A control device of a hydraulic support and a coal mining control system

Abstract

The present disclosure provides a hydraulic support control device and a coal mining control system, the control device comprises a single support monitoring unit capable of realizing hierarchical control, a group control unit and a system scheduling unit, the single support monitoring unit is used for controlling the corresponding hydraulic support, the group control unit is used for realizing control on the single support monitoring units which form a group, and the system scheduling unit is used for monitoring and analyzing working condition data, and realizing follow-machine scheduling control of the hydraulic support according to a coal mining process. The embodiment of the present disclosure realizes working condition monitoring and action driving of the hydraulic support through three control modes at different levels, i.e. single support monitoring, group control and follow-machine automatic control, thereby simplifying the complexity of the conventional support controller and control system; and the system scheduling unit can realize offline editing and online calling of the coal mining process, thereby solving the problems of intelligent mining caused by the dependence of mining control on the experience of production personnel and the lack of guidance of the coal mining process.

Description

Technical Field

[0001] This disclosure relates to the technical field of hydraulic support control in coal mining operations, and more specifically, to a control device for hydraulic supports and a coal mining control system. Background Technology

[0002] Currently, coal mining in fully mechanized longwall faces involves coal cutting by coal mining machines, hydraulic support, and coal transportation by scraper conveyors. The hydraulic support control is achieved through an electro-hydraulic control system that controls the hydraulic cylinders for support column erection, pushing, side support, balancing, and bottom lifting, as well as monitoring the support column pressure, pushing stroke, and attitude. Sensors, solenoid valve actuators, and other equipment are all connected to the support controller. The controller and support are connected via a communication bus. For local control, users can query support status and perform control operations using a human-machine interface keyboard. In automated control, each support controller needs to determine whether a corresponding process needs to be executed based on the position and direction of the coal mining machine. If the determination confirms that a control process is required, the controller will control the hydraulic cylinders.

[0003] (1) In the current technical solution, each hydraulic support is equipped with a support controller. The support controller has high power consumption, which means that a power supply box needs to be configured for every 6-8 supports. This results in high complexity of the electro-hydraulic control system of the hydraulic support and the cost cannot be further reduced.

[0004] (2) Due to the explosion-proof performance requirements of electronic equipment in coal mines, the performance of support controllers is generally insufficient. They can only execute control processes according to relatively simple program logic and cannot meet the requirements of complex operating systems, large-scale data communication and processing, and complex algorithm operation. Under the current technical solution, the automatic decision-making control of each hydraulic support has great technical limitations.

[0005] (3) Due to the large number of equipment and high complexity of the coal mining system, and the need for frequent dynamic adjustments to the coal mining process and equipment control procedures based on actual production conditions, the current automated control method of hydraulic supports is singular and not adaptable enough to the coal mining process. It cannot adjust the automated control method of the equipment in a timely manner according to actual needs. Summary of the Invention

[0006] In view of this, the present disclosure aims to provide a control device and a coal mining control system for hydraulic supports, in order to solve the technical problems of high complexity of existing electro-hydraulic control systems for hydraulic supports, significant technical limitations of automated control of hydraulic supports themselves, and the single automated control method of current hydraulic supports, which is not adaptable enough to coal mining processes.

[0007] This disclosure provides a control device for a hydraulic support, the control device including a single-support monitoring unit, a group control unit, and a system scheduling unit capable of hierarchical control. The single-support monitoring unit is used to monitor the corresponding hydraulic support, the group control unit is used to control the single-support monitoring units that form a group, and the system scheduling unit is used to monitor and analyze working condition data to realize the follow-up scheduling control of the hydraulic support according to the coal mining process.

[0008] In some embodiments, the single-frame monitoring unit includes at least a sensor monitoring module, a first data communication module, and a solenoid valve drive module. The first data communication module is used to receive and transmit data for the single-frame monitoring unit. The sensor monitoring module is used to acquire sensor data and transmit sensor data through sensor devices configured for the hydraulic support. The solenoid valve drive module is used to receive drive scheduling instructions for the solenoid valve and generate a solenoid valve drive signal according to preset drive control logic to drive the electro-hydraulic directional valve, thereby controlling the cylinder corresponding to the hydraulic support.

