Scheduling method of fully mechanized mining task, hydraulic support and computer readable storage medium

Abstract

The application provides a fully mechanized task arrangement method, a hydraulic support and a computer readable storage medium. The method comprises the following steps: a control device specifies the roles, "publishers" and "subscribers", of various fully mechanized devices, and arranges a fully mechanized task, including subtasks associated with various roles. The control device sends the fully mechanized task to a "Master" in the fully mechanized device, the "Master" is interconnected with other fully mechanized devices, and the communication identifier of the device acting as a "publisher" is written into the fully mechanized task. Then, the subtasks of various roles are distributed to the corresponding fully mechanized devices. The device acting as a "publisher" publishes corresponding indicators based on the received subtasks. The device acting as a "subscriber" subscribes to the published indicators based on the received subtasks and the communication identifier of the device acting as a "publisher". Finally, subsequent operations are triggered based on the indicators, so as to improve the multi-device cooperation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial Internet of Things, and particularly relates to a fully mechanized mining task arrangement method, a hydraulic support and a computer readable storage medium. BACKGROUND

[0002] Fully mechanized coal mining, referred to as "fully mechanized mining", refers to a modern coal mining process in which all production links such as breaking of coal body, loading of coal blocks, transportation of coal and support of roof are mechanized in a coal mining face of an underground coal mine.

[0003] At present, a fully mechanized mining task can be cooperatively executed by multiple devices such as a shearer, a powered support and an armoured face conveyor (AFC). However, the existing multi-device cooperation has the problem of business rigidity, thereby leading to low efficiency of fully mechanized mining. Business rigidity refers to that an execution logic of a fully mechanized mining task needs to be pre-fixed in an associated device in a hard-coded manner, and when the business logic is updated, the business logic needs to be re-developed and deployed in the associated device.

[0004] Therefore, how to improve the efficiency of cooperative execution of related tasks among multiple devices is a technical problem to be solved. SUMMARY

[0005] The present application provides a fully mechanized mining task arrangement method, a hydraulic support and a computer readable storage medium. The method sets a role of each fully mechanized mining device by using a "publish / subscribe" task arrangement model and arranges sub-tasks associated with each role, so that a device as a "publisher" publishes corresponding indexes based on the received sub-tasks, a device as a "subscriber" subscribes to indexes from the "publisher" based on the received sub-tasks, and finally triggers a subsequent operation based on the subscribed indexes, thereby improving the multi-device cooperation efficiency.

[0006] In a first aspect, the present application provides a fully mechanized task arrangement method, which is applied to a fully mechanized equipment, the fully mechanized equipment comprising a hydraulic support, a coal mining machine and a scraper conveyor, the method comprising: the hydraulic support receiving a fully mechanized task sent by a control device, the fully mechanized task comprising a first device type and a first subtask of a publisher, a second device type and a second subtask of a subscriber, the first subtask being used for publishing a first index, and the second subtask being used for subscribing to the first index and judging whether to trigger a first operation based on the first index; the hydraulic support acquiring a device type and a communication identifier of each device in the fully mechanized equipment; the hydraulic support determining a first device identical to the first device type from the fully mechanized equipment, sending the first subtask to the first device, the first device receiving the first subtask sent by the hydraulic support and identifying the first subtask, and the first device executing the first subtask; and the hydraulic support determining a second device identical to the second device type from the fully mechanized equipment, sending the second subtask and the communication identifier of the first device to the second device, and the second device executing the second subtask by using the communication identifier of the first device.

[0007] After the method described in the first aspect is implemented, the roles of the various fully mechanized equipment in the fully mechanized task execution logic are dynamically defined at the task level through the "publish-subscribe" model, the software-defined cooperative relationship is supported, and if the roles of the fully mechanized task and the fully mechanized equipment change, the task can be rearranged and issued by the control device, without the need to modify any device bottom code, thereby improving the cooperative efficiency.

[0008] In combination with the method described in the first aspect, the first device type is a coal mining machine type, the second device type is a hydraulic support type or a scraper conveyor type, and the first index is a position.

[0009] In this way, the roles of the various device types in the fully mechanized scene can be considered to set the roles, for example, the operation logic of the coal mining machine comprises publishing position information, so the coal mining machine can be designated as a publisher role to obtain a "publishing" subtask. In addition, the operation logic of the hydraulic support and the scraper conveyor in the fully mechanized scene is to obtain the position information of the coal mining machine, so the hydraulic support or the scraper conveyor can be designated as a publisher role to obtain a "subscribing" subtask.

[0010] In combination with the method described in the first aspect, the first device executes the first subtask, specifically comprising: the coal mining machine publishing the latest position after each movement; or the coal mining machine publishing the latest position at regular intervals.

[0011] In this way, the coal mining machine as a publisher can be provided with multiple ways to execute the task of publishing position information.

[0012] The first operation is a following operation.

[0013] In this way, the second device can directly trigger the following operation when the subscribed indicators meet the trigger condition, and the following operation of the hydraulic support, for example, includes one or more of the following: lowering, moving, raising, and pushing, and the following operation of the scraper conveyor includes but is not limited to pushing. The decision and execution are both on the second device side, thereby avoiding communication delay caused by triggering the second device to perform the following operation by other devices, and avoiding other devices from bearing the decision task of whether the trigger condition is met, that is, each device performs its own subtask without bearing the task for other devices, thereby improving the efficiency of multi-device cooperation.

[0014] In combination with the method described in the first aspect, the hydraulic support determines a second device of the same type as the second device from the fully-mechanized mining device, and sends the second subtask and the communication identifier of the first device to the second device. Before that, the method further includes: the hydraulic support determines that the first device is of the same type as the first device of the publisher, and writes the communication identifier of the first device into the fully-mechanized mining task.

[0015] In this way, when the control device cannot specify the communication identifier of the publisher in advance due to the inability to know the details of each fully-mechanized mining device in advance (for example, the device type and communication identifier of each fully-mechanized mining device), the hydraulic support can obtain the details of each fully-mechanized mining device, and then set the specific communication identifier of the publisher according to the condition specified by the control device, thereby improving the implementability of the present solution.

[0016] In combination with the method described in the first aspect, before the hydraulic support receives the fully-mechanized mining task sent by the control device, the method further includes: the control device compiles the fully-mechanized mining task, and the fully-mechanized mining task further includes: a to-be-written communication identifier of a publisher; before the hydraulic support determines a second device of the same type as the second device from the fully-mechanized mining device, and sends the second subtask and the communication identifier of the first device to the second device, the method further includes: the hydraulic support determines that the first device is of the same type as the first device of the publisher, and writes the communication identifier of the first device into the to-be-written communication identifier of the publisher in the fully-mechanized mining task.

[0017] In this way, when the control device cannot specify the communication identifier of the publisher in advance due to the inability to know the details of each fully-mechanized mining device in advance (for example, the device type and communication identifier of each fully-mechanized mining device), the control device can compile a task template in advance, including the to-be-written communication identifier of the publisher, so that the hydraulic support can write the specific communication identifier of the publisher into the task template according to the task template compiled by the control device, thereby improving the implementability of the present solution.

[0018] In combination with the method described in the first aspect, the communication identifier of the first device is an Internet Protocol (IP) address.

[0019] In this way, other fully mechanized mining devices can communicate with the first device through IP addressing of the first device.

[0020] In combination with the method described in the first aspect, before the hydraulic support receiving control device sends the fully mechanized mining task, the method further includes: the control device determines the Master device as the hydraulic support in the fully mechanized mining device; and the control device sends the fully mechanized mining task to the hydraulic support.

[0021] In this way, considering that the fully mechanized mining device usually operates in the environment such as the field and the mountain area, the control device cannot establish the soft bus connection or the industrial bus connection with each fully mechanized mining device under the remote condition, therefore, in order to ensure that the fully mechanized mining task arranged by the master control can be successfully sent to each fully mechanized mining device, the control device can pre-designate the device as the Master in the fully mechanized mining device, so as to send the arranged fully mechanized mining task to the Master, and the Master is responsible for distributing the sub-tasks to other fully mechanized mining devices based on the soft bus or the industrial bus.

