Linkage control method and system for coal mine transportation equipment

Abstract

The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses a kind of linkage control method and system of coal mine transport equipment, it is related to equipment control technical field, main purpose is to solve the problem of poor control efficiency of existing coal mine transport equipment.The application discloses

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of device control, in particular to a linkage control method and system of a coal mine transportation device. BACKGROUND

[0002] At present, in the coal mine transportation process, manual driving or operator remote operation of the transportation device is usually adopted to transport the coal mine. However, manual driving still consumes too much human resources, and human operation will produce a large number of operation errors, which will lead to device collision and other situations in the transportation process. At the same time, the operator remote operation will also bring human errors or collision situations caused by network delay and other factors. Therefore, there is an urgent need for a linkage control method of a coal mine transportation device to solve the above problems. SUMMARY

[0003] Therefore, the present application provides a linkage control method and system of a coal mine transportation device, which mainly aims to solve the problem of poor control efficiency of the existing coal mine transportation device.

[0004] According to one aspect of the present application, a linkage control method of a coal mine transportation device is provided, which comprises:

[0005] The device management and 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 device based on the coal mining data and the operation data;

[0006] After the device management and control server calls the transportation strategy of the transportation terminal, the device management and control server performs transportation prediction on the transportation target according to the transportation mode, generates a transportation expected result, and the transportation strategy includes the path, time, frequency and driving parameter of different transportation terminals to different coal mining terminals for transportation;

[0007] If the device management and control server determines that the transportation expected result matches the preset transportation condition, the control parameters matching the plurality of transportation terminals are generated according to the transportation expected result, and the control parameters are the parameters of the linkage transportation of the plurality of transportation terminals obtained by adjusting the transportation strategy;

[0008] After the transportation terminal receives the control parameters, transportation is performed based on the control parameters.

[0009] According to another aspect of the present application, a linkage control system of a coal mine transportation device is provided, which comprises:

[0010] A device management and control server, a coal mining terminal and a transportation terminal, the device management and control server is connected with the coal mining terminal and the transportation terminal for data interaction,

[0011] The device management and control server is configured to acquire coal mining data of each coal mining terminal and operation data of each transportation terminal, and determine a transportation target of the transportation device based on the coal mining data and the operation data;

[0012] The device management and control server is further configured to, after calling the transportation strategy of the transportation terminal, perform transportation prediction on the transportation target according to the transportation mode through the device management and control server, and generate a transportation expected result, wherein the transportation strategy includes a path, a time, a frequency, and a driving parameter of the different transportation terminals to the different coal mining terminals for transportation.

[0013] The device management and control server is further configured to, if it is determined that the transportation expected result matches a preset transportation condition, generate control parameters matching the multiple transportation terminals according to the transportation expected result, wherein the control parameters are parameters of the multiple transportation terminals for linkage transportation obtained by adjusting the transportation strategy.

[0014] The transportation terminal is configured to, after receiving the control parameters, perform transportation based on the control parameters.

[0015] The technical scheme provided by the embodiment of the present application has at least the following advantages:

[0016] Compared with the prior art, the embodiment of the present application acquires coal mining data of each coal mining terminal and operation data of each transportation terminal through a device management and control server, and determines a transportation target of the transportation device based on the coal mining data and the operation data; after the device management and control server calls a transportation strategy of the transportation terminal, the device management and control server performs transportation prediction on the transportation target according to the transportation mode, and generates a transportation expected result, wherein the transportation strategy includes a path, a time, a frequency, and a driving parameter of the different transportation terminals to the different coal mining terminals for transportation; if the device management and control server determines that the transportation expected result matches a preset transportation condition, the device management and control server generates control parameters matching the multiple transportation terminals according to the transportation expected result, wherein the control parameters are parameters of the multiple transportation terminals for linkage transportation obtained by adjusting the transportation strategy; after the transportation terminal receives the control parameters, the transportation terminal performs transportation based on the control parameters, thereby achieving the purpose of full-automatic linkage control of the transportation device without human intervention, reducing personnel operation errors or collision risks of the transportation device in the transportation process, and greatly improving the effectiveness of coal mine transportation.

