Hydraulic support control method and system, electronic device, and storage medium

Abstract

This invention proposes a hydraulic support control method and system, electronic equipment, and storage medium. The hydraulic support control method includes: controlling an infrared transmitter on a coal mining machine to periodically transmit infrared data frames, wherein the infrared transmitter integrates an ultra-wideband tag; receiving the infrared data frames using an infrared receiver on the hydraulic support; parsing the infrared data frames to determine the infrared data; communicating with the ultra-wideband tag using an ultra-wideband base station on the hydraulic support to obtain first positioning data of the coal mining machine; determining second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data; and controlling the operation of the hydraulic support based on the second positioning data. This invention solves the problem of inaccurate position data of the coal mining machine when there is a signal interruption in single positioning or communication technology by determining the second positioning data of the coal mining machine based on the infrared data and the first positioning data.

Description

Technical Field

[0001] This invention relates to the field of fully mechanized coal mining technology, and more specifically, to a hydraulic support control method and system, electronic equipment, and storage medium. Background Technology

[0002] In fully mechanized coal mining operations, the core collaborative functions of the coal mining machine and hydraulic supports, such as following the machine for movement and emergency stop linkage, highly rely on accurate and continuous coal mining machine position data and stable inter-equipment communication. However, the underground environment presents harsh conditions such as strong electromagnetic interference, high dust levels, and humidity. These harsh conditions can lead to signal interruptions in single positioning or communication technologies, resulting in inaccurate coal mining machine position data. Summary of the Invention

[0003] The present invention aims to solve the technical problems existing in the prior art or related technologies.

[0004] Therefore, the first aspect of the present invention proposes a hydraulic support control method.

[0005] A second aspect of the present invention provides a hydraulic support control system.

[0006] A third aspect of the present invention provides an electronic device.

[0007] A fourth aspect of the present invention provides a storage medium.

[0008] In view of this, according to a first aspect of the present invention, a hydraulic support control method is proposed, comprising: controlling an infrared transmitter on a coal mining machine to periodically transmit infrared data frames, wherein the infrared transmitter integrates an ultra-wideband tag; receiving the infrared data frames using an infrared receiver on the hydraulic support; parsing the infrared data frames to determine infrared data; communicating with the ultra-wideband tag using an ultra-wideband base station on the hydraulic support to obtain first positioning data of the coal mining machine; determining second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data; and controlling the hydraulic support to operate based on the second positioning data.

[0009] The hydraulic support control method provided by this invention includes: firstly, controlling an infrared transmitter installed on a coal mining machine to periodically send infrared data frames, wherein the infrared data frames contain the position information of the coal mining machine. Then, using an infrared receiver on the hydraulic support, the infrared data frames sent by the infrared transmitter are received and parsed to obtain infrared data, wherein the infrared data contains the position information of the coal mining machine. Next, an ultra-wideband base station on the hydraulic support communicates with an ultra-wideband tag in the coal mining machine to obtain first positioning data of the coal mining machine. The ultra-wideband tag can be integrated into the infrared transmitter; by integrating the ultra-wideband tag into the infrared transmitter, hardware design can be simplified while meeting the miniaturization requirements of mining equipment. After obtaining the first positioning data, the validity of the first positioning data is determined, i.e., whether the first positioning data can be used. Simultaneously, after obtaining the infrared data, the validity of the infrared data is also determined, i.e., whether the infrared data is complete and whether it can be used. Then, based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data, second positioning data is determined. That is, when both the first positioning data and the infrared data are valid, the second positioning data is determined simultaneously based on the first positioning data and the infrared data, thereby ensuring the accuracy of the second positioning data. If either the first positioning data or the infrared data is invalid, a second positioning data can be determined based on the other data. This ensures that even when single positioning or communication technology is interrupted, the second positioning data related to the coal mining machine can still be obtained. Finally, the hydraulic support is controlled to operate based on the second positioning data, that is, the hydraulic support is controlled to move according to the coal mining machine. This invention, by setting up an ultra-wideband tag and an infrared transmitter in the coal mining machine, and setting up an ultra-wideband base station and an infrared receiver on the hydraulic support, allows the hydraulic support to determine the position data of the coal mining machine in two different ways, thereby solving the problem of inaccurate position data of the coal mining machine when single positioning or communication technology signals are interrupted.