[0022] In combination with the method described in the first aspect, the control device sends the fully mechanized mining task to the hydraulic support, and specifically includes: the control device sends the fully mechanized mining task to the hydraulic support based on the medium access control (MAC) address of the hydraulic support.

[0023] In this way, considering that the MAC address as the physical address has invariability compared to the changing IP address, therefore, the MAC address is used as the communication identifier of the Master, and no matter the control communicates with the Master remotely or other devices in the fully mechanized mining device communicate with the Master in the near field, the MAC address can be used for communication.

[0024] In combination with the method described in the first aspect, the method further includes: when the first device executes the first sub-task, the time and the first state are also published, and the first state indicates the publishing state.

[0025] In this way, the other fully mechanized mining devices can obtain the accurate information of the first device, and the accuracy of the task executed by the multiple devices cooperatively is improved.

[0026] In combination with the method described in the first aspect, the hydraulic support obtains the device type and the communication identifier of each device in the fully mechanized mining device, and specifically includes: the hydraulic support obtains the device type and the communication identifier of itself; and the hydraulic support obtains the device type and the communication identifier of the devices other than itself in the fully mechanized mining device based on the soft bus connection.

[0027] In this way, the fully mechanized mining equipment can be connected through the soft bus, so that the hydraulic support can obtain information of other fully mechanized mining equipment based on the soft bus connection. The soft bus provides a unified communication interface and shields the heterogeneity of different types of equipment and different protocols, so that the multi-device cooperation is more smooth.

[0028] In a second aspect, the application provides a fully mechanized mining task arrangement method. The method is applied to a hydraulic support and includes the following steps: the hydraulic support receives a fully mechanized mining task sent by a control device. The fully mechanized mining task includes a first device type and a first subtask of a publisher, a second device type and a second subtask of a subscriber, the first subtask is used to publish a first index, and the second subtask is used to subscribe to the first index and judge whether to trigger a first operation based on the first index. The hydraulic support obtains a device type and a communication identifier of each device in a fully mechanized mining equipment. The fully mechanized mining equipment includes the hydraulic support, a coal mining machine, and a scraper conveyor. The hydraulic support determines a first device with the same first device type as the first device type from the fully mechanized mining equipment, sends the first subtask to the first device, and uses the first device to execute the first subtask. The hydraulic support determines a second device with the same second device type as the second device type from the fully mechanized mining equipment, sends the second subtask and the communication identifier of the first device to the second device, and uses the first device to execute the second subtask.

[0029] After the method described in the second aspect is implemented, the roles of various fully mechanized mining equipment in the fully mechanized mining task execution logic are dynamically defined at the task level through the “publish-subscribe” model, a software-defined cooperative relationship that can be flexibly arranged is supported, if the roles of the fully mechanized mining task and the fully mechanized mining equipment change, the task needs to be rearranged and issued by the control device, and any device bottom code does not need to be modified, thereby improving the cooperative efficiency.

[0030] In combination with the method described in the second aspect, the first device type is a coal mining machine type, the second device type is a hydraulic support type or a scraper conveyor type, and the first index is a position.

[0031] In this way, the roles of various device types in the fully mechanized mining scene can be considered to set the roles, for example, the operation logic of the coal mining machine includes publishing position information, so the coal mining machine can be designated as a publisher role to obtain a “publishing” type subtask. In addition, the operation logic of the hydraulic support and the scraper conveyor in the fully mechanized mining scene is to obtain the position information of the coal mining machine, so the hydraulic support or the scraper conveyor can be designated as a publisher role to obtain a “subscription” type subtask.

[0032] In combination with the method described in the second aspect, the hydraulic support determines a second device in the fully-mechanized mining device that is of the same second device type as the second device, and sends the second sub-task and the communication identifier of the first device to the second device, and before that, the method further comprises: the hydraulic support determines that the first device is of the same first device type as the publisher, and writes the communication identifier of the first device into the fully-mechanized mining task.

[0033] In this way, when the control device cannot pre-specify the communication identifier of the publisher due to the inability to pre-know the details of each fully-mechanized mining device (such as the device type and the communication identifier of each fully-mechanized mining device), the hydraulic support can obtain the details of each fully-mechanized mining device, and then set the communication identifier of the specific publisher according to the conditions specified by the control device, thereby improving the implementability of the present solution.

[0034] In combination with the method described in the second aspect, the fully-mechanized mining task further comprises: a communication identifier of the publisher to be written; before the hydraulic support determines a second device in the fully-mechanized mining device that is of the same second device type as the second device, and sends the second sub-task and the communication identifier of the first device to the second device, the method further comprises: the hydraulic support writes the communication identifier of the first device into the communication identifier of the publisher to be written in the fully-mechanized mining task according to the first device type of the publisher.

[0035] In this way, when the control device cannot pre-specify the communication identifier of the publisher due to the inability to pre-know the details of each fully-mechanized mining device (such as the device type and the communication identifier of each fully-mechanized mining device), the control device can pre-arrange a task template, including the communication identifier of the publisher to be written, so that the hydraulic support can write the communication identifier of the specific publisher into the task template according to the task template arranged by the control device, thereby improving the implementability of the present solution.

[0036] In combination with the method described in the second aspect, the communication identifier of the first device is an Internet Protocol (IP) address.

[0037] In this way, other fully-mechanized mining devices can address the first device through the IP, and then realize communication with the first device.

[0038] In combination with the method described in the second aspect, the hydraulic support obtains the device type and the communication identifier of each device in the fully-mechanized mining device, specifically comprising: the hydraulic support obtains its own device type and communication identifier; and the hydraulic support obtains the device type and the communication identifier of the devices other than itself in the fully-mechanized mining device based on a soft bus connection.

[0039] In this way, the fully-mechanized mining devices can establish a connection through the soft bus, so that the hydraulic support can obtain the information of other fully-mechanized mining devices based on the soft bus connection. The soft bus provides a unified communication interface, and shields the heterogeneity of different types of devices and different protocols, making the multi-device collaboration more smooth.

[0040] In a third aspect, the present application provides a hydraulic support, comprising: 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 comprise instructions, when the instructions are executed by the one or more processors, the hydraulic support executes the method as described in any one of the second aspect.

[0041] In a fourth aspect, the present application provides a computer readable storage medium, the storage medium stores a program or instructions, when the program or instructions are run on a computer, the computer executes the method as described in any one of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 A schematic diagram of a fully mechanized mining scene is provided for an embodiment of the present application;

[0043] Figure 2 A schematic diagram of a communication system 100 is provided for an embodiment of the present application;

[0044] Figure 3 A schematic diagram of a system architecture is provided for an embodiment of the present application;

[0045] Figure 4 A schematic diagram of a fully mechanized mining task scheduling method is provided for an embodiment of the present application;

[0046] Figure 5 A schematic diagram of a device end executing a fully mechanized mining task is provided for an embodiment of the present application;

[0047] Figure 6 A schematic diagram of a hardware architecture of a control device 10 is provided for an embodiment of the present application;

[0048] Figure 7 A schematic diagram of a hardware architecture of a fully mechanized mining device 20 is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; the "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0050] Hereinafter, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" are merely used for descriptive purposes and cannot be understood as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" can explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0051] For the convenience of understanding, the application scenarios involved in the present application will be explained and described first. The method provided by the present application can be applied to scenarios including but not limited to: comprehensive mechanized coal mining scene, referred to as "fully mechanized mining" scene, and can also be applied to other industrial automation scenarios. The present application will be temporarily described in detail taking the fully mechanized mining scene as an example.

[0052] Reference Figure 1 , Figure 1 A schematic diagram of a fully mechanized mining scene is shown.

[0053] As Figure 1 shown, the devices involved in fully mechanized mining include but are not limited to: coal mining machine 21, hydraulic support 22, scraper conveyor 23 and other core devices, and also include Figure 1 other devices not shown. The core devices such as coal mining machine 21, hydraulic support 22 and scraper conveyor 23 are arranged in the coal mining working face, which is the operation space for actual coal mining and can also be referred to as working face.

[0054] The coal mining machine 21 is used for cutting and mining coal.

