A control information transmission method, a sending end and an acquisition end

Abstract

The application provides a control information transmission method, a sending end and a collecting end. The method comprises the following steps: periodically broadcasting state data of a coal mine excavation device monitored by the sending end to at least one collecting end; receiving control information sent by the at least one collecting end in a broadcast mode after receiving the state data; generating at least one control setting feedback information after performing local control setting according to the control information; adding identification information of a target sending end sending the control setting feedback information into the at least one control setting feedback information to obtain at least one target control setting feedback information; and sending the at least one target control setting feedback information to the at least one collecting end, so that the at least one collecting end updates a sending end control setting feedback information table according to the target control setting feedback information, and determines a control setting state of the sending end in a preset time period according to the control setting feedback information table. The application can confirm whether each sending end completes the control setting.

Description

Technical Field

[0001] This invention relates to the field of short-range wireless communication technology, and in particular to a control information transmission method, a transmitting end, and a collecting end. Background Technology

[0002] The robotic arms of coal mining excavators typically require numerous sensors to collect data on the operational status of the equipment. Multiple excavators may operate simultaneously, necessitating large-scale sensor deployment. Current wireless communication between sensors and controllers usually involves two network elements: a transmitter and a receiver. The transmitter wirelessly sends the collected data (such as sensor data) to the receiver, which then aggregates and reports the received data. Based on the received data, the receiver sends control information to the transmitter for control settings or adjustments (such as adjusting the transmission cycle or operating mode). However, in large-scale deployments, a single receiver needs to communicate with multiple transmitters, making it difficult to efficiently verify whether each transmitter has completed its control settings. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide a control information transmission method, a sending end and a receiving end, which can efficiently statistically confirm whether each sending end has completed the control settings.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0005] A control information transmission method is applied to multiple transmitting ends mounted on a robotic arm of a coal mine excavating equipment, wherein the multiple transmitting ends are wirelessly connected to at least one acquiring end, the method comprising:

[0006] The status data of the coal mine excavation equipment monitored by the transmitting end is broadcast to at least one acquisition end according to a preset cycle.

[0007] Receive control information broadcast by at least one acquisition terminal after receiving status data;

[0008] After making local control settings based on the control information, at least one control setting feedback information is generated;

[0009] Add the identifier information of the target sending end that sends the control setting feedback information to at least one control setting feedback information to obtain at least one target control setting feedback information;

[0010] At least one target control setting feedback information is sent to the at least one acquisition terminal, so that the at least one acquisition terminal updates the sending terminal control setting feedback information table according to the target control setting feedback information, determines the control setting status of the sending terminal within a preset time period based on the control setting feedback information table, and sends the control setting status and the control setting feedback information table to the remote data center.

[0011] Optionally, after performing local control settings based on the control information, at least one type of control setting feedback information is generated, including:

[0012] After performing at least one local control setting in connection management, resource scheduling, and hardware control based on the control information, at least one control setting feedback information is generated.

[0013] Optionally, identification information of the target sending end that sent the control setting feedback information is added to at least one type of control setting feedback information to obtain at least one type of target control setting feedback information, including:

[0014] Add the address identifier information of the target sender that sent the control setting feedback information to the extended field of at least one control setting feedback information to obtain at least one target control setting feedback information.

[0015] Optionally, at least one target control setting feedback information is sent to the at least one acquisition terminal, including:

[0016] At least one target control setting feedback information is sent to the at least one acquisition terminal within a preset feedback time period.

[0017] Optionally, the above method further includes:

[0018] The target sending end that has not sent target control setting feedback information receives a point-to-point connection request sent by the target acquisition end and establishes a point-to-point connection with the target acquisition end.

[0019] Through the point-to-point connection, target control information sent by the target acquisition terminal is received.

[0020] Embodiments of the present invention also provide a control information transmission method, applied to multiple acquisition terminals installed on coal mine excavation equipment, wherein the multiple acquisition terminals are wirelessly connected to at least one transmitting terminal, the method comprising:

[0021] Receive status data of coal mine excavation equipment monitored by at least one transmitter, which is broadcast at a preset period.

[0022] Based on the status data, control information is broadcast to at least one sending end.

[0023] After the receiving and transmitting end performs local control settings according to the control information, it generates at least one control setting feedback information; wherein, the identification information of the target sending end that sent the control setting feedback information is added to the at least one control setting feedback information to obtain at least one target control setting feedback information;

[0024] Update the sending end control setting feedback information table according to the at least one target control setting feedback information;

[0025] Based on the control setting feedback information table, the control setting status of the transmitting end within a preset time period is determined, and the control setting status is sent to the remote data center.

[0026] Optionally, updating the sending end control setting feedback information table based on the at least one target control setting feedback information includes:

[0027] According to the preset table update cycle, at least one target control setting feedback information received is added to the broadcast information receiving table to obtain the sending end control setting feedback information table.

[0028] Optionally, the above method further includes:

[0029] Send a point-to-point connection request to the target sender that has not sent target control setting feedback information, and establish a point-to-point connection with the target sender;

[0030] Target control information is sent through the point-to-point connection.

[0031] An embodiment of the present invention also provides a transmitting end, which is disposed on the robotic arm of a coal mine excavation equipment, and the transmitting end is wirelessly connected to at least one acquisition end. The transmitting end includes:

[0032] The first transmitting module is used to broadcast the status data of the coal mine excavation equipment monitored by the transmitting end to at least one collecting end according to a preset period.

[0033] The first receiving module is used to receive control information broadcast by at least one acquisition terminal after receiving status data; after performing local control settings according to the control information, generate at least one control setting feedback information; and add the identification information of the target sending terminal that sent the control setting feedback information to the at least one control setting feedback information to obtain at least one target control setting feedback information.