[0010] In some technical solutions, optionally, before the step of controlling the infrared transmitter on the coal mining machine to periodically send infrared data frames, the steps include: calculating a first check code based on a preset double-byte synchronization header and the value of an incrementing counter; and combining the double-byte synchronization header, the value of the incrementing counter, and the first check code to obtain an infrared data frame.

[0011] In this technical solution, before the step of controlling the infrared transmitter on the coal mining machine to periodically send infrared data frames, the following steps are taken: First, a first checksum is calculated based on a preset double-byte synchronization header and the value of an incrementing counter. The double-byte synchronization header is a special binary sequence at the beginning of the infrared data frame, indicating that it consists of two bytes (16 bits). The preset double-byte synchronization header can be 0x5AA5. The incrementing counter is a number that automatically increments by 1 in each cycle. It is used to distinguish infrared data frames and determine whether an infrared data frame is lost or is the latest frame. When the incrementing counter reaches its maximum value, it automatically wraps back to 0 and starts again. The first checksum can be a CRC8 checksum, which is an 8-bit cyclic redundancy check code. After obtaining the first checksum, the double-byte synchronization header, the value of the incrementing counter, and the first checksum are combined to obtain the infrared data frame. That is, the format of the infrared data frame is double-byte synchronization header + incrementing counter + CRC8 checksum. By setting the infrared data frame format to a double-byte synchronization header + incrementing counter + CRC8 checksum, the anti-collision infrared communication protocol was implemented, thus solving the problem of collisions in concurrent communication between multiple devices.

[0012] In some technical solutions, optionally, the step of parsing the infrared data frame to determine the infrared data includes: after identifying the double-byte synchronization header, extracting the value of the incrementing counter and the first check code from the infrared data frame; calculating the second check code by combining the double-byte synchronization header and the value of the incrementing counter; comparing the first check code and the second check code; and determining that the infrared data frame has passed the verification based on the comparison being consistent, and using the infrared data frame as the infrared data.

[0013] In this technical solution, the steps for parsing and determining infrared data frames include: after identifying a double-byte synchronization header, extracting the value of the incrementing counter and the first checksum from the infrared data frame. Upon identifying the double-byte synchronization header, it can be determined that the data frame corresponding to this header is the infrared data frame of the coal mining machine. By setting the double-byte synchronization header for identification, parsing incorrect data frames is avoided. After extracting the value of the incrementing counter from the infrared data frame, the same algorithm as the infrared transmitter is used to calculate the second checksum based on the double-byte synchronization header and the incrementing counter value. The second checksum is then compared with the extracted first checksum. If they match, the infrared data frame has passed verification, meaning its content is complete and valid. Therefore, the infrared data frame is directly used as the infrared data. By verifying the infrared data frame after it is received by the hydraulic support, the accuracy of the infrared data is ensured.

[0014] In some technical solutions, optionally, the step of determining the second positioning data based on the validity of infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: when the validity of the infrared data is valid and the validity of the first positioning data is valid, determining a first weight value corresponding to the first positioning data and a second weight value corresponding to the infrared data, wherein the first weight value is greater than the second weight value; and determining the second positioning data based on the first positioning data, the infrared data, the first weight value, and the second weight value.

[0015] In this technical solution, the step of determining the second positioning data based on the validity of infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: when both the validity of the infrared data and the validity of the first positioning data are valid, it indicates that the received infrared data and the first positioning data can be used. Therefore, a first weight value corresponding to the first positioning data and a second weight value corresponding to the infrared data are determined, wherein the first weight value is greater than the second weight value, and both the first weight value and the second weight value are preset. Subsequently, the second positioning data is determined by a weighted summation method based on the first positioning data, the infrared data, the first weight value, and the second weight value. In other words, the second positioning data is determined by using the first positioning data as a reference and calibrating it with the infrared data, thereby ensuring the accuracy of the second positioning data.

[0016] In some technical solutions, optionally, the step of determining the second positioning data based on the validity of infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: determining the second positioning data based on the first positioning data when the validity of the infrared data is invalid and the validity of the first positioning data is valid.