[0055] The scraper conveyor 23 is used to transport the coal cut and mined by the coal mining machine 21, at the same time as the running track of the coal mining machine, and provides a pulling point for the hydraulic support.

[0056] The hydraulic support 22 is used to support the coal mining working face to maintain a safe operation space. The hydraulic support 22 includes but is not limited to: base, column, top beam, pushing device and other structures. The distance space between the front of the column of the hydraulic support 22 to the coal wall is the machine way, in which the coal mining machine 21 and the scraper conveyor 23 are arranged, and the machine way provides a running space for the coal mining machine 21 and the scraper conveyor 23. The base supports the overall structure, directly contacts with the floor, and is used to transmit the support force and support the column and other components. The column is mainly used to bear the roof load and adjust the support height. The top beam directly contacts with the roof, bears the roof pressure and transmits it to the column, and at the same time provides a safe operation environment for the coal mining working face. The pushing device is used to push the scraper conveyor 23 and pull the hydraulic support 22, specifically, when the coal mining machine 21 completes the cutting depth, the pushing device pushes the scraper conveyor 23 to move an interval to the coal wall direction to ensure continuous coal mining operation, and pulls the hydraulic support 22 to the new position to keep the optimal support distance between the hydraulic support 22 and the coal wall, avoiding the exposure of the roof.

[0057] In the coal mining face, in order to realize efficient mining of coal, a coal mining machine 21, a hydraulic support 22 and a scraper conveyor 23 and other devices need to work cooperatively. Specifically, in combination with Figure 1 Before the coal mining machine 21 starts mining, the hydraulic support 22 needs to complete support preparation, that is, support the roof with a roof beam. After the coal mining machine 21 starts mining, with the extension of the mining and excavation progress of the coal mining machine 21, the hydraulic support located behind the advancing direction of the coal mining machine 21 needs to automatically perform a machine-following operation, such as lowering, moving, raising and pushing, etc. Lowering, also known as lowering the column, is to lower the height of the roof beam by releasing the column pressure to release the current support state; moving is to adjust the position of the support in the lowered state, usually moving a proper distance along the advancing direction of the face (that is, moving towards the coal wall, such as the positive direction of the Y axis shown in Figure 1 Raising, also known as raising the column, is to make the roof beam top by re- extending the column to establish a new support resistance and re- support the rib support plate against the coal wall. Pushing is to move the scraper conveyor 23 towards the advancing direction of the face by a pushing device to prepare for the next cycle. According to different support methods used in the face, the sequence of the specific machine-following steps performed by the hydraulic support is different. In the timely support method, moving is performed before pushing, for example, the step sequence in the machine-following operation is lowering the column-moving-raising the column-supporting-pushing. In the lag support method, pushing is performed before moving, for example, the step sequence in the machine-following operation is pushing-lowering the column-moving-raising the column-supporting. In addition, lowering and moving can be performed in sequence, such as lowering first and then moving; or can be performed simultaneously, such as moving while lowering. The machine-following operation of the hydraulic support can be determined according to actual needs, which is not specially limited in the present application, and the above is only an exemplary description. It should be noted that the introduction of the above terms and concepts is only to help understanding and should not be understood as a limitation of the embodiments of the present application.

[0058] It should be understood that Figure 1 Only one coal mining machine 21, one hydraulic support 22 and one scraper conveyor 23 are shown. Alternatively, in an actual fully-mechanized mining scene, more coal mining machines 21, hydraulic supports 22 and scraper conveyors 23 can also be included. The coal mining face has a certain length, and multiple hydraulic supports 22 can be arranged in sequence along the length direction of the coal mining face (such as the X direction shown in Figure 1 The scraper conveyor 23 can also be arranged along the length direction of the coal mining face.

[0059] Currently, the multi-device cooperative control scheme in the fully mechanized mining scene is that the multi-device such as the coal mining machine, the hydraulic support and the scraper conveyor is interconnected based on the industrial bus, and the state of the coal mining machine is obtained regularly, and the hydraulic support and the scraper conveyor are controlled to follow the machine operation according to the position information of the coal mining machine. However, this industrial bus interconnection mode has two core pain points of network rigidity and business rigidity, that is, not only the network mode of the multi-device needs to be manually configured / updated, but also when the execution logic of the fully mechanized mining task changes, the application needs to be newly customized and deployed in the associated device, thereby causing low multi-device cooperative efficiency and low coal mining efficiency.

[0060] Based on this, in order to improve the cooperative efficiency of the multi-device and further improve the execution efficiency of the fully mechanized mining task, the application provides a fully mechanized mining task scheduling method, a hydraulic support and a computer readable storage medium. The method comprises the following steps: a general control specifies the roles of various fully mechanized mining devices, "publisher" and "subscriber", and schedules the fully mechanized mining task, including the sub-tasks associated with each role. The general control sends the fully mechanized mining task to the "Master" in the fully mechanized mining device, the "Master" is interconnected with other fully mechanized mining devices and writes the communication identifier of the device acting as the "publisher" into the fully mechanized mining task, then distributes the sub-tasks of each role to the corresponding fully mechanized mining device, the device acting as the "publisher" publishes the corresponding index based on the received sub-task, the device acting as the "subscriber" subscribes to the published index based on the received sub-task and the communication identifier of the device acting as the "publisher", and finally triggers the subsequent operation based on the index, thereby improving the cooperative efficiency of the multi-device.

[0061] The method provided by the application is equivalent to introducing a "publish-subscribe" model in the fully mechanized mining scene, and optionally, a "soft bus" technology can be used to change the originally hard-coded and tightly coupled device cooperative relationship into a loosely coupled and flexibly scheduled software-defined cooperative relationship. The following technical effects can be achieved:

[0062] (1) Improve the flexible linkage between fully mechanized mining devices.

[0063] The application dynamically defines the roles of each fully mechanized mining device in the fully mechanized mining task execution logic through the "publish-subscribe" model at the task level. If the roles of the fully mechanized mining device in the fully mechanized mining task change, the task only needs to be re-scheduled and issued by the general control, without the need to modify any device bottom code, thereby realizing "software-defined linkage". There is no need to fix the linkage logic in the PLC or control system program in a hard-coded manner, so the linkage logic also does not need to be modified, re-downloaded or debugged.

[0064] (2) Improve the flexible scheduling of the fully mechanized mining task.

[0065] The application decomposes the fully mechanized mining task into atomized subtasks, associates them through roles, and quickly issues and executes them. If a task of a role needs to be added, deleted, or changed, the task of the role only needs to be rearranged and issued.

[0066] (3) Improve the efficient coordination of fully mechanized mining tasks.

[0067] The publish-subscribe based on the soft bus is event-driven, and the data is pushed immediately after being generated, reducing communication delay.

[0068] Trigger judgment is performed locally on the "subscriber" device, which distributes the computing pressure and avoids system paralysis caused by central node failure, improving reliability.

[0069] The soft bus provides a unified communication interface, shielding the heterogeneity of different devices and different protocols, making integration and coordination smoother.

[0070] Next, a fully mechanized mining task arrangement method, a hydraulic support, and a computer readable storage medium provided by the application will be described in detail with reference to the accompanying drawings.

[0071] Reference Figure 2 , Figure 2 A schematic diagram of a communication system 100 provided by an embodiment of the application is shown.

[0072] As shown in Figure 2 , the communication system 100 includes a control device 10 (also referred to as a master control) and fully mechanized mining equipment 20, which includes, but is not limited to, a coal mining machine 21, a hydraulic support 22, and a scraper conveyor 23, etc.

[0073] In the embodiment of the application, the control device 10 is used to specify the roles (publishers / subscribers) that various fully mechanized mining equipment should assume, arrange the subtasks associated with each role, and issue the arranged fully mechanized mining task to the fully mechanized mining equipment. Optionally, the master control can send the fully mechanized mining task to the "Master" in the fully mechanized mining equipment, and the "Master" can distribute the subtasks of each role to the corresponding fully mechanized mining equipment. Among them, the publisher is usually a device that generates key states or data, for example, the coal mining machine publishes "position coordinates", "running state", etc.; the subscriber is usually a device that needs to trigger its own action according to the state of other devices, for example, the hydraulic support and the scraper conveyor need to subscribe to the "position coordinates" of the coal mining machine in order to perform the automatic following function.

