Control methods for fully mechanized mining equipment and coal mining machines

Abstract

This application provides a control method for fully mechanized mining equipment and a coal mining machine, relating to the field of coal mining machinery control technology. The control method for this fully mechanized mining equipment, applied to a coal mining machine, includes: acquiring the operating status information of the coal mining machine; determining a target hydraulic support to be coordinated and controlled from multiple hydraulic supports based on the operating status information of the coal mining machine, wherein the multiple hydraulic supports are located on the same working face as the coal mining machine; and sending first information to the target hydraulic support based on the transmission channel between the coal mining machine and the target hydraulic support, the first information being used by the target hydraulic support to determine coordinated actions. The above technical solution can improve the coordination efficiency between the coal mining machine and the hydraulic supports, thereby increasing mining efficiency.

Description

Technical Field

[0001] This application relates to the field of coal mining machinery control technology, and more specifically, to a control method for fully mechanized mining equipment and a coal mining machine. Background Technology

[0002] In the underground coal mine production environment, a coal mining machine and multiple hydraulic supports work simultaneously on the coal mining face. As the coal mining machine advances, the hydraulic support equipment needs to follow the coal mining machine to perform relevant production actions synchronously. For example, the hydraulic support numbered L in the direction of the coal mining machine's movement needs to follow the coal mining machine to perform the action of retracting the support guard plate, while the hydraulic support numbered K in the opposite direction needs to follow the coal mining machine to perform the action of following the conveyor and raising the support guard plate.

[0003] However, existing collaborative control schemes for coal mining machines and hydraulic supports generally suffer from low collaborative efficiency, resulting in low mining efficiency. Summary of the Invention

[0004] This application provides a control method for fully mechanized mining equipment and a coal mining machine, which can improve the coordination efficiency between the coal mining machine and the hydraulic support, thereby improving mining efficiency.

[0005] In a first aspect, a control method for a fully mechanized mining equipment is provided, applied to a coal mining machine. The method includes: acquiring the operating status information of the coal mining machine; determining a target hydraulic support to be coordinated and controlled from multiple hydraulic supports based on the operating status information of the coal mining machine, wherein the multiple hydraulic supports are located on the same working face as the coal mining machine; and sending first information to the target hydraulic support based on the transmission channel between the coal mining machine and the target hydraulic support, wherein the first information is used by the target hydraulic support to determine a coordinated action.

[0006] In the control method for fully mechanized mining equipment provided in this application embodiment, since a direct transmission channel is established between the coal mining machine and the hydraulic support and information is exchanged, intermediate forwarding is avoided, which can effectively reduce control delay, improve equipment linkage efficiency, and thus improve industrial production efficiency.

[0007] In conjunction with the first aspect, in one possible implementation, the operating status information of the coal mining machine includes the location information of the coal mining machine, or includes both the location information and the direction of movement information of the coal mining machine.

[0008] When the operating status information of the coal mining machine includes the location information of the coal mining machine, the coordinated action can be determined by the target hydraulic support.

[0009] When the operating status information of the coal mining machine includes the position information and the direction of movement information of the coal mining machine, the coordinated action can be determined by the coal mining machine.

[0010] In conjunction with the first aspect, in one possible implementation, the first information includes at least one of the following: operating status information of the coal mining machine; instructions for instructing the target hydraulic support to perform coordinated control; or instructions for instructing the target hydraulic support to perform the coordinated action.

[0011] When the first information includes instructions to direct the target hydraulic support to perform the coordinated action, the first information explicitly indicates the specific coordinated action. In this case, the coordinated action is determined by the coal mining machine, which enables centralized and unified control of the coal mining machine, avoids action conflicts caused by errors or algorithm differences in individual supports, facilitates global dynamic optimization, and the hydraulic support only needs to execute standardized instructions, which can reduce the computational complexity of a single support.

[0012] When the first information includes the operating status information of the coal mining machine or instructions to coordinate the control of the target hydraulic support, the first information does not explicitly indicate the specific coordinated action. In this case, the coordinated action is determined by the hydraulic support, so that the hydraulic support can adjust its action parameters according to local characteristics such as the softness of the floor and coal wall spalling, dynamically optimize the support parameters, and thus flexibly adapt to local working conditions.

[0013] In conjunction with the first aspect, in one possible implementation, the method further includes: receiving the collaborative control result sent by the target hydraulic support based on the transmission channel; and updating the operating status of the coal mining machine according to the collaborative control result.

[0014] The target hydraulic support feeds back the collaborative control results to the coal mining machine, which can form a closed-loop feedback mechanism, which is conducive to realizing unmanned fully mechanized mining.

[0015] In conjunction with the first aspect, in one possible implementation, the coal mining machine includes a first application, a second application, and a protocol stack. The second application controls the operating state of the coal mining machine, and the first application controls the coordination of the target hydraulic support.

[0016] Based on the transmission channel, receiving the collaborative control result sent by the target hydraulic support includes: the protocol stack receiving the collaborative control result from the target hydraulic support based on the transmission channel; and the protocol stack sending the collaborative control result to the first application.

[0017] The operation status of the coal mining machine is updated based on the collaborative control result, including: the first application sending the collaborative control result to the second application; and the second application updating the operation status of the coal mining machine based on the collaborative control result.

[0018] In conjunction with the first aspect, in one possible implementation, the coal mining machine includes a first application and a protocol stack, wherein,

[0019] Based on the transmission channel, receiving the collaborative control result sent by the target hydraulic support includes: the protocol stack receiving the collaborative control result from the target hydraulic support based on the transmission channel; and the protocol stack sending the collaborative control result to the first application.

[0020] Based on the collaborative control results, the operating status of the coal mining machine is updated, including: the first application updates the operating status of the coal mining machine based on the collaborative control results.

[0021] In conjunction with the first aspect, in one possible implementation, after receiving the coordinated control result sent by the target hydraulic support based on the transmission channel, the method further includes: disconnecting the transmission channel.

[0022] Once the information transmission between the coal mining machine and the target hydraulic support is completed, disconnecting the transmission channel can save resources.

[0023] In conjunction with the first aspect, in one possible implementation, after identifying the target hydraulic support to be collaboratively controlled from among a plurality of hydraulic supports, and / or before sending the first information to the target hydraulic support, the method further includes: establishing the transmission channel with the target hydraulic support.

[0024] In conjunction with the first aspect, in one possible implementation, the coal mining machine includes a first application, a protocol stack, and a soft bus, wherein the first application is used to control the coordination of the target hydraulic support; wherein,

[0025] Establishing the transmission channel with the target hydraulic support includes: the first application sending a first request to the protocol stack, the first request including the first information, the device identifier of the target hydraulic support, and the device address of the target hydraulic support; the protocol stack calling the soft bus to establish the transmission channel with the target hydraulic support based on the device identifier and the device address of the target hydraulic support.

[0026] Based on the transmission channel between the coal mining machine and the target hydraulic support, a first message is sent to the target hydraulic support, including: the protocol stack sends a second request to the target hydraulic support through the transmission channel, the second request including the first message.

[0027] In conjunction with the first aspect, in one possible implementation, before establishing the transmission channel with the target hydraulic support, the method further includes: networking with the target hydraulic support based on the device identifier and device address of the target hydraulic support.

[0028] In conjunction with the first aspect, in one possible implementation, the coal mining machine includes a first application and a second application, the second application being used to control the operating state of the coal mining machine, and the first application being used to control the coordination of the target hydraulic support; wherein,

[0029] Obtaining the operating status information of the coal mining machine includes: the first application obtaining the operating status information of the coal mining machine from the second application;

[0030] Based on the operating status information of the coal mining machine, the target hydraulic support to be coordinated and controlled is determined from multiple hydraulic supports, including: the first application determines the target hydraulic support from multiple hydraulic supports based on the operating status information of the coal mining machine;

[0031] Based on the transmission channel between the coal mining machine and the target hydraulic support, a first message is sent to the target hydraulic support, including: the first application sends the first message to the target hydraulic support based on the transmission channel.

[0032] In conjunction with the first aspect, in one possible implementation, before obtaining the operating status information of the coal mining machine, the method further includes: establishing the association between the coal mining machine and the plurality of hydraulic supports.

[0033] Establishing the association between the coal mining machine and the multiple hydraulic supports allows the coal mining machine to determine the target hydraulic support to be coordinated and controlled based on the association, thereby achieving global control.

[0034] In conjunction with the first aspect, in one possible implementation, establishing the association between the coal mining machine and the plurality of hydraulic supports includes: broadcasting a third request, the third request including information about the working face where the coal mining machine is located; receiving a response message sent by each of the plurality of hydraulic supports, each response message including the equipment identifier and location information of the corresponding hydraulic support, the location information including the installation position of the corresponding hydraulic support relative to the starting point of the working face and / or the number of the corresponding hydraulic support, wherein the numbers of the plurality of hydraulic supports indicate the relative positional relationship between the plurality of hydraulic supports; and establishing an association between the coal mining machine and the plurality of hydraulic supports based on each response message, wherein the association includes a mapping relationship between the equipment identifier of the coal mining machine and the equipment identifier of each of the plurality of hydraulic supports, and a mapping relationship between the equipment identifier of each of the plurality of hydraulic supports and the location information of the corresponding hydraulic support.

[0035] In conjunction with the first aspect, in one possible implementation, each response message also includes information about the working face where the corresponding hydraulic support is located.

[0036] In conjunction with the first aspect, in one possible implementation, the third request further includes at least one of the following: the equipment identifier of the coal mining machine, the installation location of the coal mining machine relative to the starting point of the working face, or the number of the coal mining machine.

[0037] In this way, when the coal mining machine broadcasts a third request, it can broadcast its own identification information, location information, etc. If a hydraulic support receiving the third request determines that it is on the same working face as the coal mining machine, it can directly establish a connection with the coal mining machine based on the broadcast information. This allows the corresponding hydraulic support to actively establish a connection with the coal mining machine and transmit information. Because the coal mining machine broadcasts its own information, all hydraulic supports on the same working face can receive it, eliminating the need for each hydraulic support to initiate a broadcast, and the coal mining machine to respond to each broadcast individually, thus saving resource costs.

[0038] In conjunction with the first aspect, in one possible implementation, the coal mining machine includes a first application and a protocol stack, the first application being used to control the coal mining machine to establish the association with the plurality of hydraulic supports; wherein,

[0039] The third request is broadcast, which includes: the protocol stack receiving information about the working face where the coal mining machine is located from the first application; and the protocol stack broadcasting the third request based on the information about the working face where the coal mining machine is located.

[0040] Receiving a response message from each of the plurality of hydraulic supports includes: the protocol stack receiving each response message; and the protocol stack sending the device identifier and location information of the corresponding hydraulic support to the first application based on each response message.

[0041] Based on each response message, the association between the coal mining machine and the plurality of hydraulic supports is established, including: the first application establishes the association between the coal mining machine and the plurality of hydraulic supports based on the equipment identifier and location information of each hydraulic support among the plurality of hydraulic supports.

[0042] In conjunction with the first aspect, in one possible implementation, the method further includes: receiving a fourth request broadcast by a first hydraulic support among the plurality of hydraulic supports, the fourth request including information about the working face where the first hydraulic support is located; determining, based on the information about the working face where the first hydraulic support is located and the information about the working face where the coal mining machine is located, that the first hydraulic support and the coal mining machine are located on the same working face; and sending the equipment identifier of the coal mining machine to the first hydraulic support, the equipment identifier of the coal mining machine being used by the first hydraulic support to establish an association between the first hydraulic support and the coal mining machine.

[0043] In this way, the hydraulic support can detect the linked equipment and establish a relationship, which makes it easier for the hydraulic support to actively send information to other equipment in the future.

[0044] In conjunction with the first aspect, in one possible implementation, the target hydraulic support includes a first support group and / or a second support group, the first support group being located at the front end of the coal mining machine in the direction of travel, and the second support group being located at the rear end of the coal mining machine in the direction of travel. The first support group includes at least one hydraulic support, and the second support group includes at least one hydraulic support. The coordinated action of the first support group is to retract the side guard plate, and the coordinated action of the second support group is to follow the coal mining machine and open the side guard plate.

[0045] Secondly, a control method for a fully mechanized mining equipment is provided, applied to a hydraulic support, wherein the hydraulic support is a target hydraulic support to be controlled collaboratively among multiple hydraulic supports, and the multiple hydraulic supports are located on the same working face as the coal mining machine. The method includes: receiving first information from the coal mining machine based on the transmission channel between the hydraulic support and the coal mining machine, the first information being used to determine the collaborative action of the hydraulic support; and executing the collaborative action according to the first information.

[0046] In the control method for fully mechanized mining equipment provided in this application embodiment, since a direct transmission channel is established between the coal mining machine and the hydraulic support and information is exchanged, intermediate forwarding is avoided, which can effectively reduce control delay, improve equipment linkage efficiency, and thus improve industrial production efficiency.

[0047] In conjunction with the second aspect, in one possible implementation, the first information includes instructions for directing the hydraulic support to perform the coordinated action.

[0048] The first piece of information clearly indicates the specific coordinated actions. In this case, the coordinated actions are determined by the coal mining machine, which enables centralized and unified control of the coal mining machine. This avoids action conflicts caused by errors or algorithm differences in individual supports, which is beneficial for global dynamic optimization. Furthermore, the hydraulic supports only need to execute standardized instructions, which can reduce the computational complexity of individual supports.