[0017] In this technical solution, the step of determining the second positioning data based on the validity of infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: when the validity of the infrared data is invalid and the validity of the first positioning data is valid (i.e., when the received infrared data is unusable or cannot be received), and when the first positioning data is usable, then the first positioning data is directly used as the second positioning data. Simultaneously, the infrared transmitter power is increased by 30% to enhance the signal's ability to penetrate dust, so that subsequent infrared data can be received or can be used. By directly using the first positioning data as the second positioning data when the validity of the infrared data is invalid and the validity of the first positioning data is valid, the problem of inaccurate position data of the coal mining machine when there is a signal interruption in single positioning or communication technology is solved.

[0018] In some technical solutions, optionally, the step of determining the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: determining the timing information of the infrared data received by multiple adjacent hydraulic supports when the validity of the infrared data is valid and the validity of the first positioning data is invalid; and determining the second positioning data based on the infrared data and timing information received by each hydraulic support.

[0019] In this technical solution, the step of determining the second positioning data based on the validity of infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: when the infrared data is valid and the first positioning data is invalid (i.e., when the first positioning data is unavailable or not received), the timing information of the infrared data received by multiple adjacent hydraulic supports is determined. Finally, the relative position of the coal mining machine, i.e., the second positioning data, is calculated based on the infrared data and timing information received by each hydraulic support. By calculating the relative position of the coal mining machine based on the infrared reception timing of adjacent hydraulic supports when the first positioning data is invalid, the problem of inaccurate position data of the coal mining machine when there is a signal interruption in single positioning or communication technology is solved.

[0020] In some technical solutions, optionally, the hydraulic support control method further includes: when the validity of the infrared data is invalid and the validity of the first positioning data is invalid, controlling the hydraulic support to suspend the moving action and triggering an audible and visual alarm signal.

[0021] In this technical solution, the hydraulic support control method further includes: when the validity of the infrared data is invalid and the validity of the first positioning data is invalid, that is, when the infrared data is unavailable or not received, and the first positioning data is also unavailable or not received, the hydraulic support is immediately controlled to suspend the moving action and trigger an audible and visual alarm signal, thereby ensuring operational safety.

[0022] According to a second aspect of the present invention, a hydraulic support control system is provided, comprising: a first processing module for controlling an infrared transmitter on a coal mining machine to periodically transmit infrared data frames, wherein the infrared transmitter integrates an ultra-wideband tag; a second processing module for receiving infrared data frames using an infrared receiver on the hydraulic support; a third processing module for parsing the infrared data frames to determine infrared data; a fourth processing module for communicating with the ultra-wideband tag using an ultra-wideband base station on the hydraulic support to obtain first positioning data of the coal mining machine; a fifth processing module for determining second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data; and a sixth processing module for controlling the operation of the hydraulic support based on the second positioning data.

[0023] The hydraulic support control system provided by this invention includes: a first processing module, a second processing module, a third processing module, a fourth processing module, a fifth processing module, and a sixth processing module. The first processing module first controls an infrared transmitter mounted on a coal mining machine to periodically transmit infrared data frames, each containing the location information of the coal mining machine. Subsequently, the second processing module uses an infrared receiver on the hydraulic support to receive the infrared data frames transmitted by the infrared transmitter. The third processing module parses the infrared data frames to obtain infrared data, which also contains the location information of the coal mining machine. Then, the fourth processing module communicates with an ultra-wideband (UWB) tag in the coal mining machine using an UWB base station on the hydraulic support to obtain the first positioning data of the coal mining machine. The UWB tag can be integrated into the infrared transmitter, simplifying hardware design and meeting the miniaturization requirements of mining equipment. After obtaining the first positioning data, the validity of the first positioning data is determined, i.e., whether the first positioning data can be used. Similarly, after obtaining the infrared data, the validity of the infrared data is also determined, i.e., whether the infrared data is complete and whether it can be used. Subsequently, the fifth processing module determines the second positioning data based on the validity of the infrared data, the validity of the first positioning data, and the first positioning data combined with the infrared data. That is, when both the first positioning data and the infrared data are valid, the second positioning data is determined simultaneously based on both, thus ensuring the accuracy of the second positioning data. If either the first positioning data or the infrared data is invalid, the second positioning data can still be determined based on the other data, ensuring that second positioning data related to the coal mining machine can still be obtained even when single positioning or communication technology is interrupted. Finally, the sixth processing module controls the hydraulic support to operate based on the second positioning data, that is, controls the hydraulic support to move according to the coal mining machine. This invention, by setting up ultra-wideband tags and infrared transmitters in the coal mining machine, and ultra-wideband base stations and infrared receivers on the hydraulic support, allows the hydraulic support to determine the coal mining machine's position data using two different methods, thereby solving the problem of inaccurate coal mining machine position data when single positioning or communication technology signals are interrupted.