[0074] In the embodiment of the present application, the control device 10 can establish a remote connection with the fully mechanized mining device 20 (for example, a device in the fully mechanized mining device as Master), so that the control device 10 can send the arranged task to the Master, a communication connection can be established between the fully mechanized mining devices, for example, based on an industrial bus or a soft bus, so that the Master can distribute the corresponding task to each fully mechanized mining device, and each fully mechanized mining device cooperates to execute the fully mechanized mining task. Optionally, since the control device 10 is usually located in the ground room, and the fully mechanized mining device is located underground, the control device 10 can establish a remote communication connection with the fully mechanized mining device. In addition, when the near distance communication condition is met, the control device 10 can also establish a near range communication connection with the fully mechanized mining device, for example, using a soft bus or an industrial bus, and the embodiment of the present application does not make specific limitation.

[0075] The soft bus is a communication architecture defined at the software level, which can use wireless fidelity (Wi-Fi), near field communication (NFC), Bluetooth, Ethernet, Zigbee, star flash, recommended standard (RS) 485, etc. as communication technology, takes standardized software protocol, distributed programming interface and system level capability as core, and makes cross-device, cross-protocol and cross-system data interaction present as user experience as local call through unified device discovery, identity authentication, link optimization and resource scheduling mechanism. Based on the above advantages, the soft bus communication architecture can be applied to the coal mine scene, and through unified device discovery, identity authentication, link optimization and resource scheduling mechanism, seamlessly interconnects mining, support, transportation, ventilation, detection and other devices of different manufacturers, breaks through the data island, and helps the coal mine enterprise to realize overall intelligentization.

[0076] Reference Figure 3 , Figure 3 An exemplary schematic diagram of a system architecture provided by the embodiment of the present application is shown.

[0077] As Figure 3 shown, the system architecture can be divided into two layers of headquarters control and remote device. The headquarters control is responsible for arranging tasks and issuing the tasks to the remote device. The remote device includes a plurality of fully mechanized mining devices, which are far away from the headquarters control, so it can be called remote device, and the plurality of fully mechanized mining devices have interconnection capability and publish / subscribe capability, so as to cooperatively execute based on the arranged tasks.

[0078] The system architecture provided by the application can be applied to a headquarters scene and an external scene. The headquarters scene refers to that the master control and the fully-mechanized mining equipment are in the same internal network. The external scene refers to that the master control and the fully-mechanized mining equipment are not in the same internal network, but the fully-mechanized mining equipment are in the same internal network, and the master control needs to remotely communicate with the Master in the fully-mechanized mining equipment to issue the prepared fully-mechanized mining task.

[0079] The master control technical line includes an application layer, a middleware and an underlying operating system. The device asset is used to identify the type information of the device to be operated. The scheduling application can schedule the task through the device type provided by the device asset, and specifically call an Activity scheduling engine to schedule the task.

[0080] The device technical line includes an application layer, a middleware and an underlying operating system. The user application is, for example, a coal mining application installed in a coal mining machine. The linkage control is used to interact with the scheduling node, for example, after the scheduling node triggers the position movement, the linkage control performs the subsequent movement operation.

[0081] Reference Figure 4 , Figure 4 An exemplary flow of a fully-mechanized mining task scheduling method provided by the application is shown.

[0082] As shown in Figure 4 , the method can be applied to a communication system including a master control and fully-mechanized mining equipment. The specific description of the communication system can be referred to the description of the Figure 2-3 above, and the hardware architecture of the master control and the fully-mechanized mining equipment can be referred to the description of the Figure 6-7 below, which will not be described here. It should be understood that Figure 4 the fully-mechanized mining equipment shown in is only exemplified by a hydraulic support, a coal mining machine and a scraper conveyor. Alternatively, the fully-mechanized mining equipment can also involve more, which will not be described here.

[0083] Figure 4 As shown in , the method includes the following steps:

[0084] Stage 1 (S11-S12): Scheduling and issuing a task.

[0085] S11, the master control schedules a task.

[0086] Specifically, the master control needs to schedule the fully-mechanized mining task according to the execution logic of the fully-mechanized mining task, so that the hydraulic support, the coal mining machine and the scraper conveyor and other devices can cooperatively execute after taking their respective sub-tasks to realize coal mining. The description of the Figure 1From the introduction of the illustrated fully mechanized mining scene, the execution logic of the fully mechanized mining task includes but is not limited to: after the coal mining machine starts mining, as the mining progress of the coal mining machine extends, the hydraulic support and the pushing scraper conveyor need to automatically perform the follow-up operation. In this way, the hydraulic support can continue to maintain a safe working space for the coal mining machine, and the scraper conveyor can continue to receive and transport the coal mined by the coal mining machine, so that continuous operation can be realized. The above is only an exemplary description, and the execution logic of the fully mechanized mining task can also be other or include more, which can be determined according to actual needs, and the present application does not make special limitations thereto.

[0087] Based on the above introduction of the execution logic of the fully mechanized mining task, it can be known that the tasks arranged by the general control mainly include: specifying the roles of various devices, and creating corresponding tasks for various roles. For example, the coal mining machine is specified to assume the role of "publisher", the hydraulic support is specified to assume the role of "subscriber", and the scraper conveyor is specified to assume the role of "subscriber". The "publisher" performs the task of publishing indicators, such as position information. The "subscriber" performs the indicator subscription task, and when the subscribed indicators meet the triggering conditions, performs the follow-up operation. In addition, considering that fully mechanized mining equipment usually operates in environments such as the wild and mountainous areas, the general control cannot establish a soft bus connection or an industrial bus connection with each fully mechanized mining equipment under remote conditions, therefore, in order to ensure that the fully mechanized mining tasks arranged by the general control can be successfully issued to each fully mechanized mining equipment, the tasks arranged by the general control also need to include specifying the device as "Master" in the fully mechanized mining equipment, so as to issue the arranged fully mechanized mining tasks to the "Master", and the "Master" is responsible for distributing subtasks to other fully mechanized mining equipment based on the soft bus or the industrial bus. Optionally, if the general control and the fully mechanized mining equipment are in a short-range condition, the general control can establish a near-field communication network with the fully mechanized mining equipment based on the soft bus or the industrial bus, at this time, there is no need to specify the "Master", and the general control can directly distribute each subtask arranged to the corresponding fully mechanized mining equipment.

[0088] Taking a specific example, the tasks arranged by the general control include but are not limited to the following items:

[0089] (1) specifying the communication identity of the device designated as the "Master". Specifically, the Master is designated by the total control in advance from the fully mechanized mining device, and needs to have the ability to interconnect with other devices in the fully mechanized mining device (for example, to establish a soft bus connection). For example, the total control can designate the hydraulic support as the Master, and optionally, the coal mining machine or the scraper conveyor can also be designated as the Master, and the embodiments of the present application do not limit this. The communication identity of the Master is, for example, a Media Access Control (MAC) address, which can be denoted as: Master_MAC: FF-27-CC-14-XX-XX. In this way, considering that the MAC address as a physical address has invariability compared to the changing Internet Protocol (IP) address, the MAC address is used as the communication identity of the Master, and regardless of whether the total control performs remote communication with the Master or other devices in the fully mechanized mining device perform near-field communication with the Master, the MAC address can be used for communication.

[0090] (2) specifying the device type as a publisher role. Specifically, the device type as a publisher role can be one or more. For example, in the fully mechanized mining scene, the device type as a publisher role includes "coal mining machine", which can be denoted as: Public_Device_Type: shearer.

[0091] (3) specifying the device communication identity of the publisher. Specifically, the communication identity of the publisher can be any kind of address required for data interaction between fully mechanized mining devices. For example, the IP address can be denoted as: Public_IP: empty. It should be understood that when the total control arranges the task, the device communication identity of the publisher is empty, and when the fully mechanized mining device establishes a communication connection, the Master will write the IP address of the device type associated with the publisher role, such as "coal mining machine", into the device communication identity of the publisher in the arranged task according to the broadcast request.