[0049] In conjunction with the second aspect, in one possible implementation, the hydraulic support includes a third application, a fourth application, and a protocol stack. The fourth application controls the operating state of the hydraulic support, and the third application controls the coordination of the hydraulic support.

[0050] Based on the transmission channel between the hydraulic support and the coal mining machine, receiving first information from the coal mining machine includes: the protocol stack receiving the first information from the coal mining machine and sending the first information to the third application; the third application sending the first information to the fourth application;

[0051] Based on the first information, the coordinated action is performed, including: the fourth application controls the hydraulic support to perform the coordinated action according to the instruction in the first information.

[0052] In conjunction with the second aspect, in one possible implementation, the hydraulic support includes a third application and a protocol stack, wherein,

[0053] Based on the transmission channel between the hydraulic support and the coal mining machine, receiving first information from the coal mining machine includes: the protocol stack receiving the first information from the coal mining machine and sending the first information to the third application;

[0054] Based on the first information, the coordinated action is performed, including: the third application controls the hydraulic support to perform the coordinated action according to the instruction in the first information.

[0055] In conjunction with the second aspect, in one possible implementation, the first information includes the position information of the coal mining machine and / or instructions for instructing the hydraulic support to perform coordinated control. Executing the coordinated action based on the first information includes: determining the coordinated action of the hydraulic support based on the first information and the current operating status information of the hydraulic support; and executing the coordinated action.

[0056] The initial information does not clearly indicate the specific coordinated action. In this case, the coordinated action is determined by the hydraulic support. In this way, the hydraulic support can adjust its action parameters according to local characteristics such as the softness of the floor and the spalling of the coal wall, dynamically optimize the support parameters, and thus flexibly adapt to local working conditions.

[0057] In conjunction with the second aspect, in one possible implementation, the hydraulic support includes a third application, a fourth application, and a protocol stack. The fourth application controls the operating state of the hydraulic support, and the third application controls the coordination of the hydraulic support.

[0058] Based on the first information and the current operating status information of the hydraulic support, the coordinated action of the hydraulic support is determined, including: the third application receiving the first information from the protocol stack, wherein the first information is received by the protocol stack from the coal mining machine based on the transmission channel; the third application obtaining the current operating status information of the hydraulic support from the fourth application; and the third application determining the coordinated action based on the first information and the current operating status information of the hydraulic support.

[0059] The execution of the coordinated action includes: the fourth application receiving an instruction from the third application to instruct the hydraulic support to perform the coordinated action; and the fourth application controlling the hydraulic support to perform the coordinated action according to the instruction.

[0060] In conjunction with the second aspect, in one possible implementation, the hydraulic support includes a third application and a protocol stack, wherein,

[0061] Based on the first information and the current operating status information of the hydraulic support, the coordinated action of the hydraulic support is determined, including: the third application receiving the first information from the protocol stack, wherein the first information is received by the protocol stack from the coal mining machine based on the transmission channel; the third application obtaining the current operating status information of the hydraulic support; and the third application determining the coordinated action based on the first information and the current operating status information of the hydraulic support.

[0062] Performing the coordinated action includes: the third application controlling the hydraulic support to perform the coordinated action.

[0063] In conjunction with the second aspect, in one possible implementation, the method further includes: sending a collaborative control result to the coal mining machine based on the transmission channel, the collaborative control result being used to update the operating status of the coal mining machine.

[0064] The target hydraulic support feeds back the collaborative control results to the coal mining machine, which can form a closed-loop feedback mechanism, which is conducive to realizing unmanned fully mechanized mining.

[0065] In conjunction with the second aspect, in one possible implementation, the hydraulic support includes a third application and a fourth application, the fourth application being used to control the operating state of the hydraulic support, and the third application being used to control the coordination of the hydraulic support; wherein,

[0066] Based on the transmission channel, the third application sends the collaborative control result to the coal mining machine, including: the third application receiving the collaborative control result from the fourth application; and the third application sending the collaborative control result to the coal mining machine based on the transmission channel.

[0067] In conjunction with the second aspect, in one possible implementation, after sending the collaborative control result to the coal mining machine based on the transmission channel, the method further includes: disconnecting the transmission channel.

[0068] Once the information transmission between the coal mining machine and the target hydraulic support is completed, disconnecting the transmission channel can save resources.

[0069] In conjunction with the second aspect, in one possible implementation, before receiving the first information from the coal mining machine based on the transmission channel between the hydraulic support and the coal mining machine, the method further includes: establishing the transmission channel with the coal mining machine.

[0070] In conjunction with the second aspect, in one possible implementation, before receiving the first information from the coal mining machine based on the transmission channel between the hydraulic support and the coal mining machine, the method further includes: receiving a third request broadcast by the coal mining machine, the third request including information about the working face where the coal mining machine is located; determining, based on the third request and the information about the working face where the hydraulic support is located, that the hydraulic support and the coal mining machine are on the same working face; sending a first response message to the coal mining machine, the first response message including the equipment identifier and location information of the hydraulic support, the location information including the installation position of the hydraulic support relative to the starting point of the working face and / or the number of the hydraulic support, the number of the hydraulic support indicating the relative positional relationship between the hydraulic support and other hydraulic supports among the plurality of hydraulic supports, the first response message being used by the coal mining machine to establish an association relationship between the coal mining machine and the hydraulic support, the association relationship including the mapping relationship between the equipment identifier of the coal mining machine and the equipment identifier of the hydraulic support, and the mapping relationship between the equipment identifier of the hydraulic support and the location information of the hydraulic support.

[0071] In conjunction with the second aspect, in one possible implementation, the first response message also includes information about the working face where the hydraulic support is located.

[0072] In conjunction with the second aspect, in one possible implementation, the third request further includes at least one of the following: the equipment identifier of the coal mining machine, the installation location of the coal mining machine relative to the starting point of the working face, or the number of the coal mining machine.

[0073] The hydraulic support can establish a connection with the coal mining machine based on the information in the third request, so that the hydraulic support can actively establish a connection with the coal mining machine and transmit information.

[0074] In conjunction with the second aspect, in one possible implementation, the hydraulic support includes a third application and a protocol stack, the third application being used to control the hydraulic support to establish the association with the coal mining machine; wherein,

[0075] Receiving the third request broadcast by the coal mining machine includes: the protocol stack receiving the third request;

[0076] Based on the third request and the information of the working face where the hydraulic support is located, determining that the hydraulic support and the coal mining machine are in the same working face includes: the protocol stack obtaining the information of the working face where the hydraulic support is located from the third application; the protocol stack determining that the hydraulic support and the coal mining machine are in the same working face based on the information of the working face where the coal mining machine is located and the information of the working face where the hydraulic support is located.

[0077] Sending a first response message to the coal mining machine includes: the protocol stack obtaining the device identifier and location information of the hydraulic support from the third application; and the protocol stack sending the first response message to the coal mining machine.

[0078] In conjunction with the second aspect, in one possible implementation, the method further includes: broadcasting a fourth request, the fourth request including information about the working face where the hydraulic support is located; receiving a second response message sent by a first device, the second response message including the device identifier and location information of the first device, the location information including the installation position of the first device relative to the starting point of the working face and / or the number of the first device, the first device being a coal mining machine located on the same working face as the hydraulic support or other hydraulic supports among the plurality of hydraulic supports besides the hydraulic support; and establishing an association relationship between the hydraulic support and the first device based on the second response message, the association relationship including a mapping relationship between the device identifier of the hydraulic support and the device identifier of the first device, and a mapping relationship between the device identifier of the first device and the location information of the first device.

[0079] In conjunction with the second aspect, in one possible implementation, the hydraulic support includes a third application and a protocol stack, the third application being used to control the hydraulic support to establish the association with the first device; wherein,

[0080] Broadcasting a fourth request includes: the protocol stack receiving the fourth request from the third application; and the protocol stack broadcasting the fourth request.

[0081] Receiving a second response message sent by the first device includes: the protocol stack receiving the second response message; and the protocol stack sending the device identifier and location information of the first device to the third application.

[0082] According to the second response message, the association between the hydraulic support and the first device is established, including: the third application establishes the association between the hydraulic support and the first device based on the device identifier and location information of the first device.

[0083] In some implementations of the first and second aspects mentioned above, the first and second applications (or the configured first application) configured on the coal mining machine side, and the third and fourth applications (or the configured third application) configured on the hydraulic support side, can realize direct control between the coal mining machine and the hydraulic support based on the capabilities provided by the protocol stack and soft bus.

[0084] Thirdly, a control device is provided that has the function of implementing the behaviors involved in the first aspect and any possible implementation of the first aspect.

[0085] This function can be implemented through hardware or by executing corresponding software within the hardware. The hardware or software includes one or more modules or units corresponding to the above function. Examples include processing modules or units, transmitting modules or units, receiving modules or units, and acquiring modules or units.

[0086] The control device can be a coal mining machine or can be included in the coal mining machine, such as a component in the coal mining machine (e.g., a processor, circuit, chip, or chip system), or the control device can be a logic module or software that can realize all or part of the functions of the coal mining machine.

[0087] Fourthly, a control device is provided that has the function of implementing the behaviors involved in the second aspect and any possible implementation of the second aspect.

[0088] This function can be implemented in hardware or by executing corresponding software within the hardware. The hardware or software includes one or more modules or units corresponding to the above function. For example, a processing module or unit, a transmitting module or unit, a receiving module or unit, etc.

[0089] The control device can be a hydraulic support or contained within a hydraulic support, such as a component (e.g., a processor, circuit, chip, or chip system) within the hydraulic support, or the control device can be a logic module or software that enables all or part of the functions of the hydraulic support.

[0090] Fifthly, a coal mining machine is provided, comprising: one or more processors; one or more memories; the one or more memories storing one or more computer programs, the one or more computer programs including instructions that, when executed by the one or more processors, cause the coal mining machine to perform the methods described in the first aspect and any possible implementation thereof.

[0091] A sixth aspect provides a hydraulic support, comprising: one or more processors; one or more memories; the one or more memories storing one or more computer programs, the one or more computer programs including instructions that, when executed by the one or more processors, cause the hydraulic support to perform the methods of the second aspect and any possible implementation thereof.

[0092] In a seventh aspect, a control system is provided, including the apparatus / equipment involved in the third or fifth aspect above and the apparatus / equipment involved in the fourth or sixth aspect above.

[0093] Eighthly, a computer-readable storage medium is provided, including computer instructions that, when executed on a computer, cause the computer to perform the methods of the first aspect and any possible implementation thereof, or to perform the methods of the second aspect and any possible implementation thereof.

[0094] Ninthly, a computer program product comprising instructions is provided, which, when run on a computer, causes the computer to perform the methods of the first aspect and any possible implementation thereof, or to perform the methods of the second aspect and any possible implementation thereof.

[0095] In a tenth aspect, a chip is provided, the chip including a processor and a data interface, the processor reading instructions stored in a memory through the data interface to execute the methods in the first aspect and any possible implementation thereof, or to execute the methods in the second aspect and any possible implementation thereof.

[0096] Optionally, as one implementation, the chip may further include a memory storing instructions, and a processor for executing the instructions stored in the memory. When the instructions are executed, the processor is used to perform the methods in the first aspect and any possible implementation thereof, or to perform the methods in the second aspect and any possible implementation thereof.

[0097] The aforementioned chip can be a field-programmable gate array or an application-specific integrated circuit.

[0098] The beneficial effects of the apparatus involved in aspects three through ten can be referred to with reference to the beneficial effects of the methods described in aspects one and two, and will not be repeated here. Attached Figure Description

[0099] Figure 1 This is a schematic diagram of a fully mechanized mining system provided in an embodiment of this application.

[0100] Figure 2 yes Figure 1 The diagram shows a cross-sectional view of the fully mechanized mining system along line AA.

[0101] Figure 3 This is a schematic diagram of a traditional collaborative control scheme for coal mining machines and hydraulic supports.

[0102] Figure 4 This is a schematic diagram of the collaborative control scheme for the coal mining machine and hydraulic support provided in the embodiments of this application.

[0103] Figure 5 This is a schematic flowchart of a control method for a fully mechanized mining equipment provided in an embodiment of this application.

[0104] Figure 6 This is a schematic flowchart illustrating the detection and linkage device of the coal mining machine in a control method for a fully mechanized mining equipment provided in this application embodiment.

[0105] Figure 7This is a schematic flowchart illustrating the detection and linkage device of the coal mining machine in a control method for a fully mechanized mining equipment provided in this application embodiment.

[0106] Figure 8 This is a schematic flowchart illustrating the hydraulic support detection linkage device in a control method for a fully mechanized mining equipment provided in this application embodiment.

[0107] Figure 9 This is a schematic flowchart illustrating the hydraulic support detection linkage device in a control method for a fully mechanized mining equipment provided in this application embodiment.

[0108] Figure 10 This is a schematic flowchart of a control method for a fully mechanized mining equipment provided in an embodiment of this application.

[0109] Figure 11 This is a schematic flowchart of a control method for a fully mechanized mining equipment provided in an embodiment of this application.

