Linkage control method and system for coal mine transportation equipment

Abstract

The invention discloses a linkage control method and system for coal mine transportation equipment, relates to the technical field of equipment control, and mainly aims to solve the problem of poor control efficiency of existing coal mine transportation equipment. Comprising the following steps: acquiring coal mining data of each coal mining terminal and operation data of each transportation terminal through an equipment management and control server, and determining a transportation target of transportation equipment based on the coal mining data and the operation data; after the equipment management and control server side calls the transportation strategy of the transportation terminal, the equipment management and control server side carries out transportation prediction on the transportation strategy according to the transportation target, and a transportation expected result is generated; if the equipment management and control server side determines that the transportation expectation result is matched with the preset transportation condition, control parameters matched with the multiple transportation terminals are generated according to the transportation expectation result, and the control parameters are parameters of linkage transportation of the multiple transportation terminals obtained by adjusting a transportation strategy; and after the transportation terminal receives the control parameters, transportation is carried out based on the control parameters.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and particularly to a linkage control method and system for coal mine transportation equipment. Background Art

[0003] Currently, during coal mine transportation, manual driving or remote operation by an operator is usually adopted to transport coal. However, manual driving still consumes too much human resources, and human operation will generate a large number of operation errors, resulting in situations such as equipment collisions during transportation. At the same time, remote operation by an operator will also bring human errors or collisions caused by factors such as network delays. Therefore, there is an urgent need for a linkage control method for coal mine transportation equipment to solve the above problems. Summary of the Invention

[0004] In view of this, the present invention provides a linkage control method and system for coal mine transportation equipment, mainly aiming to solve the problem of poor control efficiency of existing coal mine transportation equipment.

[0005] According to one aspect of the present invention, a linkage control method for coal mine transportation equipment is provided, including: Obtaining the coal mining data of each coal mining terminal and the operation data of each transportation terminal through the equipment control server, and determining the transportation target of the transportation equipment based on the coal mining data and the operation data; After the equipment control server retrieves the transportation strategy of the transportation terminal, performing transportation prediction on the transportation target according to the transportation method through the equipment control server to generate a transportation expected result, where the transportation strategy includes the paths, times, frequencies, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation; If the equipment control server determines that the transportation expected result matches the preset transportation conditions, generating control parameters for multiple transportation terminals according to the transportation expected result, where the control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy; When the transportation terminal receives the control parameters, performing transportation based on the control parameters.

[0006] According to another aspect of the present invention, a linkage control system for coal mine transportation equipment is provided, including: An equipment control server, a coal mining terminal, and a transportation terminal, where the equipment control server is respectively connected for data interaction with the coal mining terminal and the transportation terminal, The equipment control server is used for obtaining the coal mining data of each coal mining terminal and the operation data of each transportation terminal, and determining the transportation target of the transportation equipment based on the coal mining data and the operation data; The device control server is further configured to, after retrieving the transportation strategy of the transportation terminal, perform transportation prediction on the transportation target according to the transportation mode through the device control server, and generate a transportation prediction result. The transportation strategy includes paths, times, frequencies, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation. The device control server is further configured to, if it determines that the transportation prediction result matches the preset transportation conditions, generate control parameters for multiple transportation terminals according to the transportation prediction result. The control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy. The transportation terminal is configured to perform transportation based on the control parameters after receiving the control parameters.

[0007] By means of the above technical solutions, the technical solutions provided in the embodiments of the present invention at least have the following advantages: The present invention provides a method and system for coordinated control of coal mine transportation equipment. Compared with the prior art, in the embodiments of the present invention, the coal mining data of each coal mining terminal and the operation data of each transportation terminal are obtained through the device control server, and the transportation target of the transportation equipment is determined based on the coal mining data and the operation data. After the device control server retrieves the transportation strategy of the transportation terminal, the device control server performs transportation prediction on the transportation target according to the transportation mode to generate a transportation prediction result. The transportation strategy includes paths, times, frequencies, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation. If the device control server determines that the transportation prediction result matches the preset transportation conditions, control parameters for multiple transportation terminals are generated according to the transportation prediction result. The control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy. When the transportation terminal receives the control parameters, it performs transportation based on the control parameters, achieving the purpose of unmanned full-automatic coordinated control of the transportation equipment, reducing the human operation error or collision risk during the transportation process of the transportation equipment, and thus greatly improving the effectiveness of coal mine transportation.