[0017] The above description is only a summary of the technical scheme of the present application. In order to make the technical means of the present application more clearly understood and implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0018] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals in the attached drawings are intended to represent the same components throughout the several drawings. In the drawings:

[0019] Figure 1 A flow chart of a linkage control method of a coal mine transportation device provided by an embodiment of the present application is shown;

[0020] Figure 2 A structural schematic diagram of a linkage control system of a coal mine transportation device provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly and completely understood, and so that the scope of the present disclosure can be conveyed to those skilled in the art.

[0022] An embodiment of the present application provides a linkage control method of a coal mine transportation device, as shown in the figure, the method comprises: Figure 1

[0023] 101, obtaining coal mining data of each coal mining terminal and operation data of each transportation terminal through a device management service side, and determining a transportation target of the transportation device based on the coal mining data and the operation data.

[0024] ​In the embodiment of the present application, the transportation equipment in the coal mine is a transportation mine car with an intelligent control system, so as to perform corresponding operation as a transportation terminal. In each coal mining point, the coal mining terminal can be a mining equipment or a transmission equipment with an intelligent coal mining control system. Furthermore, the equipment management and control service end can be a server for wireless communication with different coal mining terminals and transportation terminals and controlling corresponding operations of the terminals, such as a general control machine. The embodiment of the present application is not limited specifically. The equipment management and control service end can send data acquisition instructions to each coal mining terminal and transportation terminal to acquire coal mining data of each coal mining terminal and 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 of joint control in the future time period.

[0025] It should be noted that after the coal mining data and the operation data are acquired, the transportation purpose of the transportation equipment is determined. At this time, the transportation target is used to represent the transportation situation of the transportation equipment when transporting coal mine materials. The transportation target includes a transportation location, a transportation amount, and a transportation frequency. The embodiment of the present application is not limited specifically.

[0026] In another embodiment of the present application, in order to further limit and illustrate, the step of acquiring coal mining data of each coal mining terminal and operation data of each transportation terminal by the equipment management and control service end, and determining a transportation target of the transportation equipment based on the coal mining data and the operation data includes:

[0027] sending, by the equipment management and control service end, a first management and control communication connection instruction to each coal mining terminal to instruct the coal mining terminal to establish a management and control communication connection and then feed back the coal mining data;

[0028] sending, by the equipment management and control service end, a second management and control communication connection instruction to each transportation terminal;

[0029] When the equipment management and control service end receives the coal mining data and the operation data, a transportation target matched with the coal mining data and the operation data is determined according to a preset coal mining and transportation mapping relationship.

[0030] In order to effectively control each coal mining terminal and transportation terminal, meet the rationality requirements of coal mining data and operation data, and realize joint control between multiple transportation terminals, when the equipment management server obtains the coal mining data and the operation data, the equipment management server first sends a first management communication connection instruction to each coal mining terminal through the equipment management server. After each coal mining terminal receives the first management communication connection instruction, the operator can select whether to perform communication connection based on the current coal mining situation, so as to transfer the control right of the coal mining terminal to the equipment management server. At the same time, the equipment management server also sends a second management communication connection instruction to each transportation terminal. After each transportation terminal receives the instruction, the instruction is displayed to the operator, and the operator can select whether to perform communication connection based on the current mine car situation, so as to transfer the control right of the transportation terminal to the equipment management server. After the equipment management server performs management communication connection with the transportation terminal and the coal mining terminal respectively, the operation data and the coal mining data can be fed back to the equipment management server, wherein the coal mining data includes the coal mining amount, the coal mining time, and the coal mining storage amount, and the operation data includes the equipment transportation speed, the equipment transportation time, and the 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 embodiment of the present application is not limited specifically.