[0110] Figure 12 This is a schematic flowchart illustrating the establishment of a transmission channel in a control method for a fully mechanized mining equipment provided in this application embodiment.

[0111] Figure 13 This is a schematic structural block diagram of a device provided in an embodiment of this application.

[0112] Figure 14 This is a schematic structural block diagram of a device provided in an embodiment of this application.

[0113] Figure 15 This is a schematic structural block diagram of a fully mechanized mining equipment provided in an embodiment of this application. Detailed Implementation

[0114] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0115] It should be noted that, in the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0116] In the embodiments of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more, and "at least one" and "one or more" refer to one, two, or more than two. The singular expressions "a," "an," "the," "the," "this," and "this" are intended to also include expressions such as "one or more," unless the context explicitly indicates otherwise.

[0117] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0118] To facilitate understanding, the technical terms used in this application will be explained and described below.

[0119] Comprehensive mechanized coal mining, or "comprehensive mining" for short, refers to a modern coal mining process in which all processes, including coal breaking, loading, transportation, support, and goaf treatment, are mechanized.

[0120] A coal mining face refers to the actual working space where coal mining (such as coal blasting, cutting, and transportation) takes place; it can also be simply called the working face. Core fully mechanized mining equipment, such as the coal mining machine, hydraulic supports, and scraper conveyors, are all located at the coal mining face. Hydraulic supports are used to provide support on the coal mining face to maintain a safe working space. The coal mining machine is used for cutting and mining coal. The scraper conveyor is used to transport the coal cut by the coal mining machine, serves as the operating track for the coal mining machine, and provides pull-out points for the hydraulic supports.

[0121] The coal face refers to the exposed surface of the coal seam to be mined on the coal mining face, which is the object directly acted upon by the coal mining machine.

[0122] The roof refers to the rock strata above the coal seam where the coal face is located.

[0123] The floor refers to the rock strata beneath the coal seam where the coal face is located.

[0124] A mining area is the basic unit of ore body mining. It is divided along the strike within a stage range and has an independent production system (such as transportation, ventilation, drainage, etc.). It contains one or more coal mining faces. For example, a mining area may contain multiple adjacent coal mining faces.

[0125] It should be noted that the above-described terms and concepts are for illustrative purposes only and should not be construed as limiting the embodiments of this application.

[0126] Figure 1 This illustration shows a schematic diagram of a fully mechanized mining system 100 provided in an embodiment of this application. Figure 2 It shows Figure 1 The diagram shows a cross-sectional view of the fully mechanized mining system 100 cut along line AA.

[0127] refer to Figure 1 and Figure 2 The fully mechanized mining system 100 includes a coal mining machine 110 and multiple hydraulic supports 120, which are located in the same coal mining face. The coal mining face has a certain length, and the multiple hydraulic supports 120 are arranged sequentially along the length direction of the coal mining face (the X direction as shown in the figure). For example, to distinguish them, each hydraulic support 120 has a corresponding number, such as 1, 2, 3…N, where N is a positive integer greater than 1. Accordingly, the multiple hydraulic supports 120 include hydraulic supports #1, #2, #3…#N. (Reference) Figure 2 The fully mechanized mining system 100 also includes a scraper conveyor 130, which is arranged along the length of the coal mining face and is used to transport the coal cut by the coal mining machine 110. The scraper conveyor 130 also serves as the running track of the coal mining machine 110 and provides a pull-out point for the hydraulic support 120 (hereinafter also referred to as the support).

[0128] refer to Figure 2Taking one hydraulic support as an example, the hydraulic support 120 may include a base, column, connecting rod, shield beam, top beam, side guard plate, pushing device, jack (not shown in the figure), and other structures. The base supports the overall structure, directly contacts the bottom plate, and is used to transmit supporting force and support the column and other components. The column is mainly used to bear the roof load and adjust the support height. The connecting rod is used to maintain the lateral stability of the support, control the movement path of the top beam, and reduce the lateral force on the column. The shield beam connects the top beam and the base, is used to isolate gangue in the goaf, and bear horizontal thrust. The top beam directly contacts the roof, bears the roof pressure and transmits it to the column, while providing a safe operating environment for the coal face. The side guard plate (also called the support guard plate) covers the coal wall, which can apply horizontal supporting force to the coal wall, thereby reducing the risk of coal wall spalling, maintaining the stability of the working face, and preventing broken coal from entering the working area. The pushing device is used to move the scraper conveyor 130 and pull the hydraulic support 120. Specifically, after the coal mining machine 110 completes the cutting depth, the pushing device pushes the scraper conveyor 130 to move one section towards the coal wall to ensure continuous coal mining operations, and pulls the hydraulic support 120 to follow suit in the new position, maintaining the optimal support distance between the hydraulic support 120 and the coal wall to avoid roof exposure. The jacks are mainly used to perform auxiliary actions such as pushing the scraper conveyor 130, adjusting the position of the hydraulic support 120, and supporting the side plates.

[0129] Figure 2 In the components shown, the base, connecting rod, shield beam, and top beam are the load-bearing structural components of the hydraulic support 120; the column and jack are the actuating elements of the hydraulic support 120; and the pushing device and side guard plate are auxiliary devices of the hydraulic support 120. In some other embodiments, the hydraulic support 120 may also include other structures, such as a front beam, which is an extension of the top beam and is telescopic, able to extend in time after the coal mining machine passes to support the broken top coal or rock and prevent spalling; the auxiliary devices may also include side guard plates, anti-tipping and anti-slip devices, etc. The side guard plates can be used to eliminate the gaps between adjacent supports to prevent the gangue falling from the goaf from entering the support space, and the anti-tipping and anti-slip devices can be used to enhance the stability of the support in the inclined coal seam.

[0130] The space between the front of the hydraulic support 120 column and the coal face is the machine passage, where the coal mining machine 110 and the scraper conveyor 130 are located. The machine passage provides operating space for the coal mining machine 110 and the scraper conveyor 130 and ensures their normal operation.

[0131] At the coal mining face, to achieve efficient coal mining, the coal mining machine 110, hydraulic support 120, and scraper conveyor 130 need to work in coordination. Specifically, in combination with... Figure 1 and Figure 2Before the coal mining machine 110 officially begins mining, the hydraulic support 120 needs to complete its support preparation, namely, the top beam supports the roof, the shield beam isolates the goaf and gangue, and the side support plate supports the coal wall. After the coal mining machine 110 starts cutting coal, as the mining progress of the coal mining machine 110 extends, the hydraulic support (such as...) located in front of the coal mining machine 110 in the direction of travel... Figure 1 The hydraulic support #8 shown will retract the side plates supporting the coal face in advance so as not to obstruct the coal cutting and passage of the coal mining machine 110. At the same time, the hydraulic support located behind the coal mining machine 110 in the direction of travel (such as...) Figure 1 The hydraulic support #4 shown will automatically perform follow-up operations, such as lowering, moving, raising, and pushing the conveyor. Lowering the support, also known as lowering the column, involves releasing the pressure on the column to reduce the height of the top beam, thus releasing the current support status. Moving the support involves adjusting its position while it is lowered, typically moving it a suitable distance along the working face's advancing direction (i.e., moving it towards the coal face, such as...). Figure 1 (The positive Y-axis is shown). The lifting frame, also known as the column lifting, involves extending the column back to connect the top beam to the roof, establishing new support resistance, and re-supporting the side plates against the coal face. The pushing conveyor moves the scraper conveyor 130 towards the working face using a pushing device, preparing for the next cycle. Depending on the support method used at the working face, the specific sequence of steps performed by the hydraulic support varies. In timely support, the support movement precedes the pushing conveyor; for example, the sequence in the following operation is: lowering the column and moving the support – raising the column for support – pushing the conveyor. In delayed support, the pushing conveyor precedes the support movement; for example, the sequence in the following operation is: pushing the conveyor – lowering the column and moving the support – raising the column for support. Furthermore, lowering and moving the support can be performed sequentially, such as lowering the support first and then moving it; or they can be performed simultaneously, such as lowering the support while moving it. The following operation of the hydraulic support can be determined according to actual needs; this application does not impose any special limitations on this, and the above is merely an illustrative example. The coal cut by the coal mining machine 110 will be loaded into the scraper conveyor 130 and transported out through the scraper conveyor 130.

[0132] In other words, on the same coal mining face, the hydraulic support 120 needs to perform relevant production actions synchronously with the coal mining machine 110. For example, the hydraulic support numbered L in front of the coal mining machine 110 needs to follow the coal mining machine 110 to perform the action of retracting the side guard plate, while the hydraulic support numbered K in the opposite direction needs to follow the coal mining machine 110 to perform actions such as lowering the support, moving the support, raising the support, and pushing the conveyor, thereby realizing the linkage between the hydraulic support 120 and the coal mining machine 110.

[0133] refer to Figure 3Currently, the mainstream solution for the coordinated control of coal mining machines and hydraulic supports is as follows: the coal mining machine reports its own mining information to the control center (i.e., the coal mining machine control center) connected to the coal mining machine through an industrial ring network switch. The coal mining machine control center then transmits this information synchronously to the control center (i.e., the hydraulic support control center) connected to the hydraulic support. Alternatively, the coal mining machine reports its own mining information directly to the hydraulic support control center through an industrial ring network switch. The hydraulic support control center calculates the action commands that the hydraulic supports need to execute based on the received coal mining information and sends the action commands to the corresponding hydraulic supports through the industrial ring network switch.

[0134] In the existing solution, the control commands between the coal mining machine and the hydraulic support need to be processed and forwarded through the hydraulic support control center, resulting in low coordination efficiency.

[0135] In view of this, this application provides a control method for fully mechanized mining equipment, which enables direct control between equipment. For example... Figure 4 As shown, the coal mining machine can directly interact with the hydraulic support (e.g., the coal mining machine and the hydraulic support are connected via an industrial ring network switch), eliminating the need for an additional control center or other control modules for information processing and forwarding. This improves the coordination efficiency between the coal mining machine and the hydraulic support, thereby increasing mining efficiency. A detailed description follows with reference to the accompanying drawings.

[0136] Figure 5 A schematic flowchart of a control method for a fully mechanized mining equipment provided in an embodiment of this application is shown. Figure 5 The method 200 shown can be applied to Figure 1 , Figure 2 or Figure 4 The coal mining machine shown, i.e., method 200, is executed by the coal mining machine. Method 200 may include steps S210 to S230.

[0137] S210: Obtain the operating status information of the coal mining machine.

[0138] In this step, the coal mining machine acquires its own operating status information.

[0139] In this application, the operating status information of the coal mining machine includes its position information. For example, the position information of the coal mining machine may include its absolute position information and / or relative position information. For instance, the absolute position information may include the absolute coordinates of the coal mining machine, such as its coordinates in the working face coordinate system or its coordinates in the geodetic coordinate system. The relative position information may include the displacement of the coal mining machine relative to a reference position, which may be the head frame of the scraper conveyor, the tail frame of the scraper conveyor, the start point of the coal mining face, the end point of the coal mining face, or the first / last hydraulic support in a group of hydraulic supports located on the same working face as the coal mining machine.

[0140] It should be noted that hydraulic supports located on the same working face as the coal mining machine are usually arranged along the length of the coal face (that is, the direction of travel of the coal mining machine when cutting coal), and thus can be understood as forming a hydraulic support queue. Therefore, the "first hydraulic support in the hydraulic support group" mentioned in the above description refers to the first hydraulic support in the hydraulic support queue, and the "last hydraulic support in the hydraulic support group" mentioned in the above description refers to the last hydraulic support in the hydraulic support queue.

[0141] For ease of understanding, the head frame of the scraper conveyor, the starting point of the coal face, or the head of the hydraulic support queue can be defined by the side where the coal mining machine begins cutting coal or the side of the power input end of the scraper conveyor / coal mining machine. Generally, the head frame of the scraper conveyor, the starting point of the coal face, and the head of the hydraulic support queue are closer to the transport roadway and farther from the return airway. Typically, there are certain positional relationships between any two of the head frames of the scraper conveyor, the starting point of the coal face, and the head of the hydraulic support queue. For ease of description, this application can collectively refer to the head frame of the scraper conveyor, the starting point of the coal face, and the head of the hydraulic support queue as the head end of the coal face, and the tail frame of the scraper conveyor, the end point of the coal face, and the tail of the hydraulic support queue as the tail end of the coal face. As the working face advances, the head end and tail end of the coal face also continuously advance towards the coal wall.

[0142] This application does not impose any special limitations on the method of obtaining the location information of the coal mining machine. As an example, the coal mining machine can obtain its location information through inertial measurement unit (IMU), lidar, millimeter-wave radar, inertial sensors, ultra-wideband (UWB) base station networks, or sensor fusion systems.

[0143] In some embodiments, the operating status information of the coal mining machine also includes the movement direction information of the coal mining machine. For example, the movement direction of the coal mining machine can be: along the direction from the head end to the tail end of the coal mining face, or along the direction from the tail end to the head end of the coal mining face. The movement direction of the coal mining machine determines the coordinated actions performed by the hydraulic supports.

[0144] This application does not impose any special limitations on the method for obtaining the motion direction information of the coal mining machine. As an example, the coal mining machine can obtain its motion direction information through the rotation direction of the drum, inertial navigation system, lidar, two-dimensional odometer, encoder, etc.