[0008] The above description is only an overview of the technical solutions of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. In order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiments. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Also, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings: Figure 1 Shows a flowchart of a linkage control method for a coal mine transportation device provided by an embodiment of the present invention; Figure 2 Shows a schematic structural diagram of a linkage control system for a coal mine transportation device provided by an embodiment of the present invention. Detailed implementation manners

[0010] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0011] An embodiment of the present invention provides a linkage control method for a coal mine transportation device, as Figure 1 shown, the method includes: 101. Obtain the coal mining data of each coal mining terminal and the operation data of each transportation terminal through the device management and control server, and determine the transportation target of the transportation device based on the coal mining data and the operation data.

[0012] In an embodiment of the present invention, the transportation device in the coal mine is a transportation mine car with an intelligent control system, so as to perform corresponding operation operations as a transportation terminal. In each coal mining point, the coal mining terminal can be an excavation device or a transmission device with an intelligent coal mining control system. Furthermore, the device management and control server can be a server that performs wireless communication with different coal mining terminals and transportation terminals and controls them to perform corresponding operations, such as a master control machine, etc., which is not specifically limited in this embodiment of the present invention. Among them, the device management and control server can send data acquisition instructions to each coal mining terminal and transportation terminal to obtain the coal mining data of each coal mining terminal and the operation data of the transportation terminal. In a specific embodiment, the coal mining data and the operation data are real-time data, so as to determine the specific method for joint control in the future time period.

[0013] It should be noted that after obtaining the coal mining data and the operation data, determine the transportation purpose of the transportation device. At this time, the transportation target is used to characterize the transportation situation of the transportation device when transporting coal mine materials, and the transportation target includes the transportation location, the transportation volume, and the number of transportation times, which are not specifically limited in this embodiment of the present invention.

[0014] In another embodiment of the present invention, for further limitation and illustration, the steps of obtaining the coal mining data of each coal mining terminal and the operation data of each transportation terminal through the device management and control server, and determining the transportation target of the transportation device based on the coal mining data and the operation data include: Sending a first management and control communication connection instruction to each of the coal mining terminals through the device management and control server to instruct the coal mining terminal to feedback the coal mining data after establishing a management and control communication connection; Sending a second management and control communication connection instruction to each of the transportation terminals through the device management and control server; When the device management and control server receives the coal mining data and the operation data, determining a transportation target matching the coal mining data and the operation data according to a preset coal mining and transportation mapping relationship.

[0015] In order to effectively control each coal mining terminal and transportation terminal, so as to meet the rationality requirements of the coal mining data and operation data, and realize the joint control among multiple transportation terminals, when the device management server obtains the coal mining data and operation data, it first sends a first management and control communication connection instruction to each coal mining terminal through the device management and control server. After each coal mining terminal receives the first management and control communication connection instruction, the operator can choose whether to establish a communication connection based on the current coal mining situation, so as to hand over the control authority of the coal mining terminal to the device management and control server. At the same time, the device management and control server also sends a second management and control communication connection instruction to each transportation terminal. After each transportation terminal receives this instruction, it is displayed to the operator, and the operator can choose whether to establish a communication connection based on the current mine car situation, so as to hand over the control authority of the transportation terminal to the device management and control server. When the device management and control server establishes management and control communication connections with the transportation terminal and the coal mining terminal respectively, the operation data and the coal mining data can be fed back to the device management and control server. Among them, the coal mining data includes the coal mining volume, coal mining time, and coal mining storage volume, and the operation data includes the equipment transportation speed, equipment transportation time, and equipment transportation route. At this time, the coal mining data and the operation data can be collected based on the sensors on the coal mining terminal and the transportation terminal, or can be input by the operator on the terminal. The embodiments of the present invention do not make specific limitations.

[0016] It should be noted that after receiving the coal mining data and operation data, the device control server determines the transportation targets matching the collected coal mining data and operation data according to the preset coal mining transportation mapping relationship. Among them, the transportation targets include the transportation location, transportation volume, and transportation frequency. The preset coal mining transportation mapping relationship stores the corresponding relationships between different coal mining data, different transportation data, and different transportation targets. For example, if the coal mining data volume at transportation location a is large, then the corresponding transportation volume is large and the transportation frequency is high. The specific values can be configured based on different coal mines or mine cars, and the embodiments of the present invention do not make specific limitations.

[0017] 102. After the device control server retrieves the transportation strategy of the transportation terminal, the device control server performs transportation prediction on the transportation target according to the transportation method to generate a transportation prediction result.