[0031] It should be noted that after the equipment management server receives the coal mining data and the operation data, the equipment management server determines the transportation target matched with the collected coal mining data and operation data according to a preset coal mining transportation mapping relationship, wherein the transportation target includes a transportation location, a transportation amount, and a transportation frequency. The preset coal mining transportation mapping relationship stores the corresponding relationship between different coal mining data, different transportation data, and different transportation targets. For example, the coal mining data amount of the transportation location a is large, so the corresponding transportation amount is large, and the transportation frequency is high. The specific values can be configured based on different coal mines or mine cars, and the embodiment of the present application is not limited specifically.

[0032] 102、When the equipment management server retrieves the transportation strategy of the transportation terminal, the equipment management server performs transportation prediction on the transportation target according to the transportation mode, and generates a transportation expected result.

[0033] In the embodiment of the present application, after the device management service end determines the transportation target of the transportation terminal, in order to ensure that the transportation target can be effectively executed, the device management service end calls the pre-configured transportation strategy of the transportation terminal, and simulates or calculates the expected transportation of the transportation strategy according to the transportation target, to obtain the transportation expected result. The transportation strategy includes the path, time, frequency and driving parameter of the different transportation terminals to the different coal mining terminals for transportation. At this time, the transportation strategy can be generated based on the permission path, permission time, permission frequency and permission driving parameter obtained by analyzing the terminal control authority, which is not limited in the embodiment of the present application. In addition, the path of transportation is the specified route of the transportation terminal to the coal mining point, the time is the scheduled time of the transportation terminal to the coal mining point, the frequency is the maximum cycle driving frequency of the transportation equipment to the coal mining point to complete the specified coal mining amount, and the driving parameter is the speed, acceleration and other parameters in the transportation process of the transportation equipment, which is not limited in the embodiment of the present application.

[0034] In another embodiment of the present application, in order to further limit and illustrate, the step of generating the transportation expected result by the device management service end according to the transportation mode for the transportation target to perform transportation prediction includes:

[0035] Analyzing the transportation mode corresponding to the transportation strategy;

[0036] According to the transportation mode, the transportation target is predicted to generate a transportation expected result.

[0037] In order to realize the prediction transportation as the basis of linkage control, thereby improving the linkage control efficiency of the transportation equipment, when the equipment management service side makes transportation prediction according to the transportation target of the transportation strategy, specifically, first, the transportation mode corresponding to the transportation strategy is analyzed, at this time, the transportation mode includes at least two transportation equipment for combined transportation linkage transportation, single transportation equipment for multiple round trip transportation circulation transportation. When making transportation prediction, the execution running data basis is used in the preset time interval (such as 1 hour or 2 hours configured in advance) to estimate and calculate the transportation target according to the transportation mode, determine the transportation prediction result, for example, the transportation equipment a, b transportation strategy includes the transportation path corresponding to the transportation equipment a arriving at the coal mining point 1 is route 1 and route 2, the time is from 9am to 12pm, the number of times is 2, the driving parameter includes the average speed less than 50km / h, the transportation path corresponding to the transportation equipment b arriving at the coal mining point 1 is route 1, the time is from 10am to 12pm, the number of times is 3, the driving parameter includes the average speed less than 50km / h, to analyze the transportation strategy as linkage transportation or circulation transportation. In the embodiment of the application, when analyzing the transportation mode, the aforementioned transportation strategy can be classified as an input parameter based on the trained binary tree classification model to determine that the transportation equipment a and b are linkage transportation, at this time, the binary tree classification model can be trained based on the different transportation strategies of the marked transportation mode, which is not limited in the embodiment of the application. Further, after determining the transportation mode, the transportation prediction is combined with the transportation target, that is, the execution running data is used as the basis in the preset time interval to estimate and calculate the transportation target according to the transportation mode, to determine the transportation prediction result, for example, the transportation equipment a running data includes the equipment transportation speed 60km / h, the equipment transportation 5 hours, the equipment transportation route is the full coal mining point route, and the analyzed transportation mode is linkage transportation with the transportation equipment b, then the time of 5 hours in the preset time interval (at this time, the current time can be used as the basis) is calculated according to the transportation target, that is, the transportation place is coal mining point a, the transportation amount f, the transportation number 2, the speed, the acceleration and the transportation time of the transportation equipment a and the operation equipment b arriving at the coal mining point a and completing the transportation amount f and less than the transportation number 2 are estimated. At this time, when estimating the corresponding transportation expected result, the physical relationship can be used for mathematical calculation based on the uniform speed, the coal mining point distance, the transportation equipment carrying capacity and other data, which is not limited in the embodiment of the application. In the above embodiment, the transportation strategy can be based on human setting, which is not limited in the embodiment of the application.