[0145] In some embodiments, the operating status information of the coal mining machine may further include at least one of the following: movement speed, cutting height, undercut distance, automation status, length, height, or width. This information can be used to assist in determining the coordinated actions of the hydraulic supports.

[0146] It should be noted that the length, height, and width of the coal mining machine are the dimensions of the coal mining machine in the traveling direction, the mining height direction, and the working face advancement direction, respectively. This information may be pre-stored in the coal mining machine.

[0147] S220, based on the operating status information of the coal mining machine, determines the target hydraulic support to be coordinated and controlled from multiple hydraulic supports, wherein multiple hydraulic supports are located on the same working face as the coal mining machine.

[0148] Here, the target hydraulic support to be coordinated and controlled refers to the hydraulic support whose support status needs to be adjusted due to changes in the cutting position during the operation of the coal mining machine. For example, the hydraulic supports within a certain range in front of the coal mining machine (e.g., within m meters in front of the coal mining machine) and / or within a certain range behind the coal mining machine (e.g., within n meters behind the coal mining machine) are the target hydraulic supports.

[0149] For example, the target hydraulic support to be controlled collaboratively may include a first support group and / or a second support group, the first support group being located at the front end of the coal mining machine in the direction of travel, and the second support group being located at the rear end of the coal mining machine in the direction of travel. The first support group includes at least one hydraulic support, and the second support group includes at least one hydraulic support.

[0150] For example, the first support group includes: starting from the support immediately in front of the coal mining machine, extending in a direction away from the coal mining machine to the number of supports required to meet the support needs, such as... Figure 1 The diagram shows at least one hydraulic support located in front of the coal mining machine and starting from hydraulic support #8. The second support group comprises: a number of supports extending away from the coal mining machine, starting from the support immediately behind it, until the support requirements are met, such as... Figure 1 The diagram shows at least one hydraulic support located behind the coal mining machine, starting from hydraulic support #4. By way of example and not limitation, the number of hydraulic supports included in the first support group can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or a greater number. The number of hydraulic supports included in the second support group can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or a greater number.

[0151] It should be noted that the terms "front / front end" and "rear / rear end" of the coal mining machine in this application are defined by the direction of travel of the coal mining machine. The side with the same direction of travel is the front / front end of the coal mining machine, and the side with the opposite direction of travel is the rear / rear end of the coal mining machine.

[0152] In this step, the coal mining machine mainly determines the target hydraulic support to be controlled collaboratively from multiple hydraulic supports based on the position information in the coal mining machine's operating status information.

[0153] In some embodiments, the coal mining machine stores a relationship table between the coal mining machine and multiple hydraulic supports. For ease of understanding, the relationship table between the coal mining machine and multiple hydraulic supports can be referred to in Table 1 below. It should be noted that the specific values ​​of each parameter shown in Table 1 are merely exemplary and should not be construed as limiting this application.

[0154] Table 1

[0155]

[0156] Referring to Table 1, the relationship between the coal mining machine and multiple hydraulic supports includes: the mapping relationship between the equipment identifier of the coal mining machine and the equipment identifier of each hydraulic support in the multiple hydraulic supports, and the mapping relationship between the equipment identifier of each hydraulic support in the multiple hydraulic supports and the position information of the corresponding hydraulic support.

[0157] Generally, a mining area includes one or more coal mining faces, each equipped with one coal mining machine and multiple hydraulic supports. Equipment identification for the coal mining machine is used to distinguish it from those on different mining faces, while equipment identification for the hydraulic supports is used to distinguish them from different hydraulic supports within the same mining face or within a single mining area.

[0158] In some embodiments, the equipment identifier of the coal mining machine can be a code that uniquely identifies the coal mining machine within a mining area or a unique identification code for the coal mining machine. The equipment identifier of the hydraulic support can be a code that uniquely identifies the hydraulic support on the same working face, a code that uniquely identifies the hydraulic support within a mining area, or a unique identification code for the hydraulic support. The equipment identifiers of the coal mining machine and the hydraulic support can be the original factory identifiers. The equipment identifiers of the hydraulic support can be used to establish a transmission channel between the coal mining machine and the hydraulic support, and to send end-to-end information, etc. For example, the equipment identifier of the hydraulic support can be a unique device identifier (UDID), a universally unique identifier (UUID), etc.

[0159] In this application, the location information of each hydraulic support includes the installation position of the hydraulic support relative to a reference position (such as the head frame of a scraper conveyor, the starting point of the working face, or the head of a hydraulic support queue) and / or the number of the hydraulic support.

[0160] For example, the installation position of a hydraulic support relative to a reference position can be the distance of the hydraulic support relative to the reference position along the length of the coal face. This parameter can be input by the operator into the corresponding hydraulic support or determined by the corresponding hydraulic support through sensors, etc. The number of the hydraulic support is related to its position in the support group. The numbers of multiple hydraulic supports can indicate the relative positional relationship between multiple hydraulic supports. Correspondingly, the number of a particular hydraulic support can indicate the relative positional relationship between that hydraulic support and other hydraulic supports in the group. For example, hydraulic supports located on the same working face can be numbered sequentially, so the relative position of the hydraulic support among multiple hydraulic supports (or the position of the hydraulic support in the working face) can be known through the hydraulic support number.

[0161] Referring to Table 1, the mapping relationship between the equipment identifier of the coal mining machine and the equipment identifier of each hydraulic support among multiple hydraulic supports can include: the mapping relationship between equipment identifier a and equipment identifiers b1, b2, b3, etc. The mapping relationship between the equipment identifier of each hydraulic support among multiple hydraulic supports and the location information of the corresponding hydraulic support can include: the mapping relationship between equipment identifier b1 and installation position 0m / number 1, the mapping relationship between equipment identifier b2 and installation position 2.5m / number 2, the mapping relationship between equipment identifier b3 and installation position 5m / number 3, etc.

[0162] In some embodiments, the association between the coal mining machine and the multiple hydraulic supports further includes: a mapping relationship between the device identifier of each hydraulic support and the device address of the corresponding hydraulic support. Referring to Table 1, the mapping relationship between the device identifier of each hydraulic support and the device address of the corresponding hydraulic support may include: a mapping relationship between device identifier b1 and device address 1, a mapping relationship between device identifier b2 and device address 2, a mapping relationship between device identifier b3 and device address 3, and so on.

[0163] For example, the device address of a hydraulic support can be a medium access control (MAC) address or an internet protocol (IP) address. A MAC address is also known as a local area network (LAN) address, Ethernet address, hardware address, or physical address. The device address of a hydraulic support can be used to establish a transmission channel between the coal mining machine and the hydraulic support, and to send end-to-end information.

[0164] It is understandable that for each hydraulic support, a mapping relationship can be established between each pair of its equipment identifier, installation location, support number, and support address. Therefore, the equipment identifier of the coal mining machine can also be mapped to the location information (such as installation location and support number) or support address of each hydraulic support.

[0165] The storage format of the association table between the coal mining machine and multiple hydraulic supports can vary, and this application does not impose any particular limitation on it. For example, the association table can be stored in a key-value storage format.

[0166] In some embodiments, in step S220, the coal mining machine can determine the target hydraulic support to be coordinated and controlled from among multiple hydraulic supports based on its operating status information and the association table between the coal mining machine and multiple hydraulic supports. For example, the coal mining machine can determine its own position (such as the relative position of the coal mining machine relative to a reference position) based on its own operating status information, and then determine the hydraulic support located at the front boundary and / or rear boundary of the coal mining machine based on its own position and the position information of each hydraulic support recorded in the aforementioned association table (such as installation position and / or support number), thereby determining the target hydraulic support to be coordinated and controlled.

[0167] In some embodiments, before step S210, method 200 further includes step S1: establishing the association between the coal mining machine and multiple hydraulic supports, that is, obtaining the aforementioned association table between the coal mining machine and multiple hydraulic supports. The process of the coal mining machine establishing the association is also the process of the coal mining machine discovering the linkage equipment.

[0168] In some embodiments, reference Figure 6 Step S1 may specifically include steps S240 to S260, as follows.

[0169] S240, the coal mining machine broadcasts a third request. Accordingly, each of the multiple hydraulic supports receives the third request.

[0170] In some embodiments, the third request includes information about the working face where the coal mining machine is located. For example, the third request may include an identifier of the working face where the coal mining machine is located. In practical applications, the coal mining machine stores information about its working face, such as an identifier. For instance, the information about the working face where the coal mining machine is located can be entered into the coal mining machine by the operator.

[0171] In some embodiments, upon receiving a third request, each hydraulic support may execute step S270: the hydraulic support determines whether it is on the same working face as the coal mining machine based on the third request and the information of the working face where the hydraulic support is located. For example, if the identifier of the working face where the coal mining machine is located is the same as the identifier of the working face where the hydraulic support is located, then it is determined that the hydraulic support and the coal mining machine are on the same working face; otherwise, the opposite is true. In practical applications, the hydraulic support stores information about its working face, such as identifiers. For example, the information about the working face where the hydraulic support is located can be input into the hydraulic support by the operator.

[0172] S250, the coal mining machine receives a response message sent by the hydraulic support.

[0173] This response message includes the equipment identification and location information of the hydraulic support. For details regarding the equipment identification and location information of the hydraulic support, please refer to the relevant description above; for brevity, it will not be repeated here. This response message is used by the coal mining machine to establish a connection between the coal mining machine and the hydraulic support located on the same working face.

[0174] In some embodiments, the response message may also include information about the working face where the hydraulic support is located, such as a working face identifier.

[0175] In some embodiments, the response message may also include the device address of the hydraulic support, such as an IP address or a MAC address.

[0176] In some embodiments, the response message also includes device type information, such as indicating that the device sending the response message is a coal mining machine or a hydraulic support.

[0177] As mentioned above, step S270 is optional. Depending on whether the hydraulic support performs step S270, the information carried in the response message and the operation performed by the coal mining machine in response to the received response message will be slightly different.

[0178] In one example, if the hydraulic support executes step S270, it sends a response message to the coal mining machine when it determines that it is on the same working face as the coal mining machine; otherwise, it does not send a response message. In this case, the response message may or may not carry information about the working face where the hydraulic support is located (or it may carry such information for verification purposes). The coal mining machine can determine which hydraulic supports are on the same working face as itself based on whether it receives the response message.

[0179] Understandably, when the coal mining machine broadcasts a third request, in addition to the hydraulic supports located on the same working face as the coal mining machine receiving the third request, hydraulic supports not on the same working face as the coal mining machine may also receive the third request. When a hydraulic support is not on the same working face as the coal mining machine, that hydraulic support does not send a response message to the coal mining machine for the third request. Therefore, in step S250, the response messages received by the coal mining machine are all sent by the hydraulic supports located on the same working face as the coal mining machine.

[0180] In another example, if the hydraulic support does not execute step S270, all hydraulic supports that receive the third request will send a response message to the coal mining machine. Therefore, in step S250, the response message received by the coal mining machine may include response messages sent by hydraulic supports located on the same working face as the coal mining machine, as well as response messages sent by hydraulic supports not on the same working face as the coal mining machine. To distinguish hydraulic supports located on the same working face as the coal mining machine, the response message sent by the hydraulic support includes information about the working face where the corresponding hydraulic support is located (such as a working face identifier). In this way, the coal mining machine can determine whether the hydraulic support is located on the same working face as the coal mining machine based on the information of its own working face and the information about the working face of the hydraulic support carried in the response message.

[0181] In this application, the response message sent by the hydraulic support can be a broadcast message or a unicast message replying to the coal mining machine. When the response message is a broadcast message, it can reply not only to the third request sent by the coal mining machine, but also to requests sent by other hydraulic supports (such as...). Figure 8 or Figure 9 (The fourth request involved). When the response message is a unicast message, only the coal mining machine that sent the third request can receive the response message, which can avoid broadcast storms.

[0182] S260, the coal mining machine establishes an association between itself and multiple hydraulic supports based on the response messages sent by each of the multiple hydraulic supports.

[0183] The "multiple hydraulic supports" mentioned here refer to the multiple hydraulic supports mentioned in the aforementioned relationship table, that is, the hydraulic supports that are located on the same working face as the coal mining machine.

[0184] The response message sent by each of the multiple hydraulic supports includes the equipment identifier and location information of the corresponding hydraulic support. Since the coal mining machine knows its own equipment identifier, the association between the coal mining machine and the multiple hydraulic supports can be established, such as by obtaining the aforementioned association table.

[0185] After step S260, when the coal mining machine and the hydraulic support begin to work together, the coal mining machine can execute steps S210 to S230. Regarding... Figure 6Steps S210 to S230 shown can be referred to Figure 5 The detailed descriptions of steps S210 to S230 shown are omitted here for brevity.

[0186] As mentioned earlier, the process of establishing a correlation between the coal mining machine and other equipment is also the process of the coal mining machine discovering linked devices. To achieve the discovery of linked devices, this application provides a system comprising a coal mining machine and multiple hydraulic supports located on the same working face as the coal mining machine. (Reference) Figure 7 The coal mining machine is equipped with a first application and a protocol stack, and each hydraulic support is equipped with a third application and a protocol stack. The first application is used to control the coal mining machine to establish an association with the multiple hydraulic supports, and the third application is used to control the corresponding hydraulic support to establish an association with the coal mining machine. The protocol stack in the coal mining machine (hereinafter referred to as the first protocol stack for ease of description) and the protocol stack in the hydraulic support (hereinafter referred to as the second protocol stack for ease of description) are used for device discovery, message (such as broadcast requests, control requests, response messages, etc.) encapsulation and decapsulation, etc.