[0009] In some embodiments, the sensor device includes at least one of the following: column pressure sensor, push stroke sensor, coal mining machine infrared position detection sensor, support height sensor, and support posture sensor.

[0010] In some embodiments, the group control unit includes at least a second data communication module, a scheduling control module, and a first human-machine interaction module. The second data communication module is used to receive data uploaded by the single monitoring unit, receive data sent by the system scheduling unit, and report data to the scheduling control module. It is also used to send data assigned to the single monitoring unit after processing by the scheduling control module and to upload data assigned to the system scheduling unit. The scheduling control module is used to process the data transmitted by the second data communication module in a hierarchical manner and send it. At the same time, it receives interactive control commands sent by the first human-machine interaction module to realize the interaction between the operator and the group control unit.

[0011] In some embodiments, the functions implemented by the first human-machine interaction module include at least: querying the status and parameters of the group control unit and the status and parameters of the single-frame monitoring unit in the next layer; selecting any one of the hydraulic supports in the group for single-action or group control; and selecting several hydraulic supports in the group, adjacent groups, and cross groups for group action control.

[0012] In some embodiments, the system scheduling unit includes at least a process editing module, an execution module, a third data communication module, and a second human-machine interaction module. The process editing module is used to realize offline editing of the coal mining process of the fully mechanized mining face or to import coal mining process files sent by external devices. The execution module is used to obtain the running direction and location of the coal mining machine based on the sensor data uploaded by the single-frame monitoring unit to determine the actual execution stage and operation status of the coal mining process. At the same time, it performs coal mining process operation and process switching based on the running direction and location of the coal mining machine, determines the hydraulic support control process in the coal mining process file, and transmits the control scheduling instructions for the hydraulic support.

[0013] In some embodiments, the editing process of the coal mining process is implemented through a graphical software interface, including: determining the number of hydraulic support models according to the actual number of hydraulic supports in the fully mechanized mining face, and dividing them according to the actual production process; dividing the coal mining process into multiple process stages according to the location and running direction of the coal mining machine; editing the control logic of each hydraulic support in each process stage based on the running position and running direction of the coal mining machine as the association condition for the hydraulic support to follow the machine's action, and forming a coal mining process document; and importing the coal mining process document into the hydraulic support control logic into the operation execution module for support scheduling control.

[0014] In some embodiments, the second human-computer interaction module is used to edit the process or select and call the coal mining process files stored internally, and to select the control process according to the actual production process.

[0015] In some embodiments, the coal mining process document is loaded into the system scheduling unit from an external source.

[0016] This disclosure provides a coal mining control system, which includes a coal mining machine, a hydraulic support, and the control device described in any one of the above.

[0017] This disclosure embodiment achieves condition monitoring and action driving of hydraulic supports through three control modes at different levels: single-support monitoring, group control, and automatic follow-up control, simplifying the complexity of traditional support controllers and control systems. It can also realize offline editing and online calling of coal mining processes through the system scheduling unit, which can solve problems such as mining control relying on the experience of production personnel and lack of coal mining process guidance for intelligent mining.

[0018] To make the foregoing objectives, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below.

[0019] Examples, along with the accompanying drawings, are explained in detail below. Attached Figure Description

[0020] In drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with or without letter suffixes may indicate different instances of similar parts. The drawings generally illustrate various embodiments by way of example rather than limitation and are used, together with the description and claims, to illustrate the disclosed embodiments. Where appropriate, the same reference numerals are used in all drawings to refer to the same or similar parts. Such embodiments are illustrative and not intended to be exhaustive or exclusive embodiments of the apparatus or method. The accompanying drawings, which are provided to further understand this disclosure and form part of this application, are used to explain the illustrative embodiments of this disclosure and do not constitute an undue limitation of this disclosure. In the drawings:

[0021] Figure 1 This is a schematic diagram of the control device provided in this disclosure;

[0022] Figure 2 This is a schematic diagram showing the connection between a single monitoring unit and a group of control units in the control device provided in this disclosure;

[0023] Figure 3 This is a schematic diagram showing the connection between the group control unit and the system scheduling unit in the control device provided in this disclosure.