[0018] In the embodiments of the present invention, after the device control server determines the transportation target of the transportation terminal, in order to ensure effective execution according to the transportation target, the device control server retrieves the pre-configured transportation strategy of the transportation terminal and performs a simulation or calculation of an expected transportation on the transportation strategy according to this transportation target to obtain a transportation prediction result. Among them, the transportation strategy includes the paths, times, frequencies, and driving parameters for different transportation terminals to transport at different coal mining terminals. At this time, the transportation strategy can be pre-generated based on the permission paths, permission times, permission frequencies, and permission driving parameters parsed from the terminal control permissions, and the embodiments of the present invention do not make specific limitations. In addition, the transportation path is the specified route for the transportation terminal to reach the coal mining point, the time is the scheduled time for the transportation terminal to reach the coal mining point, the frequency is the maximum number of cyclic trips for the transportation equipment to reach the coal mining point to complete the specified coal mining volume, and the driving parameters are parameters such as the speed and acceleration of the transportation equipment during transportation, and the embodiments of the present invention do not make specific limitations.

[0019] In another embodiment of the present invention, for further limitation and explanation, the step of performing transportation prediction on the transportation target by the device control server according to the transportation method to generate a transportation prediction result includes: Analyze the transportation method corresponding to the transportation strategy; Perform transportation prediction on the transportation target according to the transportation method to generate a transportation prediction result.

[0020] In order to use predictive transportation as the basis for interlocking control and thereby improve the efficiency of interlocking control of transportation equipment, when the equipment management and control server performs transportation prediction on transportation strategies according to transportation objectives, specifically, it first analyzes the transportation mode corresponding to the transportation strategy. At this time, the transportation mode includes combined transportation in which at least two transportation equipment are used for combined transportation, and cyclic transportation in which a single transportation equipment performs multiple round trips. During transportation prediction, based on the execution operation data within a preset time interval (such as 1 hour or 2 hours pre-configured), the transportation objective is estimated and calculated according to the transportation mode to determine the transportation prediction result. For example, the transportation strategies of transportation equipment a and b include that the transportation path corresponding to transportation equipment a arriving at coal mining point 1 is Route 1 and Route 2, the time is between 9 am and 12 pm, the number of times is 2 times, and the driving parameters include an average speed of less than 50 km / h. The transportation path corresponding to transportation equipment b arriving at coal mining point 1 is Route 1, the time is from 10 am to 12 pm, the number of times is 3 times, and the driving parameters include an average speed of less than 50 km / h, so as to analyze and obtain that the transportation strategy is combined transportation or cyclic transportation. In an embodiment of the present invention, when analyzing the transportation mode, the foregoing transportation strategy can be used as an input parameter for classification based on a trained binary tree classification model to determine that transportation equipment a and b are in combined transportation. At this time, the binary tree classification model can be trained based on different transportation strategies with marked transportation modes, and the embodiment of the present invention does not make specific limitations. Furthermore, after determining the transportation mode, transportation prediction is performed in combination with the transportation objective, that is, based on the execution operation data within a preset time interval, the transportation objective is estimated and calculated according to the transportation mode to determine the transportation prediction result. For example, the operation data of transportation equipment a all include the equipment transportation speed of 60 km / h, the equipment transportation time of 5 hours, and the equipment transportation route is the entire coal mining point route. The analyzed transportation mode is combined transportation with transportation equipment b. Then, within 5 hours of the preset time interval (at this time, the current time can be used as the reference), according to the transportation location in the transportation objective being coal mining point a, the transportation volume f, and the transportation number of times 2, an estimation is made. The expected results such as the time when transportation equipment a and operation equipment b arrive at coal mining point a, the speed, acceleration, and transportation time respectively when the transportation volume f is completed and the number of transportation times is less than 2 times. At this time, when estimating the corresponding transportation expected results, mathematical calculations can be performed based on physical relationships using data such as uniform speed, distance to the coal mining point, and coal carrying capacity of the transportation equipment, and the embodiment of the present invention does not make specific limitations. In the above embodiment, the transportation strategy can be set manually, and the embodiment of the present invention does not make specific limitations.

[0021] In another embodiment of the present invention, for further limitation and explanation, the steps further include: Determine at least one available transportation terminal through the equipment management and control server, and send a control authority confirmation request to the transportation terminal; In response to the control authority confirmation request, the transportation terminal configures the terminal control authority and feeds back the terminal control authority to the device management and control server; After receiving the terminal control authority, the device management and control server retrieves the transportation strategy that matches the transportation terminal.