[0038] In another embodiment of the application, in order to further limit and illustrate, the step further comprises:

[0039] The equipment management service side determines at least one available transportation terminal, and sends a control authority confirmation request to the transportation terminal.

[0040] The transportation terminal configures terminal control authority in response to the control authority confirmation request, and feeds back the terminal control authority to the device management service end;

[0041] The device management service end calls a transportation strategy matching the transportation terminal after receiving the terminal control authority.

[0042] In order to meet the management needs of the device management service end to the transportation strategy, thereby improving the management effectiveness of the transportation device, the device management service end first determines a plurality of transportation terminals that can be controlled, at this time, the availability of the transportation device can be determined through the communication connection condition. After determining the available transportation terminal, the device management service end sends a control authority confirmation request to the transportation terminal to instruct the operator of the transportation terminal to select to transfer the control authority to the device management service end, and then the operator triggers a response, and the transportation terminal configures the terminal control authority according to the selection of the operator, at this time, the terminal control authority includes control and no control for configuring different paths, transportation time, transportation frequency, transportation driving parameters, for example, control for path a, no control for path b, etc. The present embodiment is not limited. After determining the terminal control authority, the transportation device feeds back the terminal control authority to the device management service end, so that the device management service end calls a transportation strategy matching the transportation terminal. Wherein, the transportation strategy is generated based on the authority path, authority time, authority frequency, authority driving parameter parsed from the terminal control authority, in a specific implementation scenario, the operator can take the path, transportation time, transportation frequency, transportation driving parameter contained in the terminal control authority as the authority path, authority time, authority frequency, authority driving parameter, and directly enter the path, time, frequency, driving parameter of different transportation terminals reaching different coal mining terminals for transportation, or directly configure the transportation strategy based on the authority path, authority time, authority frequency, authority driving parameter, the present embodiment is not limited.

[0043] 103、If the device management service end determines that the transportation expected result matches the preset transportation condition, control parameters matching a plurality of transportation terminals are generated according to the transportation expected result.

[0044] In the embodiment of the present application, when the transportation expected result is obtained, the transportation expected result is matched with the preset transportation condition, and when the preset transportation condition is matched, the control parameters matching a plurality of transportation terminals are generated according to the transportation expected result, at this time, the control parameters are the parameters of the joint transportation of a plurality of transportation terminals obtained by adjusting the transportation strategy, the present embodiment is not limited.

[0045] In another embodiment of the present application, in order to further limit and illustrate, the step further comprises:

[0046] The device management service end displays a transportation condition option in a front-end interface of a service end and receives preset transportation conditions entered through the transportation condition option.

[0047] In order to facilitate the device management service end to limit the transportation device, before comparing the preset transportation condition with the transportation expected result, the device management service end displays the transportation condition option in the front-end interface, so that the operator can select the required transportation condition on the device management service end. The transportation condition option is an option for configuring the transportation time condition, the transportation frequency condition, the transportation device linkage condition, etc., so that the operator can select and configure. After selection, the device management service end receives the selected and entered option as the set transportation condition. The present embodiment is not limited in detail.

[0048] In another embodiment of the present application, in order to further limit and illustrate, the step of generating control parameters matching a plurality of transportation terminals according to the transportation expected result comprises:

[0049] The device management service end calls the default control parameters of the transportation terminal and adjusts the default control parameters according to the expected parameters obtained by analyzing the transportation expected result, to obtain the control parameters.