[0024] According to a third aspect of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the hydraulic support control method as described above.

[0025] The electronic device provided by this invention, when the processor executes the computer program, implements the steps of the above-mentioned hydraulic support control method, and can achieve the technical effects of any of the above technical solutions, which will not be elaborated here.

[0026] According to a fourth aspect of the invention, a storage medium is provided on which a computer program is stored, which, when executed by a processor, implements the steps of the hydraulic support control method as described above.

[0027] The storage medium provided by this invention enables the computer program to implement the steps of the above-described hydraulic support control method when executed by a processor, and can achieve the technical effects of any of the above technical solutions, which will not be elaborated here.

[0028] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0030] Figure 1 A schematic flowchart of a hydraulic support control method according to an embodiment of the present invention is shown;

[0031] Figure 2 This diagram illustrates a flow chart prior to the step of controlling the infrared transmitter on the coal mining machine to periodically send infrared data frames in a hydraulic support control method according to an embodiment of the present invention.

[0032] Figure 3 A flowchart illustrating the step of parsing infrared data frames to determine infrared data in a hydraulic support control method according to an embodiment of the present invention is shown.

[0033] Figure 4 The diagram illustrates a step in a hydraulic support control method according to an embodiment of the present invention to determine second positioning data based on the validity of infrared data, the validity of first positioning data, the first positioning data, and infrared data.

[0034] Figure 5 One of the schematic diagrams of a hydraulic support control method according to an embodiment of the present invention is shown;

[0035] Figure 6 A schematic diagram of the principle of a hydraulic support control method according to an embodiment of the present invention is shown in part two.

[0036] Figure 7 A structural block diagram of a hydraulic support control system according to an embodiment of the present invention is shown. Detailed Implementation

[0037] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0039] Figure 1 A schematic flowchart of a hydraulic support control method according to an embodiment of the present invention is shown. The method includes:

[0040] Step 102: Control the infrared transmitter on the coal mining machine to periodically send infrared data frames, wherein the infrared transmitter integrates an ultra-wideband tag;

[0041] Step 104: Receive infrared data frames using the infrared receiver on the hydraulic support;

[0042] Step 106: Analyze the infrared data frame to determine the infrared data;

[0043] Step 108: Use the ultra-wideband base station on the hydraulic support to communicate with the ultra-wideband tag to obtain the first positioning data of the coal mining machine;

[0044] Step 110: Determine the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data;

[0045] Step 112: Control the hydraulic support to work according to the second positioning data.

[0046] The hydraulic support control method provided by this invention includes: firstly, controlling an infrared transmitter installed on a coal mining machine to periodically send infrared data frames, wherein the infrared data frames contain the position information of the coal mining machine. Then, using an infrared receiver on the hydraulic support, the infrared data frames sent by the infrared transmitter are received and parsed to obtain infrared data, wherein the infrared data contains the position information of the coal mining machine. Next, an ultra-wideband base station on the hydraulic support communicates with an ultra-wideband tag in the coal mining machine to obtain first positioning data of the coal mining machine. The ultra-wideband tag can be integrated into the infrared transmitter; by integrating the ultra-wideband tag into the infrared transmitter, hardware design can be simplified while meeting the miniaturization requirements of mining equipment. After obtaining the first positioning data, the validity of the first positioning data is determined, i.e., whether the first positioning data can be used. Simultaneously, after obtaining the infrared data, the validity of the infrared data is also determined, i.e., whether the infrared data is complete and whether it can be used. Then, based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data, second positioning data is determined. That is, when both the first positioning data and the infrared data are valid, the second positioning data is determined simultaneously based on the first positioning data and the infrared data, thereby ensuring the accuracy of the second positioning data. If either the first positioning data or the infrared data is invalid, a second positioning data can be determined based on the other data. This ensures that even when single positioning or communication technology is interrupted, the second positioning data related to the coal mining machine can still be obtained. Finally, the hydraulic support is controlled to operate based on the second positioning data, that is, the hydraulic support is controlled to move according to the coal mining machine. This invention, by setting up an ultra-wideband tag and an infrared transmitter in the coal mining machine, and setting up an ultra-wideband base station and an infrared receiver on the hydraulic support, allows the hydraulic support to determine the position data of the coal mining machine in two different ways, thereby solving the problem of inaccurate position data of the coal mining machine when single positioning or communication technology signals are interrupted.