[0022] To meet the control requirements of the device management and control server for the transportation strategy and thus improve the control effectiveness of the transportation equipment, the device management and control server first determines multiple transportation terminals that can be controlled. At this time, the availability of the transportation equipment can be determined through the communication connection status. After determining the available transportation terminals, the device management and control server sends a control authority confirmation request to the transportation terminal to instruct the operator of the transportation terminal to choose to hand over the control authority to the device management and control server. Furthermore, after the operator triggers a response, the transportation terminal configures the terminal control authority according to the operator's choice. At this time, the terminal control authority includes having control rights and not having control rights configured for different paths, transportation times, transportation frequencies, and transportation driving parameters. For example, having control rights for path a and not having control rights for path b, etc. The embodiments of the present invention do not make specific limitations. After determining the terminal control authority, the transportation equipment feeds back this terminal control authority to the device management and control server so that the device management and control server can retrieve the transportation strategy that matches the transportation terminal. Among them, the transportation strategy is generated based on the authority paths, authority times, authority frequencies, and authority driving parameters parsed from the terminal control authority. In a specific implementation scenario, the operator can use the paths, transportation times, transportation frequencies, and transportation driving parameters included in the terminal control authority as the authority paths, authority times, authority frequencies, and authority driving parameters, and directly enter the paths, times, frequencies, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation, or directly configure the transportation strategy based on the authority paths, authority times, authority frequencies, and authority driving parameters. The embodiments of the present invention do not make specific limitations.

[0023] 103. If the device management and control server determines that the transportation expected result matches the preset transportation conditions, control parameters that match multiple transportation terminals are generated according to the transportation expected result.

[0024] In the embodiments of the present invention, after obtaining the transportation expected result, this transportation expected result is matched with the preset transportation conditions. When matching the preset transportation conditions, control parameters that match multiple transportation terminals are generated according to the transportation expected result. At this time, the control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy. The embodiments of the present invention do not make specific limitations.

[0025] In another embodiment of the present invention, for further limitation and explanation, the steps further include: The front - end interface of the device control server displays transportation condition options and receives preset transportation conditions entered through the transportation condition options.

[0026] For the convenience of the device control server to restrict transportation equipment, before comparing based on the preset transportation conditions and transportation expected results, the device control server enables operators to select the required transportation conditions on the device control server by displaying transportation condition options in the front - end interface. Among them, the transportation condition options are options for configuring transportation time conditions, transportation frequency conditions, transportation equipment linkage conditions, etc., so that operators can select and configure. After selection, the options selected and entered received by the device control server are the set transportation conditions, which are not specifically limited in the embodiments of the present invention.

[0027] In another embodiment of the present invention, for further limitation and explanation, the step of generating control parameters matching multiple transportation terminals according to the transportation expected results includes: The device control server retrieves the default control parameters of the transportation terminal and adjusts the default control parameters according to the expected parameters parsed from the transportation expected results to obtain the control parameters.

[0028] To improve the efficiency of controlling the transportation terminal and enable the transportation terminal to be adjusted according to the specified control parameters, when generating control parameters, the device control server first retrieves the default control parameters of each transportation terminal. Among them, the default control parameters are the specified parameters configured in advance for the linkage control of transportation equipment. Furthermore, the default control parameters are adjusted according to the expected parameters in the transportation preset results (at this time, the expected parameters are the numerical contents of control objects such as speed and time). At this time, the adjustment process is to increase or decrease the default control parameters according to the expected parameters, which are not specifically limited in the embodiments of the present invention.

[0029] 104. When the transportation terminal receives the control parameters, it transports based on the control parameters.

[0030] When the device control server obtains the control parameters, it sends the corresponding control parameters to each transportation terminal so that each transportation terminal transports according to the control parameters. At this time, the control parameters include, but are not limited to, speed parameters, avoidance parameters, acceleration parameters, etc. for jointly controlling transportation equipment at different times and different locations during the transportation process of multiple transportation equipment along the path, which are not specifically limited in the embodiments of the present invention.

[0031] In another embodiment of the present invention, for further limitation and explanation, after the step of when the transportation terminal receives the control parameters and transports based on the control parameters, the method further includes: The device management and control server collects the real-time operation data of the transportation terminal and determines whether the real-time operation data exceeds the linkage control threshold; if it exceeds the linkage control threshold, a linkage control warning message is generated.