[0024] The above figures include the following reference numerals:

[0025] 1-Hydraulic support; 10-Single support monitoring unit; 11-Sensing and monitoring module; 12-First data communication module; 13-Solenoid valve drive module; 20-Group control unit; 21-Second data communication module; 22-Dispatch control module; 23-First human-machine interaction module; 30-System scheduling unit; 31-Process editing module; 32-Running execution module; 33-Third data communication module; 34-Second human-machine interaction module; 40-Third-party equipment. Detailed Implementation

[0026] The specific embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, but these are not intended to limit the scope of this disclosure.

[0027] It should be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this disclosure will be apparent to those skilled in the art.

[0028] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

[0029] These and other features of this disclosure will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0030] It should also be understood that although this disclosure has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this disclosure, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0031] The above and other aspects, features and advantages of this disclosure will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0032] Specific embodiments of the present disclosure are described thereafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure and can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that could obscure the present disclosure. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but merely to serve as the basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of substantially any suitable detailed structures.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] This specification may use the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” or “in still another embodiment,” all of which may refer to one or more of the same or different embodiments according to this disclosure.

[0035] The first embodiment of this disclosure provides a control device for a hydraulic support, which is applicable to the scenario of coal mining on a fully mechanized mining face using a coal mining machine. This embodiment can control the hydraulic support 1 according to the working progress of the coal mining machine on the fully mechanized mining face. Here, there are multiple hydraulic supports 1, which are arranged sequentially along the fully mechanized mining face. Here, the hydraulic supports 1 are driven by oil cylinders, and the oil cylinders are controlled by electro-hydraulic directional valves.

[0036] like Figures 1-3 As shown, the control device in this embodiment includes a single-frame monitoring unit 10, a group control unit 20, and a system scheduling unit 30. These three units can divide the control functions of the hydraulic support 1 into hierarchical levels. The control device hierarchically implements the original control functions of the hydraulic support 1, allowing the control unit of each level to focus on the functional points of interest at that level, thus reducing the complexity of the equipment at each level.

[0037] Specifically, the single-frame monitoring unit 10 is configured corresponding to the hydraulic support 1, and the single-frame monitoring unit 10 corresponding to each hydraulic support 1 is connected to the single-frame monitoring unit 10 corresponding to the adjacent hydraulic support 1 through a data interface to facilitate data transmission.

[0038] The single-frame monitoring unit 10 is used to monitor the corresponding hydraulic support 1. It includes at least a sensor monitoring module 11, a first data communication module 12, and a solenoid valve drive module 13. The sensor monitoring module 11 is used to acquire sensor data and transmit sensor data through sensor devices configured for the hydraulic support 1. The sensor devices include, for example, column pressure sensors, push stroke sensors, coal mining machine infrared position detection sensors, support height sensors, and support attitude sensors configured for the hydraulic support 1, but are not limited to the above sensors.

[0039] The first data communication module 12 is used to receive and send data from the single-frame monitoring unit 10, such as receiving numbering instructions issued by the group control unit 20 at the next higher level and setting numbers within the group.

[0040] The solenoid valve drive module 13 receives drive scheduling commands from the solenoid valve, generates solenoid valve drive signals based on preset drive control logic, and drives the electro-hydraulic directional valve, ultimately controlling the cylinder corresponding to the hydraulic support. This solenoid valve drive module has functions such as solenoid valve drive logic pre-storage, solenoid valve drive command reception and processing, and solenoid valve drive signal output.

[0041] Specifically, the single-frame monitoring unit 10 receives solenoid valve drive control logic data regarding various action control modes of the hydraulic support 1 from the group control unit 20 via the first data communication module 12. This includes various automatic support movement modes, automatic sliding with different stroke targets, and automatic extension / retraction of side guards. The control logic for each action control mode is received and pre-stored in the solenoid valve drive module 13. Furthermore, before controlling the hydraulic support 1, the single-frame monitoring unit 10 receives action control mode scheduling instructions via the solenoid valve drive module 13 and generates solenoid valve drive signals based on the preset drive control logic to drive the electro-hydraulic directional valve.