[0034] The first sending module is further configured to send at least one target control setting feedback information to the at least one acquisition terminal, so that the at least one acquisition terminal updates the sending terminal control setting feedback information table according to the target control setting feedback information, determines the control setting status of the sending terminal within a preset time period according to the control setting feedback information table, and sends the control setting status to the remote data center.

[0035] Embodiments of the present invention also provide a data acquisition terminal, which is wirelessly connected to multiple transmitters mounted on the robotic arm of a coal mine excavation equipment. The data acquisition terminal includes:

[0036] The second receiving module is used to receive the status data of the coal mine excavation equipment monitored by the transmitting end, which is broadcast by at least one transmitting end in a preset period.

[0037] The second sending module is used to send control information to at least one sending end in a broadcast manner based on the status data.

[0038] The second receiving module is further configured to receive at least one control setting feedback information generated by the sending end after performing local control settings according to the control information; wherein, the at least one control setting feedback information is respectively added with the identification information of the target sending end that sent the control setting feedback information to obtain at least one target control setting feedback information;

[0039] The second sending module is further configured to update the sending end control setting feedback information table according to the at least one target control setting feedback information; determine the control setting status of the sending end within a preset time period according to the control setting feedback information table; and send the control setting status to the remote data center.

[0040] The above-described solutions of the embodiments of the present invention have at least the following beneficial effects:

[0041] The above-described solution of this invention updates the feedback information table through the acquisition terminal, compares the received target control setting feedback information with the sending terminal identifier in the table, and can directly clarify the status of completed, incomplete, and no feedback, thereby achieving efficient statistics.

[0042] For scenarios with one sending end and multiple receiving ends, a mechanism that synchronously updates the feedback tables of all receiving ends upon receiving feedback from any receiving end avoids duplicate or omissions, ensuring the consistency and accuracy of statistical results.

[0043] The architecture employs a single transmitter and multiple receivers, ensuring that even if communication is interrupted at one receiver, the status data from the transmitter can still be transmitted through the other receivers, thus avoiding information loss due to single-point failure. For control information feedback, once received by any receiver, it can be synchronized to all receivers and reported to the data center, significantly reducing the risk of control loop failure due to communication link issues and avoiding monitoring blind spots caused by reliance on a single receiver.

[0044] The transmitting end and the collecting end use a broadcast method to transmit status data and control information, which reduces the channel occupation of one-to-one communication. Especially in the complex environment of coal mines, this improves the coverage and anti-interference ability of information transmission.

[0045] The rules for identifying feedback information (it is considered not received only if all acquisition terminals do not receive it) reduce the risk of feedback loss due to communication failure of a single acquisition terminal and ensure the stability of the control loop.

[0046] The preset time period is calculated using the formula T=a×b×c×d×T0, which comprehensively considers the number of sending ends, the farthest communication distance, and the corresponding correction coefficient. This avoids misjudgment in large-scale deployments or long-distance scenarios with fixed time periods (such as being misjudged as no feedback due to feedback delay caused by long distance), making the status determination more in line with actual working conditions.

[0047] The sending end adds a globally unique identifier (such as a MAC address) to the feedback information to ensure that the collecting end can accurately associate with the sending end; the collecting end sends the status data and feedback table to the remote data center, realizing centralized monitoring and traceability of the control status of all sending ends, which makes it easier for managers to grasp the overall operation status and intervene in a timely manner.

[0048] The transmitting end broadcasts status data at a preset period, and the collecting end sends control information as needed, avoiding meaningless frequent communication; at the same time, the feedback information only contains necessary control results and identifiers, reducing the amount of data transmission, which is suitable for the limited wireless bandwidth resources in coal mine scenarios. Attached Figure Description

[0049] Figure 1 This is a flowchart of the control information transmission method according to an embodiment of the present invention.

[0050] Figure 2 This is a schematic diagram of the control information transmission system according to an embodiment of the present invention. Detailed Implementation

[0051] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0052] like Figure 1 As shown, an embodiment of the present invention provides a control information transmission method applied to multiple transmitting ends mounted on a robotic arm of a coal mine excavation equipment. The multiple transmitting ends are wirelessly connected to at least one acquiring end. The method includes:

[0053] Step 11: Broadcast the status data of the coal mining excavation equipment monitored by the transmitting end to at least one acquisition end according to a preset cycle; specifically, the status data may include: the operating parameters (torque, displacement, temperature and vibration frequency) of the mechanical arm of the coal mining excavation equipment and the equipment operating conditions (whether it is in excavation state or standby state).

[0054] Step 12: Receive control information broadcast by at least one acquisition terminal after receiving status data; specifically, the control information may include: adjusting the transmission cycle, reducing operating power, and / or pausing the operation;

[0055] Step 13: After performing local control settings based on the control information, generate at least one control setting feedback information; specifically, the control setting feedback information may include: the transmission cycle has been adjusted, the operating power has been reduced, and / or the operation has been suspended.

[0056] Step 14: Add the identification information of the target sending end that sent the control setting feedback information to at least one control setting feedback information to obtain at least one target control setting feedback information; the identification information may include: the globally unique address identifier of the target sending end (such as the MAC media access control address);

[0057] Step 15: Send at least one target control setting feedback information to the at least one acquisition terminal, so that the at least one acquisition terminal updates the sending terminal control setting feedback information table according to the target control setting feedback information, and determines the control setting status of the sending terminal within a preset time period according to the control setting feedback information table, and sends the control setting status and the control setting feedback information table to the remote data center.

[0058] Specifically, the feedback information table of the acquisition terminal includes: identification information of all transmitting terminals connected to it wirelessly. The acquisition terminal will compare the target control setting feedback information received from the transmitting terminals within a preset time period with the feedback information table to determine which transmitting terminals have completed local control settings, which transmitting terminals have not completed local control settings, and which transmitting terminals have not provided feedback on control setting status.