[0187] like Figure 7 As shown, step S240 described above may specifically include steps S241 to S242.

[0188] S241, the first application sends information about the working face where the coal mining machine is located to the first protocol stack. Correspondingly, the first protocol stack receives information about the working face where the coal mining machine is located from the first application.

[0189] For example, the first application can send request #1 to the first protocol stack, which includes information about the working face where the coal mining machine is located. Here, the information about the working face where the coal mining machine is located sent by the first application to the first protocol stack can be understood as a condition for selecting hydraulic supports.

[0190] In some embodiments, the first application may store information about the working face where the coal mining machine is located, or the first application may obtain information about the working face where the coal mining machine is located from the system configuration file of the coal mining machine.

[0191] In step S242, the first protocol stack broadcasts a third request based on the information of the working face where the coal mining machine is located. Correspondingly, the second protocol stack receives the third request.

[0192] For example, the first protocol stack can encapsulate the third request (e.g., into a User Datagram Protocol (UDP) packet) and broadcast it, the third request including information about the working face where the coal mining machine is located. The second protocol stack can decapsulate the received third request (e.g., decapsulate the UDP packet), and accordingly, the second protocol stack can obtain the information about the working face where the coal mining machine is located encapsulated in the third request. UDP packets are typically used to send connectionless, unreliable datagrams over a network.

[0193] like Figure 7 As shown, step S270 described above may specifically include steps S271 to S272.

[0194] S271, the third application sends information about the working face where the hydraulic support is located to the second protocol stack. Correspondingly, the second protocol stack receives information about the working face where the hydraulic support is located from the third application.

[0195] In some embodiments, the third application may store information about the working face where the hydraulic support is located, or the third application may obtain information about the working face where the hydraulic support is located from the system configuration file of the hydraulic support.

[0196] In some embodiments, in step S271, the third application sends the device identifier and location information of the hydraulic support to the second protocol stack. Correspondingly, the second protocol stack receives the device identifier and location information of the hydraulic support from the third application.

[0197] S272, the second protocol stack determines whether the hydraulic support and the coal mining machine are on the same working face based on the information of the working face where the coal mining machine is located and the information of the working face where the hydraulic support is located.

[0198] Here, the information about the working face where the coal mining machine is located is obtained by the second protocol stack through decapsulation of the third request.

[0199] If the second protocol stack determines that the hydraulic support and the coal mining machine are not on the same working face, the subsequent steps will not be executed; if the second protocol stack determines that the hydraulic support and the coal mining machine are on the same working face, the subsequent steps will be executed.

[0200] like Figure 7 As shown, step S250 described above may specifically include steps S251 to S253.

[0201] S251, the third application sends the device identifier and location information of the hydraulic support to the second protocol stack. Correspondingly, the second protocol stack receives the device identifier and location information of the hydraulic support from the third application.

[0202] Understandable. Figure 7In this example, step S251 being executed after step S272 is only one example. In other examples, step S251 may also be executed before step S272, for example, step S251 and step S271 may be combined into one step.

[0203] S252, the second protocol stack sends a response message to the first protocol stack. Accordingly, the first protocol stack receives the response message from the second protocol stack.

[0204] For example, the second protocol stack can encapsulate the response message (e.g., encapsulate it as a UDP packet), and the response message includes the device identifier and location information of the hydraulic support. The first protocol stack can decapsulate the received response message (e.g., decapsulate the UDP packet), and accordingly, the first protocol stack can obtain the device identifier and location information of the hydraulic support encapsulated in the response message.

[0205] S253, the first protocol stack sends the device identifier and location information of the hydraulic support to the first application based on the received response message.

[0206] Figure 6 Specifically, step S260 may include: the first application establishing a relationship between the coal mining machine and multiple hydraulic supports. That is, the first application can obtain the equipment identification and location information of each hydraulic support among the multiple hydraulic supports, and establish a relationship between the coal mining machine and the multiple hydraulic supports based on the obtained information.

[0207] Understandable. Figure 7 In the method shown, steps S242 and S252 involve direct communication between the first protocol stack and the second protocol stack.

[0208] The above combination Figure 6 and Figure 7 This paper mainly describes the process of a coal mining machine detecting linked equipment. In some embodiments, the detection process of linked equipment can also be initiated from the hydraulic support side.

[0209] Figure 8 A schematic flowchart illustrating the detection and linkage mechanism of a hydraulic support is shown. Taking the first hydraulic support among multiple hydraulic supports as an example... Figure 8 The method 300 shown includes steps S310 to S340.

[0210] S310, the first hydraulic support broadcasts a fourth request. Correspondingly, the first device receives the fourth request. The first device can be a coal mining machine located on the same working face as the first hydraulic support, or other hydraulic supports.

[0211] It is understandable that the device receiving the fourth request may also be a device that is not on the same working surface as the first hydraulic support. However, although these devices that are not on the same working surface as the first hydraulic support can receive the fourth request, they ultimately cannot establish a connection with the first hydraulic support.

[0212] In some embodiments, the fourth request includes information about the working surface where the first hydraulic support is located. For example, the fourth request may include an identifier of the working surface where the first hydraulic support is located. In practical applications, the first hydraulic support stores information about its working surface, such as an identifier. For instance, the information about the working surface where the first hydraulic support is located can be input into the first hydraulic support by an operator.

[0213] S320, the first device determines whether the first hydraulic support and the first device are on the same working surface based on the fourth request and the information of the working surface where the first device is located.

[0214] For example, if the markings on the working surface of the first device are the same as those on the working surface of the first hydraulic support, then the first device and the first hydraulic support are determined to be on the same working surface; otherwise, they are not. In practical applications, the first device stores information about its working surface, such as markings. For example, the information about the working surface of the first device can be input into the first device by the operator.

[0215] In some embodiments, when a first device determines that it is on the same working surface as the first hydraulic support, it sends a response message to the first hydraulic support; otherwise, it does not send a response message. In this case, the first hydraulic support can determine which first devices are on the same working surface as itself based on whether or not it receives a response message.

[0216] S330, the first device sends a response message to the first hydraulic support. Correspondingly, the first hydraulic support receives the response message.

[0217] The information carried in the response message is used to establish the association between the first hydraulic support and the first device.

[0218] In some embodiments, if the first device is a coal mining machine, the response message includes the device identifier of the first device. Optionally, the response message also includes the location information of the first device, such as the installation position of the first device relative to a reference position (e.g., the initial installation position) and / or the number of the first device.

[0219] In other embodiments, if the first device is a hydraulic support, the response message includes the device identifier and location information of the first device, wherein the location information of the first device includes the installation position of the first device relative to a reference position and / or the number of the first device.

[0220] For reference to the benchmark location, please refer to the relevant description above. For the equipment identification and location information of the first equipment, please refer to the relevant descriptions above regarding the equipment identification and location information of the coal mining machine, the equipment identification and location information of the hydraulic support. For the sake of brevity, they will not be repeated here.

[0221] In some embodiments, the response message may also include information about the working surface where the first device is located, such as a working surface identifier.

[0222] In some embodiments, the response message may also include the device address of the first device, such as its IP address or MAC address.

[0223] In some embodiments, the response message also includes device type information of the first device, such as the device type information of the first device indicating that the first device is a coal mining machine or a hydraulic support.

[0224] In this application, the response message sent by the first device can be a broadcast message or a unicast message in response to the first hydraulic support. When the response message is a broadcast message, it can respond to requests sent by other hydraulic supports in addition to the fourth request sent by the first hydraulic support. When the response message is a unicast message, only the first hydraulic support that sent the fourth request can receive the response message, thus avoiding broadcast storms.

[0225] S340, the first hydraulic support establishes an association between the first hydraulic support and the first device based on the response message sent by the first device.

[0226] For example, the association between the first hydraulic support and the first device includes: the mapping relationship between the device identifier of the first hydraulic support and the device identifier of the first device, and the mapping relationship between the device identifier of the first device and the location information of the first device.

[0227] In the above embodiments, step S320 is performed by the first device. In other embodiments, step S320 may also be performed by the first hydraulic support. If the response message sent by the first device carries information about the working surface where the first device is located, the first hydraulic device determines whether the first device and the first hydraulic support are on the same working surface based on the response message and the information about the working surface where the first hydraulic support is located.

[0228] When the first piece of equipment is a coal mining machine, after the first hydraulic support establishes a connection with the first equipment, the first hydraulic support can actively send information to the coal mining machine. For example, the first hydraulic support sends data such as its motion status (e.g., movement parameters, push-up, etc.), support status (e.g., support force, support posture, etc.), and roof height to the coal mining machine, so that the coal mining machine can control its operating status (e.g., movement speed, cutting height, undercut, pitch angle, inclination angle, and advance direction) based on this data. Furthermore, the first hydraulic support sends data such as its lateral offset, longitudinal offset, lateral tilt angle, and longitudinal tilt angle to the coal mining machine, so that the coal mining machine can determine the straightness deviation between the hydraulic support and the coal face and then straighten it.

[0229] When the first device is a hydraulic support, after establishing a connection with other hydraulic supports, the first hydraulic support can actively send information to the other hydraulic supports. For example, the first hydraulic support can send positional offset data such as lateral offset, longitudinal offset, lateral tilt angle, and longitudinal tilt angle to other hydraulic supports so that the other hydraulic supports can perform calibration based on this data.

[0230] To enable the detection of linked devices, this application provides a system comprising a first hydraulic support and a first device located on the same working surface as the first hydraulic support. (Reference) Figure 9 The first hydraulic support is equipped with a third application and a protocol stack, and the first device is equipped with a fifth application and a protocol stack. The third application is used to control the first hydraulic support to establish an association with the first device, and the fifth application is used to control the first device to establish an association with the first hydraulic support. The protocol stack in the first device (hereinafter referred to as the third protocol stack for ease of description) and the protocol stack in the first hydraulic support (hereinafter referred to as the second protocol stack for ease of description) are used for device discovery, message (such as broadcast requests, control requests, response messages, etc.) encapsulation and decapsulation, etc.

[0231] like Figure 9 As shown, step S310 described above may specifically include steps S311 to S312.

[0232] S311, the third application sends information about the working face where the first hydraulic support is located to the second protocol stack. Correspondingly, the second protocol stack receives information about the working face where the first hydraulic support is located from the third application.

[0233] For example, the third application can send request #2 to the second protocol stack, which includes information about the working surface where the first hydraulic support is located. Here, the information about the working surface of the first hydraulic support sent by the third application to the second protocol stack can be understood as a condition for filtering devices that are located on the same working surface as the first hydraulic support.

[0234] In some embodiments, the third application may store information about the working surface where the first hydraulic support is located, or the third application may obtain information about the working surface where the first hydraulic support is located from the system configuration file of the first hydraulic support.

[0235] S312, the second protocol stack broadcasts a fourth request based on the information of the working face where the first hydraulic support is located. Correspondingly, the third protocol stack receives the fourth request.

[0236] For example, the second protocol stack can encapsulate the fourth request (e.g., encapsulate it as a UDP packet) and broadcast it. The fourth request includes information about the working surface where the first hydraulic support is located. The third protocol stack can decapsulate the received fourth request (e.g., decapsulate the UDP packet). Accordingly, the third protocol stack can obtain the information about the working surface where the first hydraulic support is located encapsulated in the fourth request.

[0237] like Figure 9 As shown, step S320 described above may specifically include steps S321 to S322.

[0238] S321, the fifth application sends information about the working plane where the first device is located to the third protocol stack. Correspondingly, the third protocol stack receives information about the working plane where the first device is located from the fifth application.

[0239] In some embodiments, the fifth application may store information about the working surface where the first device is located, or the fifth application may obtain information about the working surface where the first device is located from the system configuration file of the first device.

[0240] In some embodiments, in step S321, the fifth application sends the device identifier (and location information) of the hydraulic support to the third protocol stack. Accordingly, the third protocol stack receives the device identifier (and location information) of the first device from the fifth application.

[0241] S322, the third protocol stack determines whether the first device and the first hydraulic support are on the same working surface based on the information of the working surface where the first device is located and the information of the working surface where the first hydraulic support is located.

[0242] Here, the information about the working face where the first hydraulic support is located is obtained by the third protocol stack through decapsulation of the fourth request.

[0243] If the third protocol stack determines that the first device and the first hydraulic support are not on the same working surface, the subsequent steps will not be executed; if the third protocol stack determines that the first device and the first hydraulic support are on the same working surface, the subsequent steps will be executed.

[0244] like Figure 9 As shown, step S330 described above may specifically include steps S331 to S333.

[0245] S331, the fifth application sends the device identifier (and location information) of the first device to the third protocol stack. Correspondingly, the third protocol stack receives the device identifier (and location information) of the first device from the fifth application.

[0246] Understandable. Figure 9 In this example, step S331 being executed after step S322 is only one example. In other examples, step S331 may also be executed before step S322, for example, step S331 and step S321 may be combined into one step.

