchronization of control actions among all control devices, thereby ensuring that each hydraulic support can move in real time and accurately, thereby ensuring the production efficiency of the coal mine comprehensive mining working face.

[0085] In the description of the present disclosure, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0086] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0087] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0088] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A hydraulic support control device based on a time-sensitive network, characterized in that: include: A control module, a TSN switch module and an execution module, wherein the control module is connected to the TSN switch module and the execution module respectively; Among them, the control module is used to send the sensor data of the hydraulic support and the operation data of the control module to the TSN switch module, and the TSN switch module is used to upload the sensor data and the operation data to the main communication link according to the corresponding time slot bandwidth, and obtain control instructions from the main communication link, and add corresponding timestamps, so that the control module controls the execution module to drive the hydraulic support to move according to the control instructions and synchronization information.

2. According to the time-sensitive network-based hydraulic support control device of claim 1, it is characterized in that: The control module is also used to add a collection timestamp and a sending timestamp to the sensing data and the operating data, and to add a receiving timestamp to the control instruction; The TSN switch module is also used to add an upload timestamp to the sensing data and the operating data, and to add an acquisition timestamp to the control instruction.

3. According to the time-sensitive network-based hydraulic support control device of claim 1, it is characterized in that: The control device also includes: A BR interface, wherein the BR interface is connected to the TSN switch module, and the TSN switch module is connected to the main communication link through the BR interface.

4. The hydraulic support control device based on a time-sensitive network according to claim 3 is characterized in that: The main communication link is a BR two-core Gigabit link.

5. The hydraulic support control device based on time-sensitive network according to claim 1 is characterized in that: The control device also includes: A wireless communication module, wherein the wireless communication module is connected to the TSN switch module, and the TSN switch module is connected to the main communication link via the wireless communication module.

6. The hydraulic support control device based on time-sensitive network according to claim 1 is characterized in that: The control device also includes: A power supply module, wherein the power supply module is respectively connected to the control module, the TSN switch module and the execution module, and the power supply module is used to supply power to the control module, the TSN switch module and the execution module.

7. The hydraulic support control device based on a time-sensitive network according to claim 1, characterized in that: The control device also includes: A storage module, the storage module is connected to the control module and the TSN switch module respectively, and the storage module is used to store control parameters and operating programs of the control module, and store configuration parameters of the TSN switch module; A package body, wherein the control module, the TSN switch module and the storage module are arranged in the package body.

8. The hydraulic support control device based on a time-sensitive network according to claim 1, characterized in that: The control device also includes: A collection module, the collection module is connected to the control module, and the collection module is used to collect the sensor data of the hydraulic support and the operation data of the control module.

9. The hydraulic support control device based on time-sensitive network according to claim 8, characterized in that: The acquisition module comprises: A data acquisition unit, the data acquisition unit is connected to the control module, and the data acquisition unit is used to collect analog sensor data of the hydraulic support; A field bus unit, the field bus unit is connected to the control module, and the field bus unit is used to collect digital sensor data of the hydraulic support; A fault diagnosis unit is connected to the control module and is used to collect operating status data of the control device.

10. The hydraulic support control device based on time-sensitive network according to claim 1, characterized in that: The control device also includes: A human-computer interaction unit, the human-computer interaction unit is connected to the control module, and the human-computer interaction unit is used for human-computer interaction of the control module; and / or An emergency stop locking unit is connected to the control module and is used to send an emergency stop locking signal to the control module so that the control module performs an emergency stop locking action.

11. The hydraulic support control device based on time-sensitive network according to claim 1, characterized in that: The execution module includes: A driving unit, the driving unit is connected to the control module, and the driving unit is used to respond to the control instruction of the control module to drive the hydraulic support to move; and / or The sound and light alarm unit is connected to the control module and is used to respond to the alarm instruction of the control module to execute the sound and light alarm action.

12. A control system, characterized in that: include: A plurality of hydraulic support control devices based on a time-sensitive network as described in any one of claims 1-11.

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