[0042] Compared to existing controllers for hydraulic supports, the single-frame monitoring unit 10 does not require a human-machine interface or auxiliary equipment such as a display screen. It also eliminates the need for personnel to perform one-on-one interactive control and parameter setting, thus significantly reducing equipment complexity and power consumption.

[0043] Furthermore, the group control unit 20 is used to control the group of individual monitoring units 10. Multiple individual monitoring units 10 on the fully mechanized mining face can be grouped together. The individual monitoring units 10 within a group are interconnected and sequentially connected to the group control unit 20. The group control unit 20 enables centralized management and control of the group of individual monitoring units 10 on the fully mechanized mining face. The group control unit 20 receives data uploaded by the individual monitoring units 10, processes it, and reports it to the system scheduling unit 30. Simultaneously, the group control unit 20 receives instructions issued by the system scheduling unit 30, processes them, and can issue control instructions to the individual monitoring units 10 within its group.

[0044] Specifically, the grouped control unit 20 here includes at least a second data communication module 21, a scheduling control module 22, and a first human-computer interaction module 23.

[0045] The second data communication module 21 is used to receive data uploaded by the single-frame monitoring unit 10, receive data sent by the system scheduling unit 30, and send data to the scheduling control module 22. After processing by the scheduling control module 22, the data designated to the single-frame monitoring unit 10 is sent down and the data designated to the system scheduling unit 40 is uploaded.

[0046] The scheduling and control module 22 processes the data transmitted by the second data communication module 21. Specifically, it processes the data according to three levels: the current layer (the current group control unit 20), the next layer (the single-frame monitoring unit 10 within the group), and the previous layer (the system scheduling unit 30). The processed data is then translated into the data format corresponding to the device at the corresponding layer and fed back to the second data communication module 21 for transmission. Furthermore, the scheduling and control module 22 can also receive interactive control commands sent by the first human-machine interaction module 23, enabling interaction between the operator and the group control unit 20.

[0047] In addition, the first human-machine interaction module 23 in the group control unit 20 is equipped with buttons, a display and other devices to facilitate operator control and interaction.

[0048] In this embodiment, the main function of the first human-machine interaction module 23 is to centrally manage the single-frame monitoring unit 10 corresponding to the hydraulic support 1 in this group. For example, it includes at least: querying the status and parameters of the group control unit 20 and the status and parameters of the single-frame monitoring unit 10 in the next layer through the first human-machine interaction module 23, especially including setting the number and configuring the function parameters of the single-frame monitoring unit 10 in this group; selecting any hydraulic support 1 in this group for single-action or group control through the first human-machine interaction module 23; selecting several hydraulic supports 1 in this group, adjacent groups, and cross groups for group action through the first human-machine interaction module 23. Here, the group control unit 20 determines that the hydraulic support 1 belongs to a group that requires the cooperation of adjacent group control units 20 in addition to the hydraulic support 1 in this group by analyzing the number of selected hydraulic supports 1.

[0049] The system scheduling unit 30, serving as the overall scheduling device for the control apparatus in this embodiment, receives data uploaded by all group control units 20 to facilitate monitoring and analysis of the operating data reported by the sensor devices. Simultaneously, it can implement follow-up scheduling control of the hydraulic support 1 according to the coal mining process. By issuing scheduling control commands to the group control units 20, which then forward them to the corresponding individual support monitoring units 10 within their group, overall control is achieved. The coal mining process documents are loaded into the system scheduling unit 30 from an external source via transmission, copying, or other means.

[0050] The system scheduling unit 30 includes at least a process editing module 31, a running execution module 32, a third data communication module 33, and a second human-machine interaction module 34.

[0051] The process editing module 31 described here is used to realize offline editing of the coal mining process of the fully mechanized mining face or to import coal mining process files issued by third-party equipment 40. The editing process of the coal mining process is implemented through a graphical software interface, and the specific steps are as follows:

[0052] First, the number of hydraulic support models is determined according to the actual number of hydraulic supports 1 in the fully mechanized mining face, and the face is divided into three areas according to the actual production process: the middle of the working face, the head of the working face, and the tail of the working face.