[0247] S332, the third protocol stack sends a response message to the second protocol stack. Accordingly, the second protocol stack receives the response message from the third protocol stack.

[0248] For example, the third protocol stack can encapsulate the response message (e.g., encapsulate it as a UDP packet), and the response message includes the device identifier (and location information) of the first device. The second protocol stack can decapsulate the received response message (e.g., decapsulate the UDP packet), and accordingly, the second protocol stack can obtain the device identifier (and location information) of the first device encapsulated in the response message.

[0249] S333, the second protocol stack sends the device identifier (and location information) of the first device to the third application based on the received response message.

[0250] Figure 8 Specifically, step S340 may include: the third application establishing an association between the first hydraulic support and the first device. That is, the third application can obtain the device identifier (and location information) of the first device and establish an association between the first hydraulic support and the first device based on the obtained information.

[0251] Understandable. Figure 9 In the method shown, steps S312 and S332 involve direct communication between the second protocol stack and the third protocol stack.

[0252] It can also be understood that when the first device is a coal mining machine, the third protocol stack is... Figure 7 The first protocol stack shown is followed by the fifth application. Figure 7 The first application is shown. When the first device is another hydraulic support, the third protocol stack has the same function as the second protocol stack, and the fifth application has the same function as the third application.

[0253] It should be noted that the "device identifier (and location information) of the first device" mentioned in the above description can be understood as the location information of the first device being optional.

[0254] The above combination Figure 8 and Figure 9 The process of establishing a connection between the hydraulic support and the first device is described, wherein the hydraulic support needs to initiate a broadcast process to detect the coal mining machine. In some other embodiments, the process of the hydraulic support detecting the coal mining machine can also be completed simultaneously with the coal mining machine detecting the hydraulic support.

[0255] For example, refer to Figure 6 or Figure 7 The third request may include at least one of the following: the equipment identifier of the coal mining machine, the installation position of the coal mining machine relative to a reference position (such as the head frame of a scraper conveyor, the starting point of the working face, or the head of a hydraulic support queue), or the number of the coal mining machine.

[0256] The equipment identification and serial number of the coal mining machine can be used to distinguish coal mining machines from different working faces. The installation position of the coal mining machine relative to the reference position is specifically the initial installation position of the coal mining machine relative to the reference position. This information can be used to determine the relative positional relationship between the initial installation position of the coal mining machine and the hydraulic support.

[0257] In this way, when the coal mining machine broadcasts a third request, it can broadcast its own equipment identification, installation location, or serial number, along with information about its working face. If a hydraulic support receiving the third request determines that it is on the same working face as the coal mining machine, it can directly establish a connection with the coal mining machine based on the broadcast information. This allows the corresponding hydraulic support to actively establish a connection and transmit information with the coal mining machine. Because the coal mining machine broadcasts its own information, all hydraulic supports on the same working face can receive it, eliminating the need for each hydraulic support to initiate a broadcast and for the coal mining machine to respond to each broadcast individually, thus saving resource costs.

[0258] The above combination Figures 6 to 9 ,right Figure 5 The relevant content of step S220 shown below has been described in detail. Figure 5 Continue by describing the remaining steps.

[0259] S230, based on the transmission channel between the coal mining machine and the target hydraulic support, first information is sent to the target hydraulic support. The first information is used by the target hydraulic support to determine the coordinated action (hereinafter referred to as the target action for ease of description).

[0260] Accordingly, the target hydraulic support receives the first information from the coal mining machine and performs the target action based on the first information.

[0261] The transmission channel between the coal mining machine and the target hydraulic support is used for information exchange between them. For example, this transmission channel is established based on a soft bus. A soft bus is a communication mechanism that simulates the functions of a hardware bus through software, primarily used to achieve efficient data transmission and resource sharing between devices without the need for physical connections. The soft bus integrates multiple physical communication protocols such as Bluetooth, Wi-Fi, and Near Field Communication (NFC) through a software abstraction layer, forming a unified device discovery and transmission interface, freeing developers from the need to concern themselves with the underlying protocol details.

[0262] In some embodiments, the first information may include instructions for directing the target hydraulic support to perform a target action. In this embodiment, the first information may explicitly indicate a specific coordinated action.

[0263] In this case, the target action is actually determined by the coal mining machine, which directly issues control commands to make the target hydraulic support perform the target action according to the control commands.

[0264] For example, the target hydraulic support includes a first support group and / or a second support group. The first support group is located at the front end of the coal mining machine in the direction of travel, and the second support group is located at the rear end of the coal mining machine in the direction of travel. The first support group includes at least one hydraulic support, and the second support group includes at least one hydraulic support. Based on the position of the first support group, the coal mining machine can determine that the coordinated action of the first support group is to retract the side guards, and based on the position of the second support group, the coordinated action of the second support group is to follow the coal mining machine and open the side guards. Here, the action of following the coal mining machine can specifically include actions such as lowering the support, moving the support, raising the support, and pushing the conveyor.

[0265] In some embodiments, the first information may include the operating status information of the coal mining machine and / or instructions for coordinating the control of the target hydraulic support. In this embodiment, the first information may not explicitly indicate a specific coordinating action.

[0266] In this case, the target action is actually determined by the hydraulic support, and the coal mining machine can send relevant information to the hydraulic support to determine the target action.

[0267] For example, the first piece of information includes the operating status information of the coal mining machine (such as its position and direction of movement). The hydraulic support can determine its coordinated action based on the operating status information of the coal mining machine and its own operating status information (such as its position and support posture). For instance, if the target hydraulic support determines that it is located at the boundary of the coal mining machine based on its own position information and the position of the coal mining machine, and its current support posture is to extend the side guard plate, then the target hydraulic support determines its coordinated action to retract the side guard plate. Alternatively, if the target hydraulic support determines that it is located at the boundary of the coal mining machine based on its own position information and the position of the coal mining machine, and its current support posture is to retract the side guard plate, then the target hydraulic support determines its coordinated action to follow the coal mining machine and extend the side guard plate.

[0268] For example, the first piece of information includes instructions to the target hydraulic support for coordinated control. The hydraulic support can determine its coordinated action based on these instructions and its own operating status information (such as support posture). For instance, if the target hydraulic support's support posture upon receiving the instruction is to raise the side guard plate, then the target hydraulic support determines its coordinated action to lower the side guard plate. Alternatively, if the target hydraulic support's support posture upon receiving the instruction is to lower the side guard plate, then the target hydraulic support determines its coordinated action to follow the coal conveyor and open the side guard plate.

[0269] It is understandable that the hydraulic supports to be coordinated and controlled have already been determined by the coal mining machine. Therefore, as soon as the first information is received, it indicates that the hydraulic support needs to be coordinated and controlled. The specific coordinated actions can be determined by the coal mining machine or by the hydraulic support requiring coordinated control. When the coordinated actions are determined by the coal mining machine, centralized and unified control of the coal mining machine can be achieved, avoiding action conflicts caused by errors or algorithm differences in individual supports, which is beneficial for global dynamic optimization. Furthermore, the hydraulic supports only need to execute standardized instructions, which can reduce the computational complexity of individual supports. When the coordinated actions are determined by the hydraulic supports, the individual support can adjust its action parameters according to local characteristics such as the softness of the floor and coal wall spalling, dynamically optimizing the support parameters, thereby flexibly adapting to local working conditions.

[0270] In some embodiments, reference Figure 10 After step S230, method 200 further includes steps S280 to S290.

[0271] S280 receives the collaborative control results sent by the target hydraulic support through the transmission channel between the coal mining machine and the target hydraulic support.

[0272] For example, the collaborative control result can indicate whether the collaborative control was successful or failed. Alternatively, the collaborative control result can include information on the current operating status of the target hydraulic support, such as at least one of the following: motion status (e.g., related motion parameters such as moving the support, pushing the slide), support status (e.g., support force, support posture, etc.), and roof height.

[0273] S290, the coal mining machine updates its operating status based on the results of the collaborative control.

[0274] For example, if the collaborative control result indicates that the collaborative control is successful, the coal mining machine can continue to advance; if the collaborative control result indicates that the collaborative control fails, the coal mining machine can stop advancing.

[0275] For example, if the collaborative control results include information on the current operating status of the target hydraulic support, the coal mining machine can adjust its own operating parameters based on this information, such as at least one of the following: movement speed, cutting height, and undercut depth.

[0276] The target hydraulic support feeds back the collaborative control results to the coal mining machine, which can form a closed-loop feedback mechanism, which is conducive to realizing unmanned fully mechanized mining.

[0277] To implement method 200, this application provides a system comprising a coal mining machine and multiple hydraulic supports located on the same working face as the coal mining machine. Among these multiple hydraulic supports, the hydraulic support whose support status needs to be adjusted in a timely manner to coordinate with the mining progress of the coal mining machine is the hydraulic support to be coordinated and controlled, i.e., the target hydraulic support involved in method 200. (Reference) Figure 11 The coal mining machine is equipped with a first application and a second application. The first application controls the coordination of the target hydraulic support, and the second application controls the operating status of the coal mining machine. The target hydraulic support is equipped with a third application and a fourth application. The third application controls the coordination of the target hydraulic support, and the fourth application controls the operating status of the target hydraulic support. The following is a combination of... Figure 11 The steps of method 200 and the steps performed by the target hydraulic support are described in more detail.

[0278] refer to Figure 11 The aforementioned step S210 may include steps S211 to S212.

[0279] S211, the second application acquires the operating status information of the coal mining machine. Here, the operating status information of the coal mining machine is acquired raw by the second application. For example, the second application acquires the operating status information of the coal mining machine through sensor data on the coal mining machine.

[0280] S212, the second application sends the operating status information of the coal mining machine to the first application. Correspondingly, the first application obtains the operating status information of the coal mining machine from the second application.

[0281] S220 in method 200 may specifically include: a first application determining a target hydraulic support from multiple hydraulic supports based on the operating status information of the coal mining machine.

[0282] S230 in method 200 may specifically include: the first application sending first information to the target hydraulic support based on the transmission channel between the coal mining machine and the target hydraulic support.

[0283] After receiving the first information, the target hydraulic support may execute steps S410a to S420a of the following method one, or steps S410b to S440b of the following method two.

[0284] refer to Figure 11 In Method 1, if the first information includes instructions for the target hydraulic support to perform specific coordinated actions, then the target hydraulic support performs steps S410a to S420a.

[0285] S410a, the third application sends the first message to the fourth application.

[0286] S420a, the fourth application controls the target hydraulic support to perform corresponding coordinated actions according to the instructions in the first information.

[0287] refer to Figure 11 In Method 2, if the first information includes the location information of the coal mining machine and / or instructions for instructing the target hydraulic support to perform coordinated control, then the target hydraulic support executes steps S410b to S440b.

[0288] S410b, the third application obtains the current operating status information of the target hydraulic support from the fourth application.

[0289] Here, the current operating status information of the target hydraulic support can be obtained directly from the fourth application.

[0290] S420b, the third application determines the coordinated action based on the first information and the current operating status information of the target hydraulic support.

[0291] S430b, the third application sends instructions to the fourth application to instruct the target hydraulic support to perform specific coordinated actions.

[0292] S440b, the fourth application, controls the target hydraulic support to perform corresponding coordinated actions based on the received instructions.

[0293] After performing the steps of Method 1 or Method 2, the target hydraulic support can also perform steps S450 and S280.

[0294] S450, the third application receives the collaborative control results from the fourth application.

[0295] S280, the third application, sends collaborative control results to the coal mining machine (specifically, the first application of the coal mining machine) based on the transmission channel between the coal mining machine and the target hydraulic support.

[0296] S280 in method 200 may specifically include: the first application receiving the collaborative control result sent by the target hydraulic support (specifically, the third application of the target hydraulic support) based on the transmission channel between the coal mining machine and the target hydraulic support.

[0297] refer to Figure 11 The aforementioned step S290 may include steps S291 to S292.

[0298] S291, the first application sends the collaborative control result to the second application.

[0299] S292, the second application updates the operating status of the coal mining machine based on the results of the collaborative control.

[0300] In some embodiments, the coal mining machine further includes a first protocol stack, and the target hydraulic support further includes a second protocol stack.

[0301] Then, in step S230, the first application sends first information to the target hydraulic support through the first protocol stack. Specifically, the first protocol stack receives the first information from the first application and sends the first information based on the transmission channel between the coal mining machine and the target hydraulic support. Correspondingly, the third application receives the first information from the coal mining machine through the second protocol stack. Specifically, the second protocol stack receives the first information based on the transmission channel between the coal mining machine and the target hydraulic support and sends it to the third application.

[0302] In step S280, the third application sends the collaborative control result to the coal mining machine through the second protocol stack. Specifically, the second protocol stack receives the collaborative control result from the third application and sends it based on the transmission channel between the coal mining machine and the target hydraulic support. Correspondingly, the first application receives the collaborative control result from the target hydraulic support through the first protocol stack. Specifically, the first protocol stack receives the collaborative control result based on the transmission channel between the coal mining machine and the target hydraulic support and sends it to the first application.

[0303] Figure 11 In the illustrated embodiment, the first application and the second application are two independent applications that can interact with each other. In other embodiments, the first application and the second application can also be integrated into a single application; for example, all the steps performed by the second application are performed by the first application. Exemplarily, this integrated application may include a first module and a second module, the first module being able to execute… Figure 11 The steps shown are executed by the first application, and the second module can execute them. Figure 11 The steps performed by the second application are shown.