[0059] Specifically, in the process of transmitting control information between one sending end and multiple receiving ends, one sending end sends status data of coal mine excavation equipment to multiple receiving ends, one receiving end sends control information to the sending end, the sending end completes local control settings, and sends target control setting feedback information to multiple receiving ends; each receiving end sends its control setting status to a remote data center. As long as one receiving end receives the target control setting feedback information, it can be considered that the target control setting feedback information has been received, and the feedback information tables of other receiving ends are updated synchronously; only if all receiving ends do not receive the target control setting feedback information within a preset time period can it be considered that the target control setting feedback information has not been received.

[0060] The preset time period is determined based on T = a × b × c × d × T0;

[0061] Where T is the preset time period, T0 is the maximum period of normal communication between the sending end and the collecting end (based on the farthest sending end and collecting end), a is the number of sending ends, b is the correction coefficient for the number of sending ends, c is the distance between the sending end and the collecting end (based on the farthest sending end and collecting end), and d is the correction coefficient for the distance between the sending end and the collecting end.

[0062] In this embodiment, by updating the feedback information table through the acquisition terminal, the received target control setting feedback information is compared with the sender identifier in the table, which can directly clarify the status of completed, incomplete, and no feedback, thus achieving efficient statistics.

[0063] For scenarios with one sending end and multiple receiving ends, a mechanism that synchronously updates the feedback tables of all receiving ends upon receiving feedback from any receiving end avoids duplicate or omissions, ensuring the consistency and accuracy of statistical results.

[0064] The architecture employs a single transmitter and multiple receivers, ensuring that even if communication is interrupted at one receiver, the status data from the transmitter can still be transmitted through the other receivers, thus avoiding information loss due to single-point failure. For control information feedback, once received by any receiver, it can be synchronized to all receivers and reported to the data center, significantly reducing the risk of control loop failure due to communication link issues and avoiding monitoring blind spots caused by reliance on a single receiver.

[0065] The transmitting end and the collecting end use a broadcast method to transmit status data and control information, which reduces the channel occupation of one-to-one communication. Especially in the complex environment of coal mines, this improves the coverage and anti-interference ability of information transmission.

[0066] The rules for identifying feedback information (it is considered not received only if all acquisition terminals do not receive it) reduce the risk of feedback loss due to communication failure of a single acquisition terminal and ensure the stability of the control loop.

[0067] The preset time period is calculated using the formula T=a×b×c×d×T0, which comprehensively considers the number of sending ends, the farthest communication distance, and the corresponding correction coefficient. This avoids misjudgment in large-scale deployments or long-distance scenarios with fixed time periods (such as being misjudged as no feedback due to feedback delay caused by long distance), making the status determination more in line with actual working conditions.

[0068] The sending end adds a globally unique identifier (such as a MAC address) to the feedback information to ensure that the collecting end can accurately associate with the sending end; the collecting end sends the status data and feedback table to the remote data center, realizing centralized monitoring and traceability of the control status of all sending ends, which makes it easier for managers to grasp the overall operation status and intervene in a timely manner.

[0069] The transmitting end broadcasts status data at a preset period, and the collecting end sends control information as needed, avoiding meaningless frequent communication; at the same time, the feedback information only contains necessary control results and identifiers, reducing the amount of data transmission, which is suitable for the limited wireless bandwidth resources in coal mine scenarios.

[0070] In an optional embodiment of the present invention, in step 13, after performing local control settings based on the control information, at least one type of control setting feedback information is generated, including:

[0071] Step 131: After performing at least one local control setting in connection management, resource scheduling, and hardware control based on the control information, at least one control setting feedback information is generated.

[0072] Specifically, the connection management includes: managing the connection status with the acquisition terminal (such as adjusting the connection status with a certain acquisition terminal to: active, dormant, or disconnected); the resource scheduling includes: adjusting the transmission cycle, reducing operating power, or pausing the operation; and the hardware control includes: adjusting the sampling frequency.

[0073] In this embodiment, the connection status is clearly defined as active, dormant, or disconnected, enabling the sending end to dynamically adjust the interaction strategy based on the load and signal quality of the receiving end (such as marking receiving ends with poor signal as dormant to reduce invalid communication), avoiding meaningless link maintenance overhead and improving communication efficiency.

[0074] It directly links to high-frequency control requirements such as adjusting the sending cycle, reducing operating power, and pausing operations, making resource allocation more in line with actual operating scenarios (e.g., when pausing operations, unnecessary resources can be completely shut down to reduce energy consumption) and avoid resource waste.

[0075] Precise control of the sensor's core parameters (such as the sampling frequency of torque and temperature) can respond to the need to adjust the data granularity (such as shortening the frequency to improve monitoring accuracy) and reduce the amount of data by lowering the frequency, thus adapting to the limited bandwidth resources in coal mine scenarios.

[0076] The operation boundaries of connection management, resource scheduling, and hardware control are clear, and they can be executed independently or in combination (e.g., a disconnection state can trigger a reduction in operating power in resource scheduling, while suspending sampling of unnecessary hardware), enabling the transmitting end to flexibly adapt to the complexity of control information and improve the overall coordination efficiency of control.

[0077] In an optional embodiment of the present invention, in step 14, identification information of the target sending end that sends the control setting feedback information is added to at least one type of control setting feedback information to obtain at least one type of target control setting feedback information, including:

[0078] Step 141: Add the address identification information of the target sending end that sends the control setting feedback information to the extended field of at least one control setting feedback information to obtain at least one target control setting feedback information.

[0079] In this embodiment, the extended field, as an area independent of the main body of the feedback information, can avoid the interference of the identification information on the core content of the feedback information (such as the adjustment cycle being completed without power reduction) and ensure the format standardization of the feedback information.

[0080] When receiving target control setting feedback information, the acquisition terminal can directly extract the address identifier from the extended field at a fixed location, without having to traverse the entire information body to find the identifier, thus reducing the complexity of the parsing logic and improving processing efficiency.