[0050] In order to improve the efficiency of controlling the transportation terminal, so that the transportation terminal is adjusted according to the specified control parameters, the device management service end first calls the default control parameters of each transportation terminal when generating the control parameters. The default control parameters are specified parameters configured when the transportation device is linked and controlled in advance. Then, the default control parameters are adjusted according to the expected parameters in the transportation preset result (at this time, the expected parameters are the numerical content of the 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. The present embodiment is not limited in detail.

[0051] 104、When the transportation terminal receives the control parameters, transportation is performed based on the control parameters.

[0052] When the device management service end obtains the control parameters, the corresponding control parameters are sent 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 the speed parameters, avoidance parameters, acceleration parameters, etc. of the joint control transportation device corresponding to different times and different places in the transportation process of the plurality of transportation devices according to the path. The present embodiment is not limited in detail.

[0053] In another embodiment of the present application, in order to further limit and illustrate, after the transport terminal receives the control parameters, the method further comprises:

[0054] The device management service end collects real-time running data of the transport terminal and judges whether the real-time running data exceeds the linkage control threshold value; if the real-time running data exceeds the linkage control threshold value, linkage control warning information is generated.

[0055] In order to meet the accuracy requirement of linkage control of the transport equipment, the device management service end can also collect real-time running data of the transport terminal in real time after controlling the transport terminal to transport, so as to compare the real-time running data with the preset linkage control threshold value. The linkage control threshold value is a threshold value corresponding to the running data such as speed and acceleration, so that when the real-time running data exceeds the linkage control threshold value, linkage control warning information is generated.

[0056] The present application provides a linkage control method of coal mine transport equipment. Compared with the prior art, the embodiment of the present application obtains coal mining data of each coal mining terminal and running data of each transport terminal through a device management service end, and determines a transport target of the transport equipment based on the coal mining data and the running data. When the device management service end calls a transport strategy of the transport terminal, the device management service end predicts the transport target according to the transport mode, generates a transport expected result, and the transport strategy includes a path, a time, a frequency, and a travel parameter of different transport terminals to different coal mining terminals for transport. If the device management service end determines that the transport expected result matches a preset transport condition, control parameters matching multiple transport terminals are generated according to the transport expected result, and the control parameters are parameters of linkage transport of multiple transport terminals obtained by adjusting the transport strategy. When the transport terminal receives the control parameters, the transport terminal is transported based on the control parameters, the purpose of unmanned full-automatic linkage control of the transport equipment is achieved, the personnel operation error or collision risk of the transport equipment in the transport process is reduced, and the effectiveness of the coal mine transport is greatly improved.

[0057] Further, as an implementation of the above-mentioned Figure 1 The embodiment of the present application provides a linkage control system of coal mine transport equipment, as shown in Figure 2 The system comprises a device management service end 21, a coal mining terminal 22, and a transport terminal 23. The device management service end is connected with the coal mining terminal and the transport terminal for data interaction,

[0058] The device management and control server is configured to acquire coal mining data of each coal mining terminal and operation data of each transportation terminal, and determine a transportation target of the transportation device based on the coal mining data and the operation data;

[0059] The device management and control server is further configured to, after calling the transportation strategy of the transportation terminal, perform transportation prediction on the transportation target according to the transportation mode through the device management and control server, and generate a transportation expected result, wherein the transportation strategy includes a path, a time, a frequency, and a driving parameter of different transportation terminals reaching different coal mining terminals for transportation.

[0060] The device management and control server is further configured to, if it is determined that the transportation expected result matches a preset transportation condition, generate control parameters matching a plurality of transportation terminals according to the transportation expected result, wherein the control parameters are parameters of a plurality of transportation terminals for linkage transportation obtained by adjusting the transportation strategy.

[0061] The transportation terminal is configured to, after receiving the control parameters, perform transportation based on the control parameters.