[0304] Similarly, Figure 11 In the illustrated embodiment, the third application and the fourth application are two independent applications that can interact with each other. In other embodiments, the third application and the fourth application can also be integrated into a single application; for example, all the steps performed by the fourth application are performed by the third application. Exemplarily, this integrated application may include a third module and a fourth module, wherein the third module can execute... Figure 11 The steps shown are executed by the third application, and the fourth module can execute them. Figure 11 The steps performed by the fourth application are shown.

[0305] In this application, the "transmission channel" involved in method 200 is established before step S230. The following is in conjunction with... Figure 12 The detailed process of establishing a transmission channel between the coal mining machine and the target hydraulic support is described.

[0306] To establish a transmission channel, this application provides a system comprising a coal mining machine and a target hydraulic support. (Reference) Figure 12 The coal mining machine is equipped with a first application, a first protocol stack, and a first soft bus, while the target hydraulic support is equipped with a third application, a second protocol stack, and a second soft bus. The first and third applications are used to control the coordination of the target hydraulic support; the first and second protocol stacks are used for message encapsulation and decapsulation, as well as for calling the soft bus capabilities to establish a transmission channel; the first and second soft buses are used for inter-device networking and establishing a transmission channel.

[0307] The specific process of establishing a transmission channel between the coal mining machine and the target hydraulic support may include steps S510 to S520.

[0308] S510, the first application sends the first request to the first protocol stack.

[0309] The first request includes first information, the device identifier of the target hydraulic support, and the device address of the target hydraulic support. The first information is used by the target hydraulic support to determine coordinated actions; this first information is determined by the first application, as detailed in the above description. The device identifier and device address of the target hydraulic support are obtained by the first application from the target hydraulic support during the device discovery process. For example, the device identifier and device address of the target hydraulic support can be stored in the aforementioned association table between the coal mining machine and multiple hydraulic supports. Accordingly, the first application can obtain the device identifier and device address of the target hydraulic support based on the mapping relationship stored in the association table.

[0310] S520: The first protocol stack calls the first soft bus to establish a transmission channel with the target hydraulic support based on the device identifier and device address of the target hydraulic support.

[0311] For example, in a specific implementation, step S520 may include steps S521 to S525.

[0312] S521, the first protocol stack sends a networking request to the first soft bus.

[0313] For example, the networking request may include the device identifier and device address of the target hydraulic support.

[0314] S522, the first soft bus network with the target hydraulic support (e.g., via the second soft bus) based on the target hydraulic support's device identifier and device address.

[0315] The networking process is essentially a device authentication process between devices. For example, the first soft bus and the second soft bus can negotiate encrypted security parameters. The soft bus supports multi-protocol convergence and can coordinate different wireless modules (such as Wi-Fi and Bluetooth) to achieve seamless networking.

[0316] After the first soft bus and the second soft bus successfully form a network, they can respectively report the successful network formation to the first protocol stack and the second protocol stack.

[0317] S523, the first protocol stack sends a request to the first soft bus to establish a transmission channel.

[0318] For example, the request to establish a transmission channel may include the device identifier and device address of the target hydraulic support.

[0319] S524, the first soft bus establishes a transmission channel with the target hydraulic support (e.g., via the second soft bus) based on the target hydraulic support's device identifier and device address.

[0320] S525, the first soft bus feeds back the establishment of the transmission channel to the first protocol stack.

[0321] Accordingly, on the target hydraulic support side, the target hydraulic support executes step S526: the second soft bus feeds back the establishment of the transmission channel to the second protocol stack.

[0322] After the transmission channel is established, in step S530, the first protocol stack can send a second request to the target hydraulic support based on the established transmission channel. This second request includes the first information. Correspondingly, on the target hydraulic support side, the second protocol stack receives the second request based on the transmission channel.

[0323] For example, the first protocol stack can encapsulate the second request and send it to the first soft bus. The first soft bus encrypts the encapsulated data packet and sends it to the second soft bus. The second soft bus decrypts the received data packet and sends the decrypted data packet to the second protocol stack for decapsulation. The second protocol stack can then send the first information obtained from the decapsulation to the third application via step S531.

[0324] In some embodiments, if the coal mining machine and the target hydraulic support are establishing a transmission channel for the first time, then steps S521 to S525 need to be fully executed during the establishment of the transmission channel.

[0325] In some embodiments, if the coal mining machine and the target hydraulic support are not establishing a transmission channel for the first time, then steps S521 and S522 may not be performed during the establishment of the transmission channel.

[0326] In some embodiments, once the transmission channel between the coal mining machine and the target hydraulic support is established, it can remain connected. This way, when the coal mining machine needs to transmit information with the target hydraulic support again, it can directly use the previously established transmission channel without repeating step S520.

[0327] In some embodiments, after the transmission of the first information and the collaborative control result between the coal mining machine and the target hydraulic support is completed, the transmission channel established in step S520 can be disconnected to save resource usage. For example, continue to refer to... Figure 12 The coal mining machine can execute step S540: the first protocol stack disconnects the transmission channel with the target hydraulic support.

[0328] For example, in a specific implementation, step S540 may include steps S541 to S543.

[0329] S541, the first protocol stack sends a request to the first soft bus to disconnect the transmission channel.

[0330] S542, the first soft bus disconnects the transmission channel with the target hydraulic support according to the request to disconnect the transmission channel.

[0331] S543, the first soft bus feeds back the transmission channel to the first protocol stack, which is disconnected.

[0332] Accordingly, on the target hydraulic support side, the target hydraulic support executes step S544: the second soft bus feeds back the transmission channel to the second protocol stack and disconnects.

[0333] Thus, when the coal mining machine needs to communicate end-to-end with the target hydraulic support again, after the target hydraulic support is identified, steps S523 to S525 can be executed again to re-establish the transmission channel.

[0334] Of course, in some other embodiments, the process of disconnecting the transmission channel can also be initiated by the second protocol stack on the target hydraulic support side. For example, after sending the collaborative control result, the second protocol stack calls the second soft bus to disconnect the transmission channel with the coal mining machine. The specific process is similar to step S540, and for simplicity, it will not be described again.

[0335] Understandable. Figure 11 and Figure 12 The document primarily describes the steps executed by both the coal mining machine and the target hydraulic support when the coal mining machine actively sends information to the target hydraulic support. If... Figure 8 When the first hydraulic support shown needs to actively send information to the first device, the steps performed by the first hydraulic support are the same as those of the first device. Figure 11 and Figure 12 The execution process of the coal mining machine shown is similar, that is, the third application establishes a transmission channel and transmits information by calling the soft bus capability through the second protocol stack, and the second protocol stack can disconnect the transmission channel after the information transmission is completed; the steps executed by the first device are the same. Figure 11 and Figure 12 The execution process of the target hydraulic support shown is similar, that is, the fifth application receives information through the third protocol stack, and the third protocol stack can decapsulate the received information and send it to the fifth application. For simplicity, it will not be described in detail here.

[0336] In this application, to implement the control method provided, a specific implementation can deploy the MineHarmony operating system (an industrial-grade IoT operating system based on the open HarmonyOS, specifically designed for mining scenarios) on the coal mining machine and hydraulic supports. The MineHarmony operating system includes a coal mine data acquisition and transmission protocol stack (such as the aforementioned first protocol stack, second protocol stack, and third protocol stack) and a distributed soft bus (such as the aforementioned first soft bus and second soft bus). The coal mine data acquisition and transmission protocol stack is used for device discovery, control request encapsulation and decapsulation, and to call soft bus capabilities to establish transmission channels. The distributed soft bus is used for device networking and establishing transmission channels.

[0337] Based on the coal mine data acquisition and transmission protocol stack and distributed soft bus capabilities, the aforementioned first, second, third, and fourth applications can be developed. For example, the first application can also be called the coal mining machine linkage control application, used to perform tasks such as discovering and associating linkage devices between the coal mining machine and hydraulic supports, establishing transmission channels, and issuing linkage control commands. The second application can also be called the coal mining machine control application, used to control the coal mining machine's production process and obtain its position information. The third application can also be called the hydraulic support linkage control application, used to perform tasks such as discovering and associating linkage devices between the hydraulic supports and the coal mining machine, or between hydraulic supports themselves, establishing transmission channels, and issuing linkage control commands. The fourth application can also be called the hydraulic support control application, used to control the hydraulic support's support process and obtain its position information.

[0338] The first and third applications can call the protocol stack's interfaces, which in turn can access the soft bus capabilities. For example, the coal mining machine's linkage control application and the hydraulic support's linkage control application can discover linkage devices on the same working face through the protocol stack and establish logical associations. During the coal mining machine's production and tunneling process, the coal mining machine's linkage control application can calculate information about adjacent hydraulic support devices based on its relative position and direction of travel on the working face. It then establishes a transmission channel between the coal mining machine and the hydraulic support using the protocol stack and soft bus, sending control commands such as retracting the support guard plate, following the conveyor, and raising the support guard plate to the hydraulic support devices, thus achieving production linkage between the coal mining machine and the hydraulic support.

[0339] In summary, in the control method for fully mechanized mining equipment provided in this application embodiment, since a direct transmission channel is established between the coal mining machine and the hydraulic support and information is exchanged, such as the coal mining machine directly sending linkage control commands to the hydraulic support, the forwarding of intermediate links is avoided, which can effectively reduce control delay, improve equipment linkage efficiency, and thus improve industrial production efficiency.

[0340] The above text combined Figures 1 to 12 This application describes in detail the control method of the fully mechanized mining equipment provided in the embodiments of this application. The following will combine... Figures 13 to 15 The apparatus embodiments of this application are described in detail below. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments; therefore, any parts not described in detail can be referred to the foregoing method embodiments.

[0341] Figure 13 A schematic structural diagram of an apparatus provided in an embodiment of this application is shown. Figure 13 The first device 600 shown can be located in Figure 1 or Figure 2 The coal mining machine 110 shown is a specific example of a coal mining machine 110. The first device 600 is capable of performing... Figure 5 or Figure 10 The method shown outlines each step and can be implemented in detail. Figures 6 to 9 , Figures 11 to 12 The steps performed by the coal mining machine in the illustrated embodiments will not be described again to avoid redundancy.

[0342] like Figure 13 As shown, the first device 600 may include a first acquisition unit 610, a first processing unit 620, and a first transceiver unit 630.

[0343] The first acquisition unit 610 can be used to perform... Figure 5 or Figure 10 Step S210 in method 200 is shown. Specifically, the first acquisition unit 610 is used to perform the acquisition of the operating status information of the coal mining machine (such as...) in the aforementioned method embodiment. Figure 11 The steps shown are S211 and so on.

[0344] The first processing unit 620 can be used to execute Figure 5 or Figure 10 Step S220 in method 200 shown can be executed. Figure 10 The step S290 is shown. Specifically, the first processing unit 620 is used to perform the determination of the target hydraulic support (e.g., ...) in the aforementioned method embodiments. Figure 11 (as shown in step S220), establish the relationship between the coal mining machine and the hydraulic support (e.g.) Figure 6 or Figure 7 (See step S260) Determine whether the first hydraulic support and the first equipment are on the same working surface (e.g.) Figure 8 or Figure 9 (as shown in step S320) Update the operating status of the coal mining machine according to the collaborative control results (e.g.) Figure 11 The steps shown (S292) are related to data processing, as well as the steps for controlling the information transfer between the first application, the second application, the first protocol stack, and the first soft bus.

[0345] The first transceiver unit 630 can be used to perform... Figure 5 or Figure 10 Step S230 in method 200 shown can be executed. Figure 10 The step S280 is shown. Specifically, the first transceiver unit 630 is used to execute the broadcast third request (such as...) in the aforementioned method embodiment. Figure 6 Step S240 shown Figure 7 (as shown in step S242), receive response message (such as...) Figure 6 The steps S250 shown are as follows: Figure 7 (as shown in step S252), receive the fourth request (such as...) Figure 8 Step S310 is shown as follows: Figure 9 (as shown in step S312), send a response message (such as...) Figure 8 Step S330 shown, as Figure 9 (as shown in step S332), send the first message (such as...) Figure 11 The steps S230 shown are as follows: Figure 12 (as shown in step S530), receiving the cooperative control result (such as...) Figure 11 The steps shown (S280), including network setup, establishing a transmission channel, and disconnecting the transmission channel, are related to transmitting and receiving signals.

[0346] For example, the first transceiver unit 630 may include a transmitting unit and a receiving unit, wherein the transmitting unit is used to perform steps related to transmitting signals and the receiving unit is used to perform steps related to receiving signals.

[0347] Optionally, the first device 600 may further include a storage unit for storing program code and data of the first device 600.

[0348] Figure 14 A schematic structural diagram of an apparatus provided in an embodiment of this application is shown. Figure 14 The second device 700 shown can be located in Figure 1 or Figure 2 The hydraulic support 120 shown is a specific example of a hydraulic support 120. The second device 700 can be specifically implemented. Figures 6 to 9 , Figures 11 to 12 The steps performed by the hydraulic support in the illustrated embodiment will not be described again to avoid redundancy.

[0349] like Figure 14 As shown, the second device 700 may include a second transceiver unit 710 and a second processing unit 720.