[0081] In an optional embodiment of the present invention, step 15, sending at least one target control setting feedback information to the at least one acquisition terminal, includes:

[0082] Step 151: Send at least one target control setting feedback information to the at least one acquisition terminal within a preset feedback time period.

[0083] In this embodiment, the preset feedback time period sets a clear time window for the feedback behavior of the sending end, avoiding the failure of feedback information due to excessive delay, and ensuring that the collection end can receive and process the feedback within the effective time.

[0084] Feedback information from multiple transmitters is constrained to be sent within their respective preset time periods, which reduces channel conflicts between different transmitters and enables the acquisition end to receive and parse the information in an orderly manner. This significantly improves the smoothness of information transmission, especially in large-scale deployment scenarios.

[0085] In an optional embodiment of the present invention, the method further includes:

[0086] Step 16: The target sending end that has not sent target control setting feedback information receives the point-to-point connection request sent by the target acquisition end and establishes a point-to-point connection with the target acquisition end.

[0087] Step 17: Receive target control information sent by the target acquisition terminal through the point-to-point connection.

[0088] Specifically, if the acquisition terminal does not receive target control setting feedback information from a certain sending terminal within a preset time period, the sending terminal is marked as a node to be confirmed. The target acquisition terminal with the strongest signal and lowest load (preferably the acquisition terminal closest to the sending terminal) actively initiates a point-to-point connection request. The target acquisition terminal establishes a point-to-point connection with the target acquisition terminal and sends the target control information to the target acquisition terminal again for secondary control.

[0089] In this embodiment, in a coal mine environment, the broadcast link may lose feedback information due to mechanical obstruction, electromagnetic interference, etc. If only a single broadcast control is relied upon, there is a risk that the sending end does not perform control but there is no subsequent intervention (such as continuing to dig without receiving feedback to suspend operations).

[0090] This mechanism proactively reaches nodes that have not responded by marking nodes to be confirmed, establishing directional point-to-point connections, and implementing secondary control. This ensures that control commands can be transmitted again (such as resending pause commands), avoiding safety hazards caused by a single communication failure and forming a complete control loop.

[0091] Selecting the target acquisition terminal with the strongest signal, lowest load, and closest distance to perform point-to-point connection can maximize the success rate of secondary communication. Point-to-point connection provides a dedicated communication link for non-feedback nodes, avoids conflicts with broadcast information from other nodes, and ensures that secondary control information can be processed with priority.

[0092] In scenarios where multiple sending ends are working simultaneously, a single non-responding node may be submerged in a massive amount of information. This mechanism, through active marking and targeted connections, can accurately locate abnormal nodes and avoid missed detections.

[0093] The target acquisition terminal synchronizes the results of secondary control (such as whether the data has been successfully received and executed or has not yet responded) to the feedback information table and reports it to the data center, enabling managers to grasp the status of non-feedback nodes in real time, facilitating timely manual intervention (such as on-site troubleshooting of robotic arm malfunctions) and reducing management blind spots.

[0094] Compared to repeatedly broadcasting control information to all nodes, this mechanism only initiates point-to-point secondary control to nodes that have not responded, avoiding channel congestion caused by indiscriminate repeated transmission and saving limited wireless resources in coal mine scenarios.

[0095] In an optional embodiment of the present invention, a control information transmission method is provided, applied to multiple acquisition terminals installed on a coal mine excavation equipment, wherein the multiple acquisition terminals are wirelessly connected to at least one transmitting terminal, and the method includes:

[0096] Step 21: Receive status data of coal mine excavation equipment monitored by at least one transmitter in a broadcast manner according to a preset period; and simultaneously establish a broadcast information reception table including a list of all wireless communication connection transmitters.

[0097] Step 22: Based on the status data, send control information to at least one sending end in a broadcast manner;

[0098] Step 23: After the receiving end performs local control settings according to the control information, at least one control setting feedback information is generated; wherein, the identification information of the target sending end that sent the control setting feedback information is added to the at least one control setting feedback information to obtain at least one target control setting feedback information;

[0099] Step 24: Update the sending end control setting feedback information table according to the at least one target control setting feedback information;

[0100] Step 25: Based on the control setting feedback information table, determine the control setting status of the sending end within a preset time period, and send the control setting status to the remote data center.

[0101] In this embodiment, the multiple acquisition terminals simultaneously receive status data (such as robotic arm torque, temperature, etc.) broadcast by the transmitting terminal. Even if one acquisition terminal fails to receive data due to signal obstruction, malfunction, or other reasons, the other acquisition terminals can still obtain the data completely, avoiding the loss of status data caused by the failure of a single acquisition terminal and ensuring that the remote data center can grasp the overall operating status of the equipment.

[0102] The acquisition terminal can perform cross-validation on the received status data (such as comparing whether the data received by different acquisition terminals from the same transmitter is consistent), reducing data errors caused by interference in a single transmission and improving the reliability of the status data.

[0103] The multiple acquisition terminals broadcast control information (such as adjusting the cycle or pausing operations), which can cover a wider range of transmission terminals (such as different robotic arm modules of coal mine excavation equipment) and avoid missing control commands due to insufficient signal coverage of a single acquisition terminal.

[0104] The transmitting end can receive the same control information from multiple acquisition ends. By comparing the consistency of the instructions (such as confirming that multiple acquisition ends all require power reduction), the credibility of the instructions is enhanced, and abnormal operation of the equipment caused by mis-sent instructions from a single acquisition end is reduced.

[0105] The acquisition end can quickly update the feedback information table by receiving target control setting feedback information containing the sender identifier (such as MAC address + adjusted angle), and clearly record the control execution status (complete / incomplete / no feedback) of each sender.

[0106] The collaborative statistics from multiple data acquisition terminals: feedback information received by one data acquisition terminal will be synchronized to the feedback tables of other data acquisition terminals, avoiding duplicate statistics, ensuring that all data acquisition terminals have a consistent understanding of the sending terminal's status, and improving the accuracy of statistical results.