[0047] Figure 2 The diagram illustrates a flow chart of a hydraulic support control method according to an embodiment of the present invention prior to the step of controlling an infrared transmitter on a coal mining machine to periodically transmit infrared data frames; wherein, prior to the step of controlling an infrared transmitter on a coal mining machine to periodically transmit infrared data frames, the method includes:

[0048] Step 202: Calculate the first checksum based on the preset double-byte synchronization header and the value of the incrementing counter;

[0049] Step 204: Combine the double-byte synchronization header, the value of the incrementing counter, and the first checksum to obtain the infrared data frame.

[0050] In this embodiment, before the step of controlling the infrared transmitter on the coal mining machine to periodically send infrared data frames, the following steps are included: First, a first checksum is calculated based on a preset double-byte synchronization header and the value of an incrementing counter. The double-byte synchronization header is a special binary sequence at the beginning of the infrared data frame, indicating that it consists of two bytes (16 binary bits). The preset double-byte synchronization header can be 0x5AA5. The incrementing counter is a number that automatically increments by 1 in each cycle. It is used to distinguish infrared data frames and determine whether an infrared data frame is lost or is the latest infrared data frame. When the incrementing counter reaches its maximum value, it automatically wraps back to 0 and starts again. The first checksum can be a CRC8 checksum, which is an 8-bit cyclic redundancy check code. After obtaining the first checksum, the double-byte synchronization header, the value of the incrementing counter, and the first checksum are combined to obtain the infrared data frame. That is, the format of the infrared data frame is double-byte synchronization header + incrementing counter + CRC8 checksum. By setting the infrared data frame format to a double-byte synchronization header + incrementing counter + CRC8 checksum, the anti-collision infrared communication protocol was implemented, thus solving the problem of collisions in concurrent communication between multiple devices.

[0051] Figure 3 The diagram illustrates a step in a hydraulic support control method according to an embodiment of the present invention: parsing an infrared data frame to determine infrared data. The step of parsing the infrared data frame to determine infrared data includes:

[0052] Step 302: After identifying the double-byte synchronization header, extract the value of the incrementing counter and the first checksum from the infrared data frame;

[0053] Step 304: Calculate the second checksum by combining the values ​​of the double-byte synchronization header and the incrementing counter;

[0054] Step 306: Compare the first check code and the second check code;

[0055] Step 308: Based on the consistency of the comparison, the infrared data frame verification is confirmed to be successful, and the infrared data frame is used as infrared data.

[0056] In this embodiment, the step of parsing and determining infrared data from infrared data frames includes: after identifying a double-byte synchronization header, extracting the value of the incrementing counter and the first checksum from the infrared data frame. Upon identifying the double-byte synchronization header, it can be determined that the data frame corresponding to this double-byte synchronization header is the infrared data frame of the coal mining machine. By setting the double-byte synchronization header for identification, parsing incorrect data frames is avoided. After extracting the value of the incrementing counter from the infrared data frame, the same algorithm as that used by the infrared transmitter is employed to calculate the second checksum based on the double-byte synchronization header and the incrementing counter value. The second checksum is then compared with the extracted first checksum. If they match, the infrared data frame has passed verification, meaning its content is complete and valid. Therefore, the infrared data frame is directly used as the infrared data. By verifying the infrared data frame after it is received by the hydraulic support, the accuracy of the infrared data is ensured.