[0350] The second transceiver unit 710 is used to receive first information from the coal mining machine based on the transmission channel between the hydraulic support and the coal mining machine. The first information is used to determine the coordinated action of the hydraulic support.

[0351] Specifically, the second transceiver unit 710 is used to perform the aforementioned method embodiment regarding receiving a third request (such as...). Figure 6 Step S240 shown Figure 7 (as shown in step S242), send a response message (such as...) Figure 6 The steps S250 shown are as follows: Figure 7 (as shown in step S252), broadcast the fourth request (such as...) Figure 8 Step S310 is shown as follows: Figure 9 (as shown in step S312), receive response message (such as...) Figure 8 Step S330 shown, as Figure 9 (as shown in step S332), receiving the first information (such as...) Figure 11 The steps S230 shown are as follows: Figure 12 (as shown in step S530), send the collaborative control result (such as...) Figure 11 The steps shown (S280), including network setup, establishing a transmission channel, and disconnecting the transmission channel, are related to transmitting and receiving signals.

[0352] The second processing unit 720 executes a collaborative action based on the first information.

[0353] Specifically, the second processing unit 720 is used to perform the process described in the aforementioned method embodiment regarding determining whether the hydraulic support and the coal mining machine are on the same working face (e.g., Figure 6 Step S270 is shown below. Figure 7(as shown in step S272), establish the association between the first hydraulic support and the first device (e.g.) Figure 8 or Figure 9 (as shown in step S340), determine the cooperative action (such as...) Figure 11 (as shown in step S420b) control the target hydraulic support to perform coordinated actions (such as...) Figure 11 The steps shown (S420a or S440b) are related to data processing, as well as the steps for controlling information transfer between the third application, the fourth application, the second protocol stack, and the second soft bus.

[0354] For example, the second transceiver unit 710 may include a transmitting unit and a receiving unit, wherein the transmitting unit is used to perform steps related to transmitting signals and the receiving unit is used to perform steps related to receiving signals.

[0355] Optionally, the second device 700 may further include a storage unit for storing program code and data of the second device 700.

[0356] Optionally, the second device 700 may further include an acquisition unit for acquiring the operating status information of the hydraulic support.

[0357] Figure 15 This is a schematic structural diagram of a fully mechanized mining equipment provided in an embodiment of this application. Figure 15 The fully mechanized mining equipment 800 shown can be Figure 1 A specific example is the 110 coal mining machine or the 120 hydraulic support.

[0358] Figure 15 The fully mechanized mining equipment 800 shown includes a memory 810, a processor 820, a bus 830, and a communication interface 840. The memory 810, processor 820, and communication interface 840 are interconnected via the bus 830.

[0359] The memory 810 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 810 may store programs, and when the programs stored in the memory 810 are executed by the processor 820, the processor 820 is used to execute the various steps performed by the coal mining machine in the method of the embodiments of this application, or to execute the various steps performed by the hydraulic support in the method of the embodiments of this application.

[0360] The processor 820 may be a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), graphics processing unit (GPU), or one or more integrated circuits, for executing related programs to perform the various steps performed by the coal mining machine in the method of the embodiments of this application, or to perform the various steps performed by the hydraulic support in the method of the embodiments of this application.

[0361] The processor 820 can also be an integrated circuit chip with signal processing capabilities. In implementation, each step of the method in this application can be completed by the integrated logic circuitry in the hardware of the processor 820 or by instructions in software form. The processor 820 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory 810. The processor 820 reads the information in the memory 810 and, in conjunction with its hardware, executes the various steps performed by the coal mining machine in the method of this application embodiment, or executes the various steps performed by the hydraulic support in the method of this application embodiment.

[0362] The communication interface 840 uses transceiver devices, such as, but not limited to, transceivers, to enable communication between the fully mechanized mining equipment 800 and other devices or communication networks.

[0363] Bus 830 may include a path for transmitting information between various components of the fully mechanized mining equipment 800 (e.g., memory 810, processor 820, communication interface 840).

[0364] This application also provides a fully mechanized mining device, comprising: one or more processors; one or more memories; the one or more memories storing one or more computer programs, the one or more computer programs including instructions, which, when executed by the one or more processors, cause the fully mechanized mining device to perform the following actions: Figure 5 or Figure 10 Each step in the method shown, or its implementation Figures 6 to 9 , Figures 11 to 12 The specific embodiments shown depict the various steps performed by the coal mining machine.

[0365] This application also provides a fully mechanized mining device, comprising: one or more processors; one or more memories; the one or more memories storing one or more computer programs, the one or more computer programs including instructions that, when executed by the one or more processors, cause the implementation... Figures 6 to 9 , Figures 11 to 12 The specific embodiments shown illustrate the steps performed by the hydraulic support.

[0366] This application also provides a readable storage medium including computer instructions that, when executed on a fully mechanized mining equipment, cause the fully mechanized mining equipment to perform the steps performed by the coal mining machine in the aforementioned method embodiments, or to perform the steps performed by the hydraulic support in the aforementioned method embodiments.

[0367] This application also provides a chip that stores instructions that, when executed by a fully mechanized mining equipment, can implement the various steps performed by the coal mining machine in the above methods, or the various steps performed by the hydraulic support in the above methods.

[0368] This application also provides a computer program product that stores a program or instructions. When the program or instructions are run, they can implement the various steps performed by the coal mining machine in the above methods, or the various steps performed by the hydraulic support in the above methods.

[0369] This application also provides a fully mechanized mining system, including a coal mining machine and a hydraulic support. The coal mining machine can perform the steps performed by the coal mining machine in the method embodiment, and the hydraulic support can perform the steps performed by the hydraulic support in the method embodiment.

[0370] The terms “component,” “module,” “system,” “unit,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a unit can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, a thread of execution, a program, and / or distributed between two or more computers. Furthermore, these units can be executed from various computer-readable media on which various data structures are stored. Units can communicate, for example, via local and / or remote processes based on signals having one or more data packets.

[0371] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0372] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0373] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0374] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0375] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0376] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0377] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of a fully mechanized mining equipment, characterized in that, The method is executed by a coal mining machine, and comprises: obtaining operation state information of the coal mining machine; determining, according to the operation state information of the coal mining machine, a target hydraulic support to be cooperatively controlled from a plurality of hydraulic supports, wherein the plurality of hydraulic supports are located in a same working face as the coal mining machine; sending, based on a transmission channel between the coal mining machine and the target hydraulic support, first information to the target hydraulic support, the first information being used to instruct the target hydraulic support to determine and execute a cooperative action; wherein, before the obtaining operation state information of the coal mining machine, the method further comprises: broadcasting a third request, the third request comprising information of a working face where the coal mining machine is located; receiving a response message sent by each hydraulic support of the plurality of hydraulic supports, each of the response messages comprising device identification and position information of a corresponding hydraulic support, the position information comprising an installation position of the corresponding hydraulic support relative to a starting point of the working face and / or a number of the corresponding hydraulic support, wherein the numbers of the plurality of hydraulic supports indicate relative positional relationships between the plurality of hydraulic supports; establishing, according to each of the response messages, an association relationship between the coal mining machine and the plurality of hydraulic supports, wherein the association relationship comprises a mapping relationship between device identification of the coal mining machine and device identification of each of the plurality of hydraulic supports, and a mapping relationship between device identification of each of the plurality of hydraulic supports and position information of the corresponding hydraulic support.

2. The method of claim 1, wherein, The operation state information of the coal mining machine comprises position information of the coal mining machine, or comprises position information of the coal mining machine and movement direction information of the coal mining machine.

3. The method of claim 1, wherein, The first information comprises at least one of: the operation state information of the coal mining machine; an instruction for instructing the target hydraulic support to perform cooperative control; or an instruction for instructing the target hydraulic support to execute the cooperative action.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: receiving, based on the transmission channel, a cooperative control result sent by the target hydraulic support; updating, according to the cooperative control result, the operation state of the coal mining machine.

5. The method of claim 4, wherein, The coal mining machine comprises a first application, a second application and a protocol stack, the second application being used to control the operation state of the coal mining machine, and the first application being used to control cooperation of the target hydraulic support; wherein, the receiving, based on the transmission channel, of the cooperative control result sent by the target hydraulic support comprises: the protocol stack receiving, based on the transmission channel, the cooperative control result from the target hydraulic support; the protocol stack sending the cooperative control result to the first application; the updating, according to the cooperative control result, of the operation state of the coal mining machine comprises: the first application sending the cooperative control result to the second application; the second application updating, according to the cooperative control result, the operation state of the coal mining machine.

6. The method of claim 4, wherein, The coal mining machine comprises a first application and a protocol stack, wherein, the receiving, based on the transmission channel, of the cooperative control result sent by the target hydraulic support comprises: the protocol stack receiving, based on the transmission channel, the cooperative control result from the target hydraulic support; The protocol stack sends the cooperative control result to the first application; The updating of the running state of the coal mining machine according to the cooperative control result comprises: The first application updates the running state of the coal mining machine according to the cooperative control result.

7. The method according to any one of claims 1 to 3, characterized in that, After determining the target hydraulic support to be cooperatively controlled from the plurality of hydraulic supports, and / or before sending the first information to the target hydraulic support, the method further comprises: establishing the transmission channel with the target hydraulic support.

8. The method of claim 7, wherein, The coal mining machine comprises a first application, a protocol stack and a soft bus, the first application is used for controlling the cooperation of the target hydraulic support; wherein, The establishing of the transmission channel with the target hydraulic support comprises: The first application sends a first request to the protocol stack, the first request comprises the first information, the device identifier of the target hydraulic support and the device address of the target hydraulic support; The protocol stack calls the soft bus to establish the transmission channel with the target hydraulic support according to the device identifier of the target hydraulic support and the device address of the target hydraulic support; The sending of the first information to the target hydraulic support based on the transmission channel between the coal mining machine and the target hydraulic support comprises: The protocol stack sends a second request to the target hydraulic support through the transmission channel, the second request comprises the first information.

9. The method according to any one of claims 1 to 3, characterized in that, The coal mining machine comprises a first application and a second application, the second application is used for controlling the running state of the coal mining machine, and the first application is used for controlling the cooperation of the target hydraulic support; wherein, The obtaining of the running state information of the coal mining machine comprises: The first application obtains the running state information of the coal mining machine from the second application; The determining of the target hydraulic support to be cooperatively controlled from the plurality of hydraulic supports according to the running state information of the coal mining machine comprises: The first application determines the target hydraulic support from the plurality of hydraulic supports according to the running state information of the coal mining machine; The sending of the first information to the target hydraulic support based on the transmission channel between the coal mining machine and the target hydraulic support comprises: The first application sends the first information to the target hydraulic support based on the transmission channel.

10. The method according to any one of claims 1 to 3, characterized in that, The third request further comprises at least one of the following: the device identifier of the coal mining machine, the installation position of the coal mining machine relative to the starting point of the working face or the number of the coal mining machine.

11. The method according to any one of claims 1 to 3, characterized in that, The coal mining machine comprises a first application and a protocol stack, the first application is used for controlling the coal mining machine and the plurality of hydraulic supports to establish the association relationship; wherein, The broadcasting of the third request comprises: The protocol stack receives the information of the working face where the coal mining machine is located from the first application; The protocol stack broadcasts the third request according to the information of the working face where the coal mining machine is located; The receiving of the response message sent by each hydraulic support in the plurality of hydraulic supports comprises: The protocol stack receives each response message; The protocol stack sends the device identifier and the position information of the corresponding hydraulic support to the first application according to each response message; The protocol stack receives each response message; The protocol stack sends the device identifier and the position information of the corresponding hydraulic support to the first application according to each response message; The method further comprises: The first application establishes the association between the coal mining machine and the plurality of hydraulic supports according to the device identifier and the position information of each hydraulic support in the plurality of hydraulic supports.

12. The method of any one of claims 1 to 3, wherein, The method further comprises: receiving a fourth request broadcast by a first hydraulic support in the plurality of hydraulic supports, the fourth request comprising information of a working face where the first hydraulic support is located; determining that the first hydraulic support and the coal mining machine are located in the same working face according to the information of the working face where the first hydraulic support is located and the information of the working face where the coal mining machine is located; sending a device identifier of the coal mining machine to the first hydraulic support, the device identifier of the coal mining machine being used by the first hydraulic support to establish the association between the first hydraulic support and the coal mining machine.

13. The method of any one of claims 1 to 3, wherein, The target hydraulic support comprises a first support group and / or a second support group, the first support group is located at the front end of the coal mining machine in the direction of travel, and the second support group is located at the rear end of the coal mining machine in the direction of travel, the first support group comprises at least one hydraulic support, the second support group comprises at least one hydraulic support, the cooperative action of the first support group is to retract the support plate, and the cooperative action of the second support group is to follow the coal mining machine and open the support plate.

14. A coal mining machine characterized by, comprise: one or more processors; one or more memories; The one or more memories store one or more computer programs, the one or more computer programs comprising instructions that, when executed by the one or more processors, cause the coal mining machine to perform the method of any one of claims 1 to 13.

15. A computer-readable storage medium, characterized in that, The storage medium stores a program or instructions, when the program or instructions are run on a computer, the computer executes the method of any one of claims 1 to 13.

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