[0107] The acquisition terminal sends the control setting status determined based on the feedback information table to the remote data center, enabling managers to intuitively grasp the device control status in all scenarios through the data center, and realize the upgrade from decentralized management to centralized monitoring.

[0108] Coal mines are subject to complex factors such as mechanical vibration and electromagnetic interference. Distributed deployment of multiple acquisition terminals can reduce the risk of single point of failure: even if one acquisition terminal fails, other acquisition terminals can still continue to execute the process of receiving data, issuing instructions, and providing statistical feedback, ensuring the continuity of the control link.

[0109] Broadcasting reduces the one-to-one communication dependency between the acquisition and transmission ends, lowers the probability of overall communication interruption due to specific link failures, and improves the system's fault tolerance in harsh environments.

[0110] In an optional embodiment of the present invention, step 25, updating the sending end control setting feedback information table according to the at least one target control setting feedback information, includes:

[0111] Step 251: According to the preset table update cycle, add at least one target control setting feedback information received to the broadcast information receiving table to obtain the sending end control setting feedback information table.

[0112] In this embodiment, the multiple acquisition terminals can synchronize the table content based on a unified update cycle to ensure that the feedback information tables of all acquisition terminals are consistent in the time dimension, and avoid status judgment conflicts caused by differences in update frequency.

[0113] The remote data center needs to receive the control setting status and feedback information table reported by the acquisition terminal. The preset update cycle can enable the acquisition terminal to synchronize the table to the data center at a fixed rhythm, which is convenient for the data center to perform time-series analysis.

[0114] In an optional embodiment of the present invention, the method further includes:

[0115] Step 26: Send a point-to-point connection request to the target sender that has not sent target control setting feedback information, and establish a point-to-point connection with the target sender;

[0116] Step 27: Send target control information through the point-to-point connection.

[0117] In this embodiment, the acquisition terminal actively establishes a point-to-point connection with the non-feedback-sending terminal and sends control information, which can complete the control closed loop, avoid management blind spots, and reduce security risks. This improves the reliability and relevance of control information transmission, optimizes the collaborative efficiency of multiple acquisition terminals, reduces resource waste, strengthens the global perception capability of the remote data center, enhances system fault tolerance, and adapts to complex coal mine scenarios.

[0118] Example 1

[0119] For the three coal mining excavators that require control information transmission, four transmitters (sensor nodes, including MAC address identifiers) are installed on the robotic arm of each machine to monitor parameters such as torque and temperature; two acquisition terminals (A and B) are deployed at the working face to receive data and send control commands, which are eventually synchronized to a remote data center.

[0120] Example 1 provides a method for transmitting control information, including:

[0121] Step 31, the transmitting end S1 (MAC: 00:1B:44:11:3A:B7) broadcasts status data to the collecting ends A and B at a 10-second cycle: torque 300 N·m, temperature 55℃, in digging state;

[0122] Step 32: The acquisition terminal A detects that the temperature of S1 is close to the threshold and broadcasts control information: reduce the operating power and adjust the transmission cycle to 15 seconds;

[0123] Step 33, S1 execution:

[0124] Resource scheduling: The transmission period was adjusted from 10 seconds to 15 seconds, and the power of the wireless module was reduced;

[0125] Connection management: Maintain active connections with A and B;

[0126] Feedback message generated: Transmission cycle adjustment completed, operating power reduced;

[0127] Step 34: Add the MAC address to the extended field of the feedback information to form the target feedback: [00:1B:44:11:3A:B7] The transmission cycle has been adjusted and the operating power has been reduced;

[0128] Step 35: S1 broadcasts the target feedback to A and B within a preset feedback time period (within 5 seconds after receiving the control information); the acquisition terminal B receives it first and synchronously updates the feedback table of A, marking that S1 has been completed.

[0129] Step 36: The sending end S2 does not provide feedback within the preset time period (T=20 seconds, calculated according to the formula); the collecting end A (with the strongest signal) initiates a point-to-point connection request to S2, establishes a dedicated link, and retransmits the control information: force the operation to be suspended; S2 receives the information, executes it, and provides feedback, while A synchronizes it to the data center;

[0130] Step 41: Both acquisition terminals A and B receive the status data of S1-S4. A discovers that the temperature of S1 is abnormal and broadcasts control information after negotiating with B.

[0131] Step 42: A receives the target feedback from S1, and B receives the feedback from S3. Data is merged according to the preset table update cycle (1 minute), and the feedback information table is updated.

[0132] Sender MAC Control settings status 00:1B:44:11:3A:B7 Adjustments have been completed. 00:1B:44:11:3A:B8 No feedback (S2) ... ...

[0133] Step 43: The data acquisition terminal sends the table and status (e.g., no feedback from S2) to the data center, and the administrator can see that S2 is abnormal;

[0134] Step 44: The data acquisition terminal A initiates a point-to-point connection to S2 and resends the pause operation command. After S2 confirms that the operation has been paused, A updates the table and synchronizes it to the data center, completing the closed loop.

[0135] The present invention updates the feedback information table at the acquisition end, compares the received target control setting feedback information with the sender identifier in the table, and can directly identify the status of the sender that has been completed, not completed, or not fed back, so as to achieve efficient statistics and facilitate centralized monitoring and tracing of the control status of all senders at the remote data center.

[0136] The architecture of one transmitter and multiple acquisition terminals is adopted. When the communication of one acquisition terminal is interrupted, the status data of the transmitter can still be transmitted through other acquisition terminals. As long as the control information feedback is received by any acquisition terminal, it can be synchronized to all acquisition terminals and reported to the data center, which greatly reduces the risk of control loop failure and monitoring blind spots.