[0053] Secondly, based on the location of the coal mining machine and the corresponding different operating directions such as upward or downward, the coal mining process is divided into multiple process stages. These process stages include, for example, the upward middle process stage, the upward end process stage, the upward oblique cutting and cutting process stage, the upward triangular coal process stage, the downward middle process stage, the downward end process stage, the downward oblique cutting and cutting process stage, and the downward triangular coal process stage.

[0054] Third, in each of the aforementioned process stages, the operating position and direction of the coal mining machine are used as the associated conditions for the hydraulic supports to follow the machine's movements, thereby editing the control logic for each hydraulic support 1. After completing the editing of the control logic for the hydraulic supports 1 corresponding to the coal mining machine position in all process stages, a coal mining process document is formed. This coal mining process document is saved and then used to form the hydraulic support control logic, which is imported into the execution module for support scheduling control.

[0055] It should be noted that, due to the large number of equipment and high complexity of processes in coal mine fully mechanized mining systems, and the need for frequent dynamic adjustments to coal mining processes and equipment control procedures based on actual production conditions, operators can collect different types of coal mining processes in advance, edit the different control logics of various equipment in a graphical manner, and save the edited files to form multiple coal mining process files.

[0056] By editing coal mining process documents offline to generate and run hydraulic support control logic, and performing equipment scheduling control based on judgment criteria, system-level automated control of hydraulic supports following the machine can be achieved. This reduces the program complexity of single-machine monitoring units while improving the suitability of the automated control function following the machine.

[0057] The execution module 32 receives the coal mining machine position data uploaded by the single-frame monitoring unit 10, which is collected by, for example, an infrared detection sensor. After analysis and calculation, it obtains the coal mining machine's running direction and location, thereby determining the actual execution stage and operation status of the coal mining process. Simultaneously, it performs coal mining process operation and process switching based on the coal mining machine's running direction and location. It also determines the triggering conditions of the hydraulic support control process edited in the coal mining process file, sends hydraulic support control process scheduling instructions, and realizes the issuance of scheduling instructions for control processes such as the hydraulic support's full-face following machine movement, push conveyor, extension and retraction of side protection plates, and coordinated control of end supports and roadway advance support supports, transfer self-movement, belt self-movement tail and other devices.

[0058] The third data communication module 33 is used to enable communication between the system scheduling unit 30 and other devices, such as the group control unit and other host computer devices conforming to the communication protocol. Therefore, the coal mining process document is also imported into the system scheduling unit through the communication interface after being edited by other devices, such as a computer, via the data transmission function, and then the coal mining process document is called.

[0059] The second human-machine interface module 34 is used to enable interactive operations with the operator. For example, the second human-machine interface module 34 can be equipped with an external display window and interactive control buttons. The operator can use the interactive control buttons to edit the process or select and call up internally stored coal mining process files, and select the control process according to the actual production process. For example, when the fully mechanized mining face encounters a process adjustment requirement, the operator can use the second human-machine interface module 34 to select the pre-edited process file corresponding to the required process, call the selected process file, generate hydraulic support control logic from the newly selected process file, and import it into the execution module 32 for hydraulic support scheduling and control.

[0060] The control device described in this embodiment reduces the number of support controllers that must be installed on each hydraulic support, thereby reducing system power consumption and complexity. On the other hand, by deploying support process control units in the system, the hydraulic supports can be scheduled and controlled as a whole according to the control process required by the production system, thus improving automation.

[0061] The second embodiment of this disclosure provides a coal mining control system, which includes a coal mining machine, a hydraulic support 1, and the control device described in the above embodiments.

[0062] Furthermore, there are multiple hydraulic supports 1 here, and the multiple hydraulic supports 1 are arranged sequentially along the fully mechanized mining face.