[0092] (4) specifying the publishing index. Specifically, the index published by the "coal mining machine" as the publisher is the position information, which can be denoted as: Public_Topic: pos_data_topic. Optionally, in the fully mechanized mining scene, the index of the publisher also includes environmental parameters such as gas concentration, and the embodiments of the present application do not limit this, which will not be described one by one here. Optionally, in the case of multiple publishers, each publisher has its own publishing index, so each publishing index also needs to be associated with the publisher.

[0093] (5) specifying the index name and quantity. Specifically, one publisher can publish one or more indexes, different publishers can publish the same or different indexes, depending on the execution logic of the fully mechanized mining task, the index name published by the exemplary publisher "shearer" is, for example, position, and the quantity is, for example, two, which can be recorded as: Matrix: pos#2.

[0094] (6) specifying the index content. Specifically, the index published by the "shearer" as the publisher can specifically include longitude and latitude, which can be recorded as: Matrix_Context: longitude#latitude.

[0095] (7) specifying the device type in the role of the subscriber. Specifically, the device type in the role of the subscriber can be one or more, taking the fully mechanized mining scene as an example, the device type in the role of the publisher includes "hydraulic support" and "scraper conveyor", which can be recorded as: Subscribe_Device_Type: Powered support; Subscribe_Device_Type: AFC.

[0096] (8) specifying the trigger condition of the subscribed index. Specifically, the trigger condition of the subscribed index can be the same or different for different subscribers. Exemplarily, the trigger condition of the subscribed index of the hydraulic support and the scraper conveyor as the subscriber in the present application can be the same, for example, the position (longitude and / or latitude) change value of the publisher is greater than or equal to 80, which can be recorded as: Subscribe_Trgger: Delta(Matrix_Context) >= 80.

[0097] (9) specifying the task triggered to be executed by the subscriber, recorded as: AfterExec: empty. It should be understood that when the total control arranges the task, the task triggered to be executed by the subscriber can be empty, which is written by the fully mechanized mining device after establishing the communication connection according to the capability of the device, and the task triggered to be executed includes, for example, the task triggered to be executed by the hydraulic support includes: performing a first moving operation after the position information of the subscribed shearer changes to meet a first preset condition; the task triggered to be executed by the scraper conveyor includes: performing a second moving operation after the position information of the subscribed shearer changes to meet a second preset condition, and so on, wherein the first preset condition and the second preset condition are the same or different, and the first moving operation and the second moving operation can be the same or different. Optionally, in some optional manners, the task triggered to be executed by the subscriber can also be written by the total control when arranging the task, and the present application embodiment does not make a specific limitation on this.

[0098] In addition, the total control arrangement task can further include an index publishing state, an index publishing time, etc. The index publishing state includes an arrangement task initialization stage, a broadcasting stage, a published stage, a subscribed stage, and an unknown stage, etc., which are used for the fully mechanized mining equipment to select a suitable state through the communication connection according to the current situation.

[0099] It should be understood that the above-mentioned total control arrangement task is only an example, and the total control arrangement task can further include more or less, and the embodiments of the present application do not make specific limitations thereto.

[0100] S12, the total control sends a fully mechanized mining task to the Master (hydraulic support). Correspondingly, the Master takes the task.

[0101] For example, the hydraulic support is taken as the Master in the present application, which includes but is not limited to the communication, publishing / subscription, and arrangement task modules. The communication module refers to that the hydraulic support can establish a communication connection with the coal mining machine and the scraper conveyor through the communication module. If the hydraulic support is within the near field communication range of the total control, the hydraulic support can also establish a soft bus connection or an industrial bus connection with the total control through the communication module, otherwise the hydraulic support needs to communicate with the total control remotely. The publishing / subscription module refers to that the hydraulic support can execute the corresponding publishing / subscription task through the publishing / subscription module based on taking the subtask belonging to itself. The arrangement task module refers to that the hydraulic support can take the fully mechanized mining task arranged by the total control through the arrangement task module and perfect it, and then distribute the perfect task to the coal mining machine and the scraper conveyor.

[0102] Optionally, the scraper conveyor or the coal mining machine can also be taken as the Master in the embodiments of the present application, as long as it has the ability to communicate with the total control and the ability to establish a communication connection with other devices in the fully mechanized mining equipment, and the embodiments of the present application do not make limitations thereto.

[0103] Stage 2 (S21-S25): Establishing a communication connection, and distributing the task based on the communication connection.

[0104] S21: The Master (hydraulic support) establishes a communication connection with other fully mechanized mining equipment (coal mining machine, scraper conveyor).

[0105] Specifically, the Master (hydraulic support) and other fully mechanized mining equipment (coal mining machine, scraper conveyor) can establish a communication connection based on the communication module, including but not limited to the following: a soft bus-based communication connection, an industrial bus-based communication connection, or a remote communication connection, etc. Among them, the soft bus is a communication architecture realized in the software layer, taking standardized software protocols, distributed programming interfaces and system-level capabilities as the core, through unified device discovery, identity authentication, link optimization and resource scheduling mechanisms, making cross-device, cross-protocol, cross-system data interaction present to the application layer as a user experience like local call. The soft bus realizes device perception through "broadcast discovery", ensures connection security through "digital certificate authentication", and finally realizes dynamic networking and collaboration of services through "capability abstraction and unified interface". It completely gets rid of the shackles of traditional industrial bus relying on manual pre-configuration. Based on the above advantages, the above soft bus communication architecture can be applied to the field of industrial Internet of Things, for example, specifically applied in the coal mining scene, through unified device discovery, identity authentication, link optimization and resource scheduling mechanisms, seamlessly interconnecting mining, transportation, ventilation, detection and other devices of different manufacturers, breaking down data silos, and helping coal mining enterprises to realize full intelligentization.

[0106] S22: The Master (hydraulic support) initiates a broadcast request to obtain the device type.

[0107] Specifically, after the scheduling task module in the Master receives the fully mechanized mining task from the master control, it also needs to write the communication identifier of the device of the publisher before distributing it to the corresponding devices. Therefore, the Master can initiate a broadcast request to obtain the device type of the nearby device, and then determine the communication identifier of the publisher based on the device type of the nearby device.

[0108] In addition, the Master can also obtain its own device type, for example, hydraulic support.

[0109] Optionally, the Master can also broadcast the current stage state, for example, broadcast (broadcast) state.

[0110] S23: The other fully mechanized mining equipment (coal mining machine, scraper conveyor) returns the device type.

[0111] For example, the coal mining machine feeds back its own device type as a coal mining machine through broadcast, and also carries the IP address of the coal mining machine. The scraper conveyor feeds back its own device type as a scraper conveyor through broadcast, and also carries the IP address of the scraper conveyor.

[0112] S24: The Master (hydraulic support) determines the communication identifier of the publisher based on the device type and writes it into the fully mechanized mining task.

[0113] Specifically, the Master can read the device type of the publisher, for example, the coal mining machine, from the task sent by the general controller after receiving the task, and thus the Master can write the communication identifier of the coal mining machine into the IP of the publisher of the fully mechanized task after receiving the device type returned by other fully mechanized devices (coal mining machine, scraper conveyor), i.e., the Public_IP changes from the original empty to, for example, “10.0.0.12”.

[0114] S25: The Master (hydraulic support) distributes the task to the fully mechanized device (coal mining machine, scraper conveyor).

[0115] Specifically, the task scheduling module of the Master can identify the subtasks belonging to each fully mechanized device and send the subtasks to the corresponding fully mechanized device, or the Master can send the fully mechanized task directly to each fully mechanized device, and the coal mining machine, scraper conveyor, etc. therein take the subtasks belonging to themselves from the task, and the embodiments of the present application do not limit this.

[0116] For example, the Master can send a “publish” type subtask to the coal mining machine as the publisher, which specifically includes: the device type of the publisher (Public_Device_Type: shearer), the communication identifier of the publisher (Public_IP: 10.0.0.12), the publication index (Public_Topic: pos_data_topic), the index name and number (Matrix: pos#2), the index content (Matrix_Context: onlongitude#Latitude). Optionally, it also includes: the index publication state (Type: publicd), the index publication time (CurrentTime:), etc.