[0137] The transmitting and receiving ends use a broadcast method to transmit status data and control information, reducing the channel occupation of one-to-one communication and improving the information transmission coverage and anti-interference capability in the complex environment of coal mines.

[0138] The feedback information recognition rule is that it is considered not received only if all acquisition terminals do not receive it, which reduces the risk of feedback loss caused by communication failure of a single acquisition terminal and ensures the stability of the control closed loop.

[0139] The preset time period is calculated by formula, taking into account the number of sending ends, the farthest communication distance and the correction coefficient, to avoid misjudgment in large-scale deployment or long-distance scenarios with fixed time periods, so that the status judgment is more in line with the actual working conditions.

[0140] The transmitting end adds a globally unique identifier to the feedback information to ensure that the collecting end is accurately associated with the transmitting end; it broadcasts status data at a preset period, and the collecting end sends control information as needed. The feedback information contains only necessary content, reducing the amount of data transmission and making it suitable for the limited wireless bandwidth in coal mines.

[0141] Clearly defining the connection status as active, dormant, or disconnected allows the sending end to dynamically adjust its interaction strategy, avoiding invalid communication. Resource scheduling is directly linked to high-frequency control requirements, and hardware control can precisely adjust the sampling frequency, improving communication efficiency and resource utilization. Furthermore, operations can be executed independently or in combination, flexibly adapting to complex control information.

[0142] Adding identifier information to the extended fields of the feedback information avoids interference with the core content, ensures standardized formatting, and allows the data acquisition end to quickly extract the identifier, reducing parsing complexity and improving processing efficiency.

[0143] Feedback information is sent within a preset feedback time period to avoid feedback failure, and multiple senders are constrained to their respective time periods to reduce channel conflicts and improve transmission smoothness.

[0144] The non-feedback sending end receives secondary control information through a point-to-point connection, avoiding security risks caused by a single communication failure; it selects the optimal target acquisition end to execute the connection, improving the success rate of secondary communication and accurately locating abnormal nodes, facilitating timely manual intervention by management personnel, while avoiding channel congestion caused by indiscriminate repeated transmission.

[0145] The multiple acquisition terminals simultaneously receive status data broadcast by the sending terminal, avoiding data loss due to the failure of a single acquisition terminal; the received data can be cross-verified to reduce errors caused by transmission interference, ensuring that the remote data center has a comprehensive and reliable grasp of the equipment's operating status.

[0146] The multiple acquisition terminals broadcast control information, covering a wider area and avoiding command omissions due to insufficient signal coverage from a single acquisition terminal. The sending terminal can compare the consistency of commands from multiple acquisition terminals, enhancing command reliability and reducing misoperation.

[0147] The data acquisition terminal quickly updates the feedback table with tagged feedback information, clearly recording the control execution status of the sending terminal; the feedback information received by one data acquisition terminal is synchronized to other data acquisition terminals to avoid duplicate statistics, ensure consistent status perception, and improve statistical accuracy.

[0148] The acquisition terminal sends the control settings status to the remote data center, realizing the upgrade from decentralized management to centralized monitoring; the distributed deployment reduces the risk of single point of failure. When one acquisition terminal fails, other acquisition terminals can continue to work, ensuring the continuity of the control link. The broadcast method also reduces the overall probability of communication interruption and improves the fault tolerance of the system in harsh environments.

[0149] The feedback information table is updated according to the preset table update cycle, so that the tables of multiple collection terminals are consistent in the time dimension, avoiding status judgment conflicts, and also facilitating time-series analysis in the remote data center.

[0150] Actively establish point-to-point connections with non-feedback senders and send control information to complete the control loop and reduce security risks; improve the reliability and relevance of control information transmission, optimize the collaborative efficiency of multiple acquisition terminals, reduce resource waste, strengthen the global perception capability of remote data centers, enhance system fault tolerance, and adapt to complex coal mine scenarios.

[0151] like Figure 2 As shown, an embodiment of the present invention provides a transmitting end, which is disposed on the robotic arm of a coal mine excavation equipment. The transmitting end is wirelessly connected to at least one data acquisition end. The transmitting end 20 includes:

[0152] The first transmitting module 21 is used to broadcast the status data of the coal mine excavation equipment monitored by the transmitting end to at least one acquisition end according to a preset period.

[0153] The first receiving module 22 is used to receive control information broadcast by at least one acquisition terminal after receiving status data; after performing local control settings according to the control information, generate at least one control setting feedback information; and add the identification information of the target sending terminal that sent the control setting feedback information to the at least one control setting feedback information to obtain at least one target control setting feedback information.

[0154] The first sending module 22 is further configured to send at least one target control setting feedback information to the at least one acquisition terminal, so that the at least one acquisition terminal updates the sending terminal control setting feedback information table according to the target control setting feedback information, determines the control setting status of the sending terminal within a preset time period according to the control setting feedback information table, and sends the control setting status to the remote data center.

[0155] Optionally, after performing local control settings based on the control information, at least one type of control setting feedback information is generated, including:

[0156] After performing at least one local control setting in connection management, resource scheduling, and hardware control based on the control information, at least one control setting feedback information is generated.

[0157] Optionally, identification information of the target sending end that sent the control setting feedback information is added to at least one type of control setting feedback information to obtain at least one type of target control setting feedback information, including:

[0158] Add the address identifier information of the target sender that sent the control setting feedback information to the extended field of at least one control setting feedback information to obtain at least one target control setting feedback information.

[0159] Optionally, at least one target control setting feedback information is sent to the at least one acquisition terminal, including:

[0160] At least one target control setting feedback information is sent to the at least one acquisition terminal within a preset feedback time period.

[0161] Optionally, the first sending module 22 is further configured to:

[0162] The target sending end that has not sent target control setting feedback information receives a point-to-point connection request sent by the target acquisition end and establishes a point-to-point connection with the target acquisition end.

[0163] Through the point-to-point connection, target control information sent by the target acquisition terminal is received.