[0032] To meet the accuracy requirements for the linkage control of transportation equipment, after the device management and control server controls the transportation terminal to perform transportation, it can also collect the real-time operation data of the transportation terminal in real time to compare this real-time operation data with a preset linkage control threshold. Among them, the linkage control threshold is a preset threshold corresponding to operation data such as speed and acceleration, so as to generate a linkage control warning message when it is determined that the real-time operation data exceeds the linkage control threshold.

[0033] The present invention provides a method for the linkage control of coal mine transportation equipment. Compared with the prior art, the embodiments of the present invention obtain the coal mining data of each coal mining terminal and the operation data of each transportation terminal through the device management and control server, and determine the transportation target of the transportation equipment based on the coal mining data and the operation data; when the device management and control server retrieves the transportation strategy of the transportation terminal, the transportation target is predicted for transportation by the device management and control server according to the transportation method to generate a transportation prediction result. The transportation strategy includes the path, time, number of times, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation; if the device management and control server determines that the transportation prediction result matches the preset transportation conditions, control parameters for multiple transportation terminals are generated according to the transportation prediction result. The control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy; when the transportation terminal receives the control parameters, it performs transportation based on the control parameters to achieve the purpose of unmanned full-automatic linkage control of the transportation equipment, reducing the personnel operation error or collision risk during the transportation process of the transportation equipment, thereby greatly improving the effectiveness of coal mine transportation.

[0034] Further, as an implementation of the above Figure 1 shown method, the embodiments of the present invention provide a linkage control system for coal mine transportation equipment, as Figure 2 shown. The system includes: a device management and control server 21, a coal mining terminal 22, and a transportation terminal 23. The device management and control server is respectively connected to the coal mining terminal and the transportation terminal for data interaction. The device management and control server is used to obtain the coal mining data of each coal mining terminal and the operation data of each transportation terminal, and determine the transportation target of the transportation equipment based on the coal mining data and the operation data. The device control server is further configured to, after retrieving the transportation strategy of the transportation terminal, perform transportation prediction on the transportation target according to the transportation mode through the device control server, and generate a transportation prediction result. The transportation strategy includes paths, times, frequencies, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation. The device control server is further configured to, if it determines that the transportation prediction result matches a preset transportation condition, generate control parameters for multiple transportation terminals according to the transportation prediction result. The control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy. The transportation terminal is configured to perform transportation based on the control parameters when receiving the control parameters.

[0035] The present invention provides a coordinated control system for coal mine transportation equipment. Compared with the prior art, in the embodiment of the present invention, the device control server obtains the coal mining data of each coal mining terminal and the operation data of each transportation terminal, and determines the transportation target of the transportation equipment based on the coal mining data and the operation data; after the device control server retrieves the transportation strategy of the transportation terminal, the device control server performs transportation prediction on the transportation target according to the transportation mode to generate a transportation prediction result. The transportation strategy includes paths, times, frequencies, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation; if the device control server determines that the transportation prediction result matches a preset transportation condition, it generates control parameters for multiple transportation terminals according to the transportation prediction result. The control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy; when the transportation terminal receives the control parameters, it performs transportation based on the control parameters, achieving the purpose of unmanned full-automatic coordinated control of the transportation equipment, reducing the personnel operation error or collision risk during the transportation process of the transportation equipment, and thus greatly improving the effectiveness of coal mine transportation.

[0036] According to an embodiment of the present invention, there is provided a storage medium storing at least one executable instruction, and the computer executable instruction can execute the coordinated control method of the coal mine transportation equipment in any of the above method embodiments.

[0037] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computing system. They can be concentrated on a single computing system or distributed on a network composed of multiple computing systems. Optionally, they can be implemented by program codes executable by the computing system. Thus, they can be stored in the storage system and executed by the computing system. And in some cases, the steps shown or described can be executed in a sequence different from that here, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. In this way, the present invention is not limited to any specific combination of hardware and software.

[0038] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A linkage control method for a coal mine transportation device, characterized in that, Including: Obtaining the coal mining data of each coal mining terminal and the operation data of each transportation terminal through the device control server, and determining the transportation target of the transportation equipment based on the coal mining data and the operation data; After the device control server retrieves the transportation strategy of the transportation terminal, performing transportation prediction on the transportation target according to the transportation method through the device control server to generate a transportation prediction result, where the transportation strategy includes the path, time, number of times, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation; If the device control server determines that the transportation prediction result matches the preset transportation conditions, generating control parameters for multiple transportation terminals that match according to the transportation prediction result, where the control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy; When the transportation terminal receives the control parameters, performing transportation based on the control parameters.