[0062] The linkage control system of the coal mine transportation device provided by the present application has the advantages that, compared with the prior art, the device management and control server is used to acquire coal mining data of each coal mining terminal and operation data of each transportation terminal, and determine a transportation target of the transportation device based on the coal mining data and the operation data; after the device management and control server calls the transportation strategy of the transportation terminal, the device management and control server is used to perform transportation prediction on the transportation target according to the transportation mode, and generate a transportation expected result, wherein the transportation strategy includes a path, a time, a frequency, and a driving parameter of different transportation terminals reaching different coal mining terminals for transportation; if the device management and control server determines that the transportation expected result matches a preset transportation condition, control parameters matching a plurality of transportation terminals are generated according to the transportation expected result, wherein the control parameters are parameters of a plurality of transportation terminals for linkage transportation obtained by adjusting the transportation strategy; and after the transportation terminal receives the control parameters, the transportation terminal performs transportation based on the control parameters, thereby achieving the purpose of full-automatic linkage control of the transportation device without human operation, reducing the personnel operation error or collision risk of the transportation device in the transportation process, and greatly improving the effectiveness of the coal mine transportation.

[0063] According to an embodiment of the present application, a storage medium is provided, and the storage medium stores at least one executable instruction, and the computer executable instruction can execute the linkage control method of the coal mine transportation device in any method embodiment.

[0064] It should be apparent to those skilled in the art that the modules or steps of the application described above can be implemented with a general purpose computing system, which can be centralized on a single computing system or distributed on a network of multiple computing systems, and optionally implemented with program codes executable by a computing system, which can be stored in a storage system and executed by a computing system, and in some cases, the steps shown or described can be executed in an order different from that shown here, or made into individual integrated circuit modules, or made into a single integrated circuit module. Thus, the application is not limited to any particular combination of hardware and software.

[0065] The preferred embodiments of the application described above are intended to be merely exemplary and those skilled in the art will recognize that changes can be made to the application without departing from the spirit and principles thereof. What is desired to be protected by letters patent is set forth in the appended claims.

Claims

1. A method of coordinated control of coal mine transport equipment, characterised by, The method comprises: obtaining, by a device management service end, coal mining data of each coal mining terminal and operation data of each transportation terminal, and determining a transportation target of the transportation device based on the coal mining data and the operation data, the transportation device being a transportation mine car with an intelligent control system, and the coal mining terminal being a mining device or a transportation device with an intelligent coal mining control system; after the device management service end calls a transportation strategy of the transportation terminal, performing transportation prediction on the transportation target by the device management service end according to the transportation mode, generating a transportation expected result, the transportation strategy including a path, time, frequency and travel parameter of different transportation terminals to different coal mining terminals for transportation; if the device management service end determines that the transportation expected result matches a preset transportation condition, generating control parameters matching a plurality of the transportation terminals according to the transportation expected result, the control parameters being parameters of a plurality of transportation terminals for linkage transportation obtained by adjusting the transportation strategy; after the transportation terminal receives the control parameters, performing transportation based on the control parameters; the obtaining, by the device management service end, of the coal mining data of each coal mining terminal and the operation data of each transportation terminal, and the determining of the transportation target of the transportation device based on the coal mining data and the operation data comprises: sending, by the device management service end, a first management communication connection instruction to each of the coal mining terminals, to instruct the coal mining terminals to establish a management communication connection and feed back the coal mining data after the establishment, the coal mining data including a coal mining amount, a coal mining time and a coal mining storage amount; sending, by the device management service end, a second management communication connection instruction to each of the transportation terminals, to instruct the transportation terminals to establish a management communication connection and feed back the operation data after the establishment, the operation data including a device transportation speed, a device transportation time and a device transportation route; after the device management service end 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 transportation mapping relationship, the transportation target including a transportation location, a transportation amount and a transportation frequency, and the preset coal mining transportation mapping relationship storing a corresponding relationship between different coal mining data, different transportation data and different transportation targets; the transportation prediction, by the device management service end, on the transportation target according to the transportation mode, to generate a transportation expected result, comprises: analyzing a transportation mode corresponding to the transportation strategy, the transportation mode including linkage transportation of at least two transportation devices for combined transportation, and cyclic transportation of a single transportation device for multiple reciprocating transportation; performing transportation prediction on the transportation target according to the transportation mode, to generate a transportation expected result, wherein, during the transportation prediction, a preset time interval is set, and the transportation target is estimated and calculated according to the transportation mode based on the execution of the operation data, to determine the transportation expected result.