[0164] like Figure 2 As shown, an embodiment of the present invention provides a data acquisition terminal, which is wirelessly connected to multiple transmitters mounted on the robotic arm of a coal mine excavation equipment. The data acquisition terminal 30 includes:

[0165] The second receiving module 31 is used to receive the status data of the coal mine excavation equipment monitored by the transmitting end, which is broadcast by at least one transmitting end in a preset period.

[0166] The second sending module 32 is used to send control information to at least one sending end in a broadcast manner based on the status data.

[0167] The second receiving module 31 is further configured to receive at least one control setting feedback information generated by the sending end after performing local control settings according to the control information; wherein, the at least one control setting feedback information is respectively added with the identification information of the target sending end that sent the control setting feedback information to obtain at least one target control setting feedback information;

[0168] The second sending module 32 is further configured to update the sending end control setting feedback information table according to the at least one target control setting feedback information; determine the control setting status of the sending end within a preset time period according to the control setting feedback information table; and send the control setting status to the remote data center.

[0169] Optionally, updating the sending end control setting feedback information table based on the at least one target control setting feedback information includes:

[0170] According to the preset table update cycle, at least one target control setting feedback information received is added to the broadcast information receiving table to obtain the sending end control setting feedback information table.

[0171] Optionally, the second sending module 32 is further configured to:

[0172] Send a point-to-point connection request to the target sender that has not sent target control setting feedback information, and establish a point-to-point connection with the target sender;

[0173] Target control information is sent through the point-to-point connection.

[0174] It should be noted that this device is a device corresponding to the above method. All implementation methods in the above method embodiments are applicable to this embodiment and can achieve the same technical effect.

[0175] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling information transmission, characterized in that, The method involves multiple transmitters mounted on a robotic arm of a coal mine excavating equipment, wherein the multiple transmitters are wirelessly connected to at least one data acquisition terminal, and the method includes: The status data of the coal mining equipment monitored by the transmitting end is broadcast to at least one acquisition end according to a preset cycle; the acquisition end establishes a broadcast information receiving table including a list of all wireless communication connection transmitting ends; Receive control information broadcast by at least one acquisition terminal after receiving status data; After making local control settings based on the control information, at least one control setting feedback information is generated; Add the identifier information of the target sending end that sends the control setting feedback information to at least one control setting feedback information to obtain at least one target control setting feedback information; At least one target control setting feedback information is sent to the at least one acquisition terminal, so that the at least one acquisition terminal updates the sending terminal control setting feedback information table according to the target control setting feedback information, and determines the control setting status of the sending terminal within a preset time period based on the control setting feedback information table, and sends the control setting status and the control setting feedback information table to a remote data center; the feedback information table of the acquisition terminal includes: identification information of all sending terminals wirelessly connected to it, and the acquisition terminal compares the target control setting feedback information received from the sending terminal within the preset time period with the feedback information table to determine whether the sending terminal has completed local control setting, has not completed local control setting, or has not provided feedback on the control setting status; Among them, according to T = a × b × c × d × T 0, determine the preset time period; in, T For a preset time period, T 0 represents the maximum period for normal communication between the sending and receiving ends. a For the number of senders, b This is a correction factor for the number of transmitters. c The distance between the sending end and the receiving end. d The distance between the transmitting end and the collecting end is adjusted by a correction coefficient. The collecting end adds at least one type of target control setting feedback information received to the broadcast information receiving table according to a preset table update cycle, thereby obtaining a transmitting end control setting feedback information table. The multiple collecting ends synchronize the table content based on a unified update cycle. The feedback information received by one collecting end is synchronized to the feedback information tables of other collecting ends. By adding the identifier information of the target sender that sent the control setting feedback information to at least one type of control setting feedback information, at least one type of target control setting feedback information is obtained, including: Add the address identifier information of the target sender that sent the control setting feedback information to the extended field of at least one control setting feedback information to obtain at least one target control setting feedback information; The method further includes: The target sending end, which has not sent target control setting feedback information, receives a point-to-point connection request from the target acquisition end and establishes a point-to-point connection with the target acquisition end.

2. A method for controlling information transmission, characterized in that, The method, which involves multiple acquisition terminals installed on coal mine excavation equipment, wherein the multiple acquisition terminals are wirelessly connected to at least one transmitter, includes: The acquisition terminal receives status data of coal mine excavation equipment monitored by at least one transmitter, which is broadcast at a preset period; the acquisition terminal establishes a broadcast information reception table including a list of all wireless communication connection transmitters. Based on the status data, control information is broadcast to at least one transmitting end. After the receiving and transmitting end performs local control settings according to the control information, it generates at least one control setting feedback information; wherein, the identification information of the target sending end that sent the control setting feedback information is added to the at least one control setting feedback information to obtain at least one target control setting feedback information; Update the sending end control setting feedback information table according to the at least one target control setting feedback information; Based on the control setting feedback information table, the control setting status of the transmitting end within a preset time period is determined, and the control setting status is sent to the remote data center; The feedback information table includes identification information of all transmitting ends connected to it wirelessly. The acquisition end will compare the target control setting feedback information received from the transmitting end within a preset time period with the feedback information table to determine whether the transmitting end has completed the local control setting, or whether the transmitting end has not completed the local control setting, or whether the transmitting end has not provided feedback on the control setting status. Among them, according to T = a × b × c × d × T 0, determine the preset time period; in, T For a preset time period, T 0 represents the maximum period for normal communication between the sending and receiving ends. a For the number of senders, b This is a correction factor for the number of transmitters. c The distance between the sending end and the receiving end. d The distance between the transmitting end and the collecting end is adjusted by a correction coefficient. The collecting end adds at least one type of target control setting feedback information received to the broadcast information receiving table according to a preset table update cycle, thereby obtaining a transmitting end control setting feedback information table. The multiple collecting ends synchronize the table content based on a unified update cycle. The feedback information received by one collecting end is synchronized to the feedback information tables of other collecting ends. The receiving and transmitting end adds the identifier information of the target transmitting end that sent the control setting feedback information to at least one type of control setting feedback information, thereby obtaining at least one type of target control setting feedback information, including: The receiving and sending ends add the address identification information of the target sending end that sent the control setting feedback information to the extended field of at least one control setting feedback information to obtain at least one target control setting feedback information; Update the sending end control setting feedback information table according to the at least one target control setting feedback information, including: According to the preset table update cycle, at least one target control setting feedback information received is added to the broadcast information receiving table to obtain the sending end control setting feedback information table; The method further includes: Send a point-to-point connection request to the target sender that has not sent target control setting feedback information, and establish a point-to-point connection with the target sender.