2. The method according to claim 1, characterized in that, The obtaining the coal mining data of each coal mining terminal and the operation data of each transportation terminal through the device control server, and determining the transportation target of the transportation equipment based on the coal mining data and the operation data includes: Sending a first control communication connection instruction to each coal mining terminal through the device control server to instruct the coal mining terminal to establish a control communication connection and then feedback the coal mining data, where the coal mining data includes the coal mining volume, coal mining time, and coal storage volume; Sending a second control communication connection instruction to each transportation terminal through the device control server to instruct the transportation terminal to establish a control communication connection and then feedback the operation data, where the operation data includes the equipment transportation speed, equipment transportation time, and equipment transportation route; When the device control server receives the coal mining data and the operation data, determining the transportation target that matches the coal mining data and the operation data according to the preset coal mining transportation mapping relationship, where the transportation target includes the transportation location, transportation volume, and number of transportation times, and the preset coal mining transportation mapping relationship stores the corresponding relationships between different coal mining data, different transportation data, and different transportation targets.

3. The method according to claim 2, characterized in that, The performing transportation prediction on the transportation target according to the transportation method through the device control server to generate a transportation prediction result includes: Analyzing the transportation method corresponding to the transportation strategy, where the transportation method includes coordinated transportation with at least two transportation equipment for combined transportation and cyclic transportation with a single transportation equipment for multiple round trips; Performing transportation prediction on the transportation target according to the transportation method to generate a transportation prediction result. Among them, during transportation prediction, based on the execution of the operation data within a preset time interval, estimating and calculating the transportation target according to the transportation method to determine the transportation prediction result.

4. The method according to claim 1, wherein The method further includes: Determining at least one available transportation terminal through the device control server and sending a control permission confirmation request to the transportation terminal; The transportation terminal responds to the control permission confirmation request, configures the terminal control permission, and feeds back the terminal control permission to the device control server. After receiving the terminal control authority, the device management and control server retrieves the transportation strategy that matches the transportation terminal. The transportation strategy is generated based on the authority path, authority time, authority times, and authority driving parameters parsed from the terminal control authority.

5. The method according to claim 1, wherein The method further includes: Displaying transportation condition options through the front-end interface of the device management and control server, and receiving preset transportation conditions entered through the transportation condition options. The preset transportation conditions include at least one of transportation time conditions, transportation times conditions, transportation equipment linkage conditions, etc.

6. The method according to claim 1, wherein The generating of control parameters that match multiple transportation terminals according to the transportation expected result includes: Retrieving the default control parameters of the transportation terminal by the device management and control server, and adjusting the default control parameters according to the expected parameters parsed from the transportation expected result to obtain the control parameters.

7. The method according to claim 1, characterized in that After the transportation terminal receives the control parameters and conducts transportation based on the control parameters, the method further includes: Collecting the real-time operation data of the transportation terminal by the device management and control server, and determining whether the real-time operation data exceeds the linkage control threshold; if it exceeds the linkage control threshold, generating a linkage control warning message.

8. A linkage control system for a coal mine transportation device, characterized in that, Including: A device management and control server, a coal mining terminal, and a transportation terminal. The device management and control server is respectively connected for data interaction with the coal mining terminal and the transportation terminal. The device management and control server is used to obtain the coal mining data of each coal mining terminal and the operation data of each transportation terminal, and determine the transportation target of the transportation equipment based on the coal mining data and the operation data. The device management and control server is further used to, after retrieving the transportation strategy of the transportation terminal, conduct transportation prediction on the transportation target according to the transportation mode through the device management and control server to generate a transportation expected result. The transportation strategy includes the paths, times, numbers of times, and driving parameters for different transportation terminals to reach different coal mining terminals for transportation. The device management and control server is further used to, if it determines that the transportation expected result matches the preset transportation conditions, generate control parameters that match multiple transportation terminals according to the transportation expected result. The control parameters are parameters for the coordinated transportation of multiple transportation terminals obtained by adjusting the transportation strategy. The transportation terminal is used to conduct transportation based on the control parameters when it receives the control parameters.

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