[0117] For example, the Master sends a “subscribe” type subtask to the scraper conveyor as the subscriber, which specifically includes: the device type of the publisher (subscribe_Device_Type: shearer), the device communication identifier of the publisher (Public_IP: 10.0.0.12), the publication index (Public_Topic: pos_data_topic), the trigger condition of the subscribed index (Subscribe_Trgger: Delta(Matrix_Context) >= 80), the trigger task (AfterExec:). Optionally, it also includes: the index publication state (Type: subscribed), the index publication time (CurrentTime:), etc.

[0118] Exemplarily, the Master can take a subtask belonging to a subscriber from the fully-mechanized mining task, which specifically includes: the communication identifier of the Master (Master_MAC: FF-27-CC-14-XX-XX), the device type of the publisher (subscribe_Device_Type: shearer), the device communication identifier of the publisher (Public_IP: 10.0.0.12), the publishing index (Public_Topic: pos_data_topic), the trigger condition of the subscribed index (Subscribe_Trgger: Delta(Matrix_Context) >= 80), and the triggered task (AfterExec: ). Optionally, it also includes: the index publishing state (Type: subscribed), the index publishing time (CurrentTime: ), and the like.

[0119] Stage 3 (S31-S35): Cooperatively execute the task based on the communication connection.

[0120] S31: The coal mining machine publishes the position information.

[0121] Since the coal mining machine acts as a publisher, the type of the subtask taken from the Master (hydraulic support) is “publishing”, and after taking the subtask, the coal mining machine can execute the corresponding operation based on the subtask, for example, execute the operation of collecting and publishing the position information in real time. Optionally, the coal mining machine can publish the latest position in real time when moving, or the coal mining machine can publish the current position periodically.

[0122] In a specific embodiment, after the coal mining machine takes the “publishing” type subtask from the Master (hydraulic support), the task scheduling module identifies the task, and the publish / subscribe module is dispatched to execute the corresponding operation.

[0123] Exemplarily, the position information published by the coal mining machine each time includes the current longitude and latitude, for example, “Matrix_Context: 111.9648764#40.7654717”. Optionally, the coal mining machine can also publish the current time and state when publishing the position information each time, for example, “CurrentTime: 1758593819”, “Type: publicd”. The above publishing content indicates that the coal mining machine is located at the position with longitude “111.9648764” and latitude “40.7654717” at the time “1758593819”, and the coal mining machine is currently in the “published” state.

[0124] S32: The Master (hydraulic support) subscribes to the position information.

[0125] Since the hydraulic support is a subscriber, the type of the subtask that it identifies and takes from the task issued by the master is "subscription", and after taking the subtask, the hydraulic support can perform corresponding operations based on the subtask, such as performing the operations of obtaining the IP address of the shearer as a publisher, subscribing to the position information of the shearer, sensing the position change information of the shearer and determining whether to trigger the execution of a following task in combination with the position information of the hydraulic support, and the like. It should be understood that the trigger task (AfterExec:) taken by the hydraulic support is empty, and it needs to determine the specific trigger task according to its own ability, for example, the trigger task is to perform the following operations of "lowering, moving, raising, and pushing".

[0126] In a specific embodiment, the hydraulic support identifies and takes the "subscription" type subtask from the task issued by the master through the task scheduling module, and performs corresponding operations through the publish / subscribe module.

[0127] For example, the hydraulic support obtains the position information published by the shearer each time, which includes the current longitude and latitude.

[0128] S33: The scraper conveyor subscribes to the position information.

[0129] Since the scraper conveyor is a subscriber, the type of the subtask that it takes from the master (hydraulic support) is "subscription", and after taking the subtask, the scraper conveyor can perform corresponding operations based on the subtask, such as performing the operations of obtaining the IP address of the shearer as a publisher, subscribing to the position information of the shearer, sensing the position change information of the shearer and determining whether to trigger the execution of a following task in combination with the position information of the scraper conveyor, and the like. It should be understood that the trigger task (AfterExec:) taken by the scraper conveyor is empty, and it needs to determine the specific trigger task according to its own ability, for example, the trigger task is to perform the following operations of "forward movement and backward movement".

[0130] In a specific embodiment, after the scraper conveyor takes the "publish" type subtask from the master (hydraulic support), it identifies the task through the task scheduling module and schedules the publish / subscribe module to perform corresponding operations.

[0131] For example, the scraper conveyor obtains the position information published by the shearer each time, which includes the current longitude and latitude.

[0132] S34: The master (hydraulic support) follows based on the difference in the subscribed position information.

[0133] Specifically, after the hydraulic support obtains the current position information published by the coal mining machine, for example, "Public_Matrix_Context: 111.9648764#40.7654717", the hydraulic support further obtains the longitude and latitude where the hydraulic support currently locates, for example, "Subscribe_Matrix_Context: 111.7073142#40.4851110". Then, the hydraulic support performs the judgment of the trigger condition based on the current position information of the coal mining machine and the position information of the hydraulic support, for example, performs "Subscribe_Trgger: Delta(Matrix_Context) >= 80". If the difference between the two satisfies the threshold value, True is returned, indicating that the trigger condition is met, and then the AfterExec business layer callback function is called to perform the subsequent machine following operation, including but not limited to "lowering the support, moving the support, raising the support, and pushing the machine", and the like. The present application embodiment does not make specific limitation on this.

[0134] S35: The scraper conveyor follows the machine based on the difference from the subscribed position information.

[0135] Specifically, after the hydraulic support obtains the current position information published by the coal mining machine, for example, "Public_Matrix_Context: 111.9648764#40.7654717", the hydraulic support further obtains the longitude and latitude where the hydraulic support currently locates, for example, "Subscribe_Matrix_Context: 111.7073142#40.4851110". Then, the hydraulic support performs the judgment of the trigger condition based on the current position information of the coal mining machine and the position information of the hydraulic support, for example, performs "Subscribe_Trgger: Delta(Matrix_Context) >= 80". If the difference between the two satisfies the threshold value, True is returned, indicating that the trigger condition is met, and then the AfterExec business layer callback function is called to perform the subsequent machine following operation, including but not limited to "lowering the support, moving the support, raising the support, and pushing the machine", and the like. The present application embodiment does not make specific limitation on this.

[0136] Reference Figure 5 , Figure 5 An exemplary flowchart of a process of executing a fully mechanized mining task by a device end is shown.

[0137] As Figure 5 shown, the life cycle flow of the task execution process of the fully mechanized mining device end includes the following stages:

[0138] Launched: The device is launched, but has not started executing the task (may be in the initialization phase). After the device is launched, it can receive tasks, for example, the coal mining machine can receive a "publish" type of subtask; the hydraulic support can receive a "subscribe" type of subtask; and the scraper conveyor can receive a "subscribe" type of subtask.

[0139] onStart: The device starts executing the task. For example, the coal mining machine starts collecting position information and publishing; the hydraulic support starts subscribing to the position information; and the scraper conveyor starts subscribing to the position information.

[0140] Running: The device is continuously executing the task. For example, the coal mining machine is mining coal and advancing as the mining progresses; the hydraulic support subscribes to the position of the coal mining machine and determines whether the distance from the coal mining machine is greater than a first threshold or less than the first threshold (for example, 2 meters), and if so, performs a following operation (for example, moves forward), otherwise, moves backward; and the scraper conveyor subscribes to the position of the coal mining machine and determines whether the distance from the coal mining machine is greater than a second threshold (for example, 2 meters), and if so, performs a following operation (for example, moves forward), otherwise, stops following.

[0141] onStop: The device stops executing the task (may be suspended or the task is completed).

[0142] onDestroy: The task is destroyed and resources are released.

[0143] Shut down: The device is shut down.

[0144] Reference Figure 6 , Figure 6 An exemplary hardware architecture schematic diagram of a control device 10 provided by an embodiment of the present application is shown.

[0145] The embodiments will be described below with the control device 10 as an example. Figure 6 The control device 10 shown is only an example, and the control device 10 can have more or fewer components than those shown in Figure 6 , can combine two or more components, or can have a different component configuration. Figure 6 The various components shown in may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application specific integrated circuits.

[0146] Figure 6 The control device 10 shown includes a memory 110, a processor 120, a bus 130, a communication interface 140, and a communication module 150. The memory 110, the processor 120, and the communication interface 140 are communicatively connected to each other through the bus 130.