3. A transmitter, characterized in that, The transmitting end is mounted on the robotic arm of a coal mine excavation equipment, and the transmitting end is wirelessly connected to at least one data acquisition end. The transmitting end includes: The first transmitting module is used to broadcast the status data of the coal mine excavation equipment monitored by the transmitting end to at least one acquisition end according to a preset period; the acquisition end establishes a broadcast information receiving table including a list of all wireless communication connection transmitting ends; The first receiving module is used to receive control information broadcast by at least one acquisition terminal after receiving status data; after performing local control settings according to the control information, it generates at least one control setting feedback information; and adds the identification information of the target sending terminal that sent the control setting feedback information to the at least one control setting feedback information to obtain at least one target control setting feedback information. The first sending module is further configured to send at least one target control setting feedback information to the at least one acquisition terminal, so that the at least one acquisition terminal updates the sending terminal control setting feedback information table according to the target control setting feedback information, and determines the control setting status of the sending terminal within a preset time period based on the control setting feedback information table, and sends the control setting status to the remote data center; the feedback information table of the acquisition terminal includes: identification information of all sending terminals wirelessly connected to it, and the acquisition terminal compares the target control setting feedback information received from the sending terminal within the preset time period with the feedback information table to determine whether the sending terminal has completed local control setting or has not completed local control setting or has not provided feedback on the control setting status; Among them, according to T = a × b × c × d × T 0, determine the preset time period; in, T For a preset time period, T 0 represents the maximum period for normal communication between the sending and receiving ends. a For the number of senders, b This is a correction factor for the number of transmitters. c The distance between the sending end and the receiving end. d The distance between the transmitting end and the collecting end is adjusted by a correction coefficient. The collecting end adds at least one type of target control setting feedback information received to the broadcast information receiving table according to a preset table update cycle, thereby obtaining a transmitting end control setting feedback information table. The multiple collecting ends synchronize the table content based on a unified update cycle. The feedback information received by one collecting end is synchronized to the feedback information tables of other collecting ends. By adding the identifier information of the target sender that sent the control setting feedback information to at least one type of control setting feedback information, at least one type of target control setting feedback information is obtained, including: Add the address identifier information of the target sender that sent the control setting feedback information to the extended field of at least one control setting feedback information to obtain at least one target control setting feedback information; The method further includes: The target sending end, which has not sent target control setting feedback information, receives a point-to-point connection request from the target acquisition end and establishes a point-to-point connection with the target acquisition end.

4. A data acquisition terminal, characterized in that, The acquisition terminal is wirelessly connected to multiple transmitters mounted on the robotic arm of a coal mine excavation equipment. The acquisition terminal includes: The second receiving module is used to receive status data of coal mine excavation equipment monitored by at least one transmitting end, which is broadcast in a broadcast manner according to a preset period; the collecting end establishes a broadcast information receiving table including a list of all wireless communication connection transmitting ends; The second sending module is used to send control information to at least one sending end in a broadcast manner based on the status data; The second receiving module is further configured to receive at least one control setting feedback information generated by the sending end after performing local control settings according to the control information; wherein, the at least one control setting feedback information is respectively added with the identification information of the target sending end that sent the control setting feedback information to obtain at least one target control setting feedback information; The second sending module is further configured to update the sending end control setting feedback information table according to the at least one target control setting feedback information; determine the control setting status of the sending end within a preset time period according to the control setting feedback information table; and send the control setting status to the remote data center. The feedback information table includes identification information of all transmitting ends connected to it wirelessly. The acquisition end will compare the target control setting feedback information received from the transmitting end within a preset time period with the feedback information table to determine whether the transmitting end has completed the local control setting, or whether the transmitting end has not completed the local control setting, or whether the transmitting end has not provided feedback on the control setting status. Among them, according to T = a × b × c × d × T 0, determine the preset time period; in, T For a preset time period, T 0 represents the maximum period for normal communication between the sending and receiving ends. a For the number of senders, b This is a correction factor for the number of transmitters. c The distance between the sending end and the receiving end. d The distance between the transmitting end and the collecting end is adjusted by a correction coefficient. The collecting end adds at least one type of target control setting feedback information received to the broadcast information receiving table according to a preset table update cycle, thereby obtaining a transmitting end control setting feedback information table. The multiple collecting ends synchronize the table content based on a unified update cycle. The feedback information received by one collecting end is synchronized to the feedback information tables of other collecting ends. The receiving and transmitting end adds the identifier information of the target transmitting end that sent the control setting feedback information to at least one type of control setting feedback information, thereby obtaining at least one type of target control setting feedback information, including: The receiving and sending ends add the address identification information of the target sending end that sent the control setting feedback information to the extended field of at least one control setting feedback information to obtain at least one target control setting feedback information; Update the sending end control setting feedback information table according to the at least one target control setting feedback information, including: According to the preset table update cycle, at least one target control setting feedback information received is added to the broadcast information receiving table to obtain the sending end control setting feedback information table; The method further includes: Send a point-to-point connection request to the target sender that has not sent target control setting feedback information, and establish a point-to-point connection with the target sender.

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