[0063] This disclosure embodiment achieves condition monitoring and action driving of hydraulic supports through three control modes at different levels: single-support monitoring, group control, and automatic follow-up control, simplifying the complexity of traditional support controllers and control systems. It can also realize offline editing and online calling of coal mining processes through the system scheduling unit, which can solve problems such as mining control relying on the experience of production personnel and lack of coal mining process guidance for intelligent mining.

[0064] In the above embodiments of this disclosure, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0065] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, rotated 90 degrees, or in other orientations, and the spatial relative descriptions used herein will be interpreted accordingly.

[0066] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this disclosure.

[0067] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0068] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control device for a hydraulic support, characterized in that, The control device includes a single-frame monitoring unit, a group control unit, and a system scheduling unit capable of hierarchical control. The single-frame monitoring unit is used to monitor the corresponding hydraulic support. The group control unit is used to control the single-frame monitoring units that form a group. The system scheduling unit is used to monitor and analyze the working condition data to realize the follow-up scheduling control of the hydraulic support according to the coal mining process. The single-frame monitoring unit includes at least a sensor monitoring module, a first data communication module, and a solenoid valve drive module. The first data communication module is used to receive and transmit data for the single-frame monitoring unit. The sensor monitoring module is used to acquire sensor data and transmit sensor data through sensor devices configured for the hydraulic support. The solenoid valve drive module is used to receive drive scheduling instructions for the solenoid valve and generate a solenoid valve drive signal according to preset drive control logic to drive the electro-hydraulic directional valve, thereby controlling the cylinder corresponding to the hydraulic support. The sensor device includes at least one of the following: column pressure sensor, push stroke sensor, coal mining machine infrared position detection sensor, support height sensor, and support attitude sensor; The grouped control unit includes at least a second data communication module, a scheduling control module, and a first human-machine interaction module. The second data communication module is used to receive data uploaded by the single monitoring unit, receive data sent by the system scheduling unit, and report data to the scheduling control module. It is also used to send data assigned to the single monitoring unit after processing by the scheduling control module and to upload data assigned to the system scheduling unit. The scheduling and control module is used to process the data transmitted by the second data communication module in a hierarchical manner and then send it, while receiving interactive control commands sent by the first human-machine interaction module to realize the interaction between the operator and the grouped control unit.

2. The control device according to claim 1, characterized in that, The functions implemented by the first human-computer interaction module include at least: querying the status and parameters of the group control unit and the status and parameters of the single monitoring unit at the next layer; selecting any one of the hydraulic supports in the group for single-action or group control; and selecting several hydraulic supports in the group, adjacent groups, and cross groups for group action control.

3. The control device according to claim 2, characterized in that, The system scheduling unit includes at least a process editing module, a run execution module, a third data communication module, and a second human-machine interaction module; The process editing module is used to enable offline editing of coal mining processes in fully mechanized mining faces or to receive and import coal mining process files from external devices. The operation execution module is used to obtain the running direction and location of the coal mining machine based on the sensor data uploaded by the single monitoring unit to determine the actual execution stage and operation status of the coal mining process. At the same time, it performs coal mining process operation and process switching based on the running direction and location of the coal mining machine, determines the hydraulic support control process in the coal mining process file, and transmits the control and scheduling instructions for the hydraulic support.

4. The control device according to claim 3, characterized in that, The coal mining process editing process is implemented through a graphical software interface, including: determining the number of hydraulic support models according to the actual number of hydraulic supports in the fully mechanized mining face, and dividing them according to the actual production process; dividing the coal mining process into multiple process stages according to the location and running direction of the coal mining machine; editing the control logic of each hydraulic support in each process stage based on the running position and running direction of the coal mining machine as the association condition for the hydraulic support to follow the machine's action, and forming a coal mining process document; importing the coal mining process document into the hydraulic support control logic into the operation execution module for support scheduling control.

5. The control device according to claim 4, characterized in that, The second human-computer interaction module allows for process editing or selection and retrieval of internally stored coal mining process files, and the selection of control processes based on the actual production process.

6. The control device according to claim 5, characterized in that, The coal mining process documents are loaded from an external source into the system scheduling unit.

7. A coal mining control system, characterized in that, It includes a coal mining machine, a hydraulic support, and a control device as described in any one of claims 1-6.

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