[0147] The memory 110 can be a read only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The memory 110 can store a program, when the program stored in the memory 110 is executed by the processor 120, the processor 120 is used to execute the steps in the method of the embodiments of the present application executed by the total control. For details, please refer to the foregoing description of the steps in the method of the embodiments of the present application executed by the total control. Figure 4 The stage 1 in the method flow shown is introduced, and here is not described in detail.

[0148] The processor 120 can be a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits, used to execute the related program to execute the steps in the method of the embodiments of the present application executed by the total control. For details, please refer to the foregoing description of the steps in the method of the embodiments of the present application executed by the total control. Figure 4 The stage 1 in the method flow shown is introduced, and here is not described in detail.

[0149] The processor 120 can also be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the method of the present application can be completed by the integrated logic circuit of hardware in the processor 120 or the instruction in the form of software. The processor 120 described above can also be a general processor, a digital signal processor (DSP), an application specific integrated circuit, a ready programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, which can realize or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as hardware decoding processor for execution, or executed by the combination of hardware and software modules in the decoding processor. The software module can be located in the random access memory, the flash memory, the read only memory, the programmable read only memory or the electrically erasable programmable memory, the register and other mature storage media in the art. The storage medium is located in the memory 110, and the processor 120 reads the information in the memory 110, and combines the hardware to execute the steps in the method of the present application executed by the coal mining machine, or executes the steps in the method of the present application executed by the hydraulic support.

[0150] The communication interface 140 uses a transceiving device such as, but not limited to, a transceiver to implement the communication between the total control and the Master.

[0151] The bus 130 can include a pathway that conveys information between various components of the fully-mechanized mining equipment 20 (e.g., the memory 110, the processor 120, the communication interface 140).

[0152] The wireless communication function of the control device 10 can be implemented by the communication module 150. The control device 10 can communicate with the Master in the fully-mechanized mining equipment through the communication module 150 to send the scheduled fully-mechanized mining task.

[0153] Reference Figure 7 , Figure 7 An exemplary hardware architecture of a fully-mechanized mining equipment 20 is shown.

[0154] The embodiments will be described below with the fully-mechanized mining equipment 20 as an example. It should be understood that, Figure 7 The fully-mechanized mining equipment 20 shown can be any one of the aforementioned coal mining machine, hydraulic support, or scraper conveyor. Figure 7 The fully-mechanized mining equipment 20 shown is only an example, and the fully-mechanized mining equipment 20 can have more or less components than those shown in Figure 7 The fully-mechanized mining equipment 20 shown is only an example, and the fully-mechanized mining equipment 20 can have more or less components than those shown in Figure 7 The various components shown in the fully-mechanized mining equipment 20 can be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application specific integrated circuits.

[0155] Figure 7 The fully-mechanized mining equipment 20 shown includes a processor 210, a memory 220, a bus 230, a communication interface 240, a sensor 250, and a communication module 260. The processor 210, the memory 220, the communication interface 240, and the sensor 250 are communicatively connected to each other through the bus 230.

[0156] The processor 210 can include one or more processing units, for example: the processor 210 can include an application processor (AP), a modem processor, a controller, a memory, etc. Different processing units can be independent devices or integrated into one or more processors. The controller can be the nerve center and command center of the fully mechanized coal mining equipment 20. The controller can generate operation control signals according to instruction operation codes and timing signals to complete the control of instruction fetching and instruction execution. A memory can also be provided in the processor 210 for storing instructions and data. In some embodiments, the memory in the processor 210 is a cache memory. The memory can save instructions or data that the processor 210 has just used or repeatedly uses. If the processor 210 needs to use the instructions or data again, it can directly call them from the memory. This avoids repeated access and reduces the waiting time of the processor 210, thereby improving the efficiency of the system.

[0157] The processor 210 can be used to execute related programs to perform various steps in the method of the embodiments of the present application performed by the fully mechanized coal mining equipment. Taking the hydraulic support as an example, the hydraulic support as Master can perform tasks such as receiving tasks, identifying tasks, distributing tasks, and subscribing tasks through the processor 210. For details, please refer to the introduction of the method flow shown in the foregoing Figure 4 Taking the coal mining machine as an example, the coal mining machine can perform tasks such as publishing tasks through the processor 210. For details, please refer to the introduction of the method flow shown in the foregoing Figure 4 Taking the coal mining machine as an example, the coal mining machine can perform tasks such as publishing tasks through the processor 210. For details, please refer to the introduction of the method flow shown in the foregoing Figure 4 Taking the coal mining machine as an example, the coal mining machine can perform tasks such as publishing tasks through the processor 210. For details, please refer to the introduction of the method flow shown in the foregoing

[0158] It can be understood that the interface connection relationship between the modules shown in the embodiments of the present application is only illustrative and does not constitute a structural limitation of the fully mechanized coal mining equipment 20. In other embodiments of the present application, the fully mechanized coal mining equipment 20 can also use different interface connection methods in the above embodiments or a combination of multiple interface connection methods.

[0159] The sensor 250 includes but is not limited to sensors for positioning and sensors for obtaining underground gas concentration, etc.

[0160] The communication function of the fully mechanized coal mining equipment 20 can be realized through an antenna, a communication module 260, a modem processor, and a baseband processor, etc. The fully mechanized coal mining equipment 20 can establish a communication connection with other nearby fully mechanized coal mining equipment through the communication function, receive tasks based on the communication connection, and cooperatively execute fully mechanized mining tasks. The Master in the fully mechanized coal mining equipment 20 can also remotely communicate with a remote master control to introduce fully mechanized mining tasks sent by the master control.

[0161] The antennas are used to transmit and receive electromagnetic wave signals. Each antenna in the fully mechanized coal mining equipment 20 can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example, the antennas can be multiplexed as diversity antennas of a wireless local area network. In some other embodiments, the antennas can be used in combination with a tuning switch.

[0162] The communication module 260 can provide a wireless communication solution applied to the fully mechanized coal mining equipment 20, including a wireless local area network (WLAN) (such as a wireless fidelity (Wi-Fi) network), Bluetooth (BT), a global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), and the like. The communication module 260 can be one or more devices integrated with at least one communication processing module. The communication module 260 receives electromagnetic waves via the antennas, performs frequency modulation and filtering processing on the electromagnetic wave signals, and sends the processed signals to the processor 210. The communication module 260 can also receive signals to be sent from the processor 210, perform frequency modulation and amplification on the signals, and radiate the signals as electromagnetic waves via the antennas.

[0163] The modem processor can include a modulator and a demodulator. The modulator is used to modulate a low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate a received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. The low-frequency baseband signal processed by the baseband processor is transmitted to the application processor. In some embodiments, the modem processor can be a separate device. In some other embodiments, the modem processor can be independent of the processor 210 and be arranged in the same device as other functional modules.

[0164] In some embodiments, the antenna and the communication module 260 of the fully mechanized coal mining device 20 are coupled, so that the fully mechanized coal mining device 20 can communicate with the network and other devices through wireless communication technology. The wireless communication technology can include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS can include global positioning system (GPS), global navigation satellite system (GLONASS), beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS), and / or satellite based augmentation systems (SBAS).

[0165] The memory 220 can be used to store computer executable program codes including instructions. The processor 210 performs various functional applications and data processing of the fully mechanized coal mining device 20 by running the instructions stored in the memory 220. The memory 220 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one application program required by a function (such as a coal mining machine application), etc. The data storage area can store data created during use of the fully mechanized coal mining device 20 (such as position information of the coal mining machine, etc.), etc. In addition, the memory 220 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0166] It should be understood that each step in the above method embodiments can be completed by integrated logic circuits of hardware in the processor or instructions in the form of software. The method steps disclosed in combination with the embodiments of the present application can be directly embodied as execution completed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0167] The present application also provides an electronic device, which can include a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the method performed by the electronic device in any one of the above embodiments.

[0168] The present application also provides a chip system, which includes a processing circuit and an interface circuit, the interface circuit is used to receive computer instructions and transmit to the processing circuit, and the processing circuit is used to run the computer instructions to implement the method performed by the electronic device in any one of the above embodiments.