2. The method of claim 1, wherein, The method further comprises: determining, by the device management service end, at least one available transportation terminal, and sending a control authority confirmation request to the transportation terminal. The transportation terminal configures terminal control authority in response to the control authority confirmation request, and feeds back the terminal control authority to the equipment management service end; The equipment management service end receives the terminal control authority, and calls a transportation strategy matching the transportation terminal, which is generated based on the permission path, permission time, permission times, and permission driving parameters parsed from the terminal control authority.

3. The method of claim 1, wherein, The method further comprises: Displaying transportation condition options through the front-end interface of the equipment management service end, and receiving preset transportation conditions entered through the transportation condition options, the preset transportation conditions including at least one of transportation time conditions, transportation times conditions, and transportation equipment linkage conditions.

4. The method of claim 1, wherein, The control parameters matching multiple transportation terminals are generated according to the transportation expected results, which include: The equipment management service end calls 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.

5. The method of claim 1, wherein, After the transportation terminal receives the control parameters and transports based on the control parameters, the method further comprises: The equipment management service end collects real-time running data of the transportation terminal, and judges whether the real-time running data exceeds a linkage control threshold; if the real-time running data exceeds the linkage control threshold, a linkage control warning information is generated.

6. A linkage control system for coal mine haulage equipment, characterised in that, It comprises: An equipment management service end, a coal mining terminal, and a transportation terminal, the equipment management service end is connected with the coal mining terminal and the transportation terminal for data interaction, the transportation equipment is a transportation mine car with an intelligent control system, and the coal mining terminal is an excavating equipment or a transmission equipment with an intelligent coal mining control system, The equipment management service end is used to acquire coal mining data of each coal mining terminal and running data of each transportation terminal, and determine a transportation target of the transportation equipment based on the coal mining data and the running data; The equipment management service end is further used to predict the transportation target according to the transportation mode through the equipment management service end after calling the transportation strategy of the transportation terminal, generate a transportation expected result, and the transportation strategy includes paths, times, frequencies, and driving parameters of different transportation terminals to different coal mining terminals for transportation; The equipment management service end is further used to generate control parameters matching multiple transportation terminals according to the transportation expected result if the transportation expected result matches preset transportation conditions, and the control parameters are parameters of linkage transportation of multiple transportation terminals obtained by adjusting the transportation strategy; The transportation terminal is used to transport based on the control parameters after receiving the control parameters. The device management and control server is further configured to send a first management and control communication connection instruction to each of the coal mining terminals to instruct the coal mining terminals to feed back the coal mining data after establishing a management and control communication connection, the coal mining data including a coal mining amount, a coal mining time, and a coal mining storage amount; send a second management and control communication connection instruction to each of the transportation terminals to instruct the transportation terminals to feed back the operation data after establishing a management and control communication connection, the operation data including a device transportation speed, a device transportation time, and a device transportation route; and when the coal mining data and the operation data are received, determine a transportation target matched with the coal mining data and the operation data according to a preset coal mining and transportation mapping relationship, the transportation target including a transportation location, a transportation amount, and a transportation frequency, and the preset coal mining and transportation mapping relationship storing a correspondence relationship between different coal mining data, different operation data, and different transportation targets. The device management and control server is further configured to analyze a transportation mode corresponding to the transportation strategy, the transportation mode including combined transportation of at least two transportation devices in linkage transportation or multiple reciprocating transportation of a single transportation device in cycle transportation; and perform transportation prediction on the transportation target according to the transportation mode to generate a transportation expected result, wherein the transportation prediction is performed based on the execution of the operation data within a preset time interval, the transportation target is estimated and calculated according to the transportation mode, and the transportation expected result is determined.

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