[0169] The present application also provides a chip system, which includes at least one processor for implementing the method performed by the electronic device in any one of the above embodiments. In a possible design, the chip system further includes a memory, which is used to save program instructions and data, and the memory is located in the processor or outside the processor.

[0170] The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0171] Optionally, the processor in the chip system can be one or more. The processor can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor, which is implemented by reading software codes stored in the memory.

[0172] Optionally, the memory in the chip system can also be one or more. The memory can be integrated with the processor, or can be separately arranged from the processor, and the embodiments of the present application are not limited in this regard. Exemplarily, the memory can be a non-transient processor, for example, a read-only memory (ROM), which can be integrated on the same chip as the processor, or can be separately arranged on different chips, and the embodiments of the present application do not make specific limitations on the type of the memory and the arrangement manner of the memory and the processor.

[0173] Exemplarily, the chip system can be a field programmable gate array (FPGA), can be an application specific integrated circuit (ASIC), can also be a system on chip (SoC), can also be a central processor unit (CPU), can also be a network processor (NP), can also be a digital signal processor (DSP), can also be a micro controller unit (MCU), can also be a programmable logic device (PLD) or other integrated chip.

[0174] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method executed by the electronic device in any one of the above embodiments.

[0175] The application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the method executed by the electronic device in any one of the above embodiments.

[0176] The embodiments of the application can be combined in any manner to achieve different technical effects.

[0177] In the above embodiments, all or part of the methods can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the methods can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk (SSD)) and the like.

[0178] Those of ordinary skill in the art can understand that all or part of the processes in the above embodiments can be implemented by a computer program to instruct the relevant hardware, which can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The aforementioned storage medium includes ROM or random access memory (RAM), magnetic disk or optical disk, and various media that can store program codes.

[0179] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0180] The terms "first", "second" are only used for descriptive purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" is two or more than two.

[0181] In summary, the above description is merely an embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made based on the disclosure of this application should be included within the scope of protection of this application.

Claims

1. A method for scheduling fully mechanized mining tasks, characterized in that, The method is applied to fully mechanized mining equipment, which includes: hydraulic supports, a coal mining machine, and a scraper conveyor. The method includes: The hydraulic support receives a fully mechanized mining task sent by the control device. The fully mechanized mining task includes: a first equipment type and a first sub-task of the publisher, and a second equipment type and a second sub-task of the subscriber. The first sub-task is used to publish a first indicator, and the second sub-task is used to subscribe to the first indicator and determine whether to trigger a first operation based on the first indicator. The hydraulic support obtains the equipment type and communication identifier of each device in the fully mechanized mining equipment; The hydraulic support identifies a first device of the same type as the first device from the fully mechanized mining equipment and sends the first sub-task to the first device. The first device receives and identifies the first sub-task sent by the hydraulic support, and executes the first sub-task. The hydraulic support identifies a second device of the same type as the second device from the fully mechanized mining equipment, sends the second sub-task and the communication identifier of the first device to the second device, and the second device uses the communication identifier of the first device to execute the second sub-task.

2. The method according to claim 1, characterized in that, The first equipment type is a coal mining machine, the second equipment type is a hydraulic support or a scraper conveyor, and the first indicator is position.

3. The method according to claim 2, characterized in that, The first device executes the first sub-task, specifically including: The coal mining machine publishes its latest location after each movement. Alternatively, the coal mining machine may periodically publish its latest location.

4. The method according to claim 2 or 3, characterized in that, The first operation is a follow-up operation.

5. The method according to claim 1, characterized in that, Before the hydraulic support identifies a second device of the same type as the second device from the fully mechanized mining equipment and sends the second subtask and the communication identifier of the first device to the second device, the method further includes: The hydraulic support determines that the first device is of the same type as the first device of the publisher, and writes the communication identifier of the first device into the comprehensive mining task.

6. The method according to claim 1, characterized in that, Before the hydraulic support receives the fully mechanized mining task sent by the control equipment, the method further includes: The control device schedules the comprehensive mining task, and the comprehensive mining task further includes: the communication identifier of the publisher to be written; Before the hydraulic support determines a second device of the same type as the second device from the fully mechanized mining equipment and sends the second sub-task and the communication identifier of the first device to the second device, the method further includes: the hydraulic support determining that the first device is of the same type as the first device of the publisher, and writing the communication identifier of the first device into the communication identifier of the publisher to be written in the fully mechanized mining task.

7. The method according to claim 1, characterized in that, The communication identifier of the first device is an Internet Protocol (IP) address.

8. The method according to claim 1, characterized in that, Before the hydraulic support receives the fully mechanized mining task sent by the control equipment, the method further includes: The control device identifies the master equipment as the hydraulic support in the fully mechanized mining equipment. The control device sends the fully mechanized mining task to the hydraulic support.

9. The method according to claim 8, characterized in that, The control device sends the fully mechanized mining task to the hydraulic support, specifically including: the control device sends the fully mechanized mining task to the hydraulic support based on the medium access control MAC address of the hydraulic support.

10. The method according to claim 1, characterized in that, The method further includes: While the first device is executing the first subtask, the first device also publishes a time and a first status, the first status indicating the publication status.

11. The method according to claim 1, characterized in that, The hydraulic support acquires the equipment type and communication identifier of each device in the fully mechanized mining equipment, specifically including: The hydraulic support obtains its own equipment type and communication identifier; The hydraulic support obtains the device type and communication identifier of the devices other than itself in the fully mechanized mining equipment via a soft bus connection.

12. A method for scheduling fully mechanized mining tasks, characterized in that, The method is applied to a hydraulic support, and the method includes: The hydraulic support receives a fully mechanized mining task sent by the control device. The fully mechanized mining task includes: a first equipment type and a first sub-task of the publisher, and a second equipment type and a second sub-task of the subscriber. The first sub-task is used to publish a first indicator, and the second sub-task is used to subscribe to the first indicator and determine whether to trigger a first operation based on the first indicator. The hydraulic support acquires the equipment type and communication identifier of each device in the fully mechanized mining equipment, which includes: the hydraulic support, the coal mining machine, and the scraper conveyor. The hydraulic support identifies a first device of the same type as the first device from the fully mechanized mining equipment, sends the first sub-task to the first device, and the first device executes the first sub-task. The hydraulic support identifies a second device of the same type as the second device from the fully mechanized mining equipment, and sends the second sub-task and the communication identifier of the first device to the second device, so that the second device can use the communication identifier of the first device to execute the second sub-task.

13. The method according to claim 12, characterized in that, The first equipment type is a coal mining machine, the second equipment type is a hydraulic support or a scraper conveyor, and the first indicator is position.

14. The method according to claim 12 or 13, characterized in that, Before the hydraulic support identifies a second device of the same type as the second device from the fully mechanized mining equipment and sends the second subtask and the communication identifier of the first device to the second device, the method further includes: The hydraulic support determines that the first device is of the same type as the first device of the publisher, and writes the communication identifier of the first device into the comprehensive mining task.

15. The method according to claim 12, characterized in that, The comprehensive mining task also includes: the communication identifier of the publisher to be written; Before the hydraulic support determines a second device of the same type as the second device from the fully mechanized mining equipment and sends the second sub-task and the communication identifier of the first device to the second device, the method further includes: the hydraulic support writing the communication identifier of the first device into the communication identifier of the publisher to be written in the fully mechanized mining task according to the first device type of the publisher.

16. The method according to claim 12, characterized in that, The communication identifier of the first device is an Internet Protocol (IP) address.

17. The method according to claim 12, characterized in that, The hydraulic support acquires the equipment type and communication identifier of each device in the fully mechanized mining equipment, specifically including: The hydraulic support obtains its own equipment type and communication identifier; The hydraulic support obtains the device type and communication identifier of the devices other than itself in the fully mechanized mining equipment via a soft bus connection.

18. A hydraulic support, characterized in that, include: 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 including instructions that, when executed by the one or more processors, cause the hydraulic support to perform the method as described in any one of claims 12 to 17.

19. A computer-readable storage medium, characterized in that, The storage medium stores a program or instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 12 to 17.

Images