[0057] Figure 4 The diagram illustrates a step in a hydraulic support control method according to an embodiment of the present invention: determining second positioning data based on the validity of infrared data, the validity of first positioning data, the first positioning data, and infrared data. The step of determining the second positioning data based on the validity of infrared data, the validity of first positioning data, the first positioning data, and infrared data includes:

[0058] Step 402: When the validity of the infrared data is valid and the validity of the first positioning data is valid, determine the first weight value corresponding to the first positioning data and the second weight value corresponding to the infrared data, wherein the first weight value is greater than the second weight value;

[0059] Step 404: Determine the second positioning data based on the first positioning data, infrared data, first weight value, and second weight value.

[0060] In this embodiment, the step of determining the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: when the validity of the infrared data is valid and the validity of the first positioning data is valid, it means that the received infrared data and the first positioning data can be used. Therefore, a first weight value corresponding to the first positioning data and a second weight value corresponding to the infrared data are determined, wherein the first weight value is greater than the second weight value, and both the first weight value and the second weight value are preset. For example, the first weight value can be 0.7 and the second weight value can be 0.3. Subsequently, the second positioning data is determined by a weighted summation method based on the first positioning data, the infrared data, the first weight value, and the second weight value. That is, the second positioning data is determined by using the first positioning data as a reference and calibrating it with the infrared data, thereby ensuring the accuracy of the second positioning data.

[0061] In some embodiments, the step of determining the second positioning data based on the validity of infrared data, the validity of the first positioning data, the first positioning data, and the infrared data may include: determining the second positioning data based on the first positioning data when the validity of the infrared data is invalid and the validity of the first positioning data is valid.

[0062] In this embodiment, the step of determining the second positioning data based on the validity of infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: when the validity of the infrared data is invalid and the validity of the first positioning data is valid (i.e., when the received infrared data is unusable or cannot be received), and when the first positioning data is usable, then the first positioning data is directly used as the second positioning data. Simultaneously, the infrared transmitter power is increased by 30% to enhance the signal's ability to penetrate dust, so that subsequent infrared data can be received or can be used. By directly using the first positioning data as the second positioning data when the validity of the infrared data is invalid and the validity of the first positioning data is valid, the problem of inaccurate position data of the coal mining machine when a single positioning or communication technology signal is interrupted is solved.

[0063] In some embodiments, optionally, the step of determining the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: determining the timing information of the infrared data received by multiple adjacent hydraulic supports when the validity of the infrared data is valid and the validity of the first positioning data is invalid; and determining the second positioning data based on the infrared data and timing information received by each hydraulic support.

[0064] In this embodiment, the step of determining the second positioning data based on the validity of infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: when the validity of the infrared data is valid and the validity of the first positioning data is invalid (i.e., when the first positioning data is unavailable or not received), the timing information of the infrared data received by multiple adjacent hydraulic supports is determined. Finally, the relative position of the coal mining machine, i.e., the second positioning data, is calculated based on the infrared data and timing information received by each hydraulic support. By calculating the relative position of the coal mining machine based on the infrared reception timing of adjacent hydraulic supports when the validity of the first positioning data is invalid, the problem of inaccurate position data of the coal mining machine when there is a signal interruption in single positioning or communication technology is solved.

[0065] In some embodiments, the hydraulic support control method may optionally further include: when the validity of the infrared data is invalid and the validity of the first positioning data is invalid, controlling the hydraulic support to suspend the moving action and triggering an audible and visual alarm signal.

[0066] In this embodiment, the hydraulic support control method further includes: when the validity of the infrared data is invalid and the validity of the first positioning data is invalid, that is, when the infrared data is unavailable or not received, and the first positioning data is also unavailable or not received, the hydraulic support is immediately controlled to suspend the moving action and trigger an audible and visual alarm signal, thereby ensuring operational safety.

[0067] like Figure 5 As shown, this invention deeply integrates infrared transmitting and receiving devices with a UWB (Ultra-Wideband) module. An infrared transmitter with an integrated UWB tag is installed on the coal mining machine side, while a UWB base station and infrared receiver are integrated on the hydraulic support side. The UWB bridge node on the hydraulic support side is located on the infrared access device. After calculating the UWB tag position on the UWB bridge node, the result is sent to the electro-hydraulic control equipment. The electro-hydraulic control equipment on the hydraulic support, after fusing the infrared receiving sensor and UWB tag positioning data, updates the coal mining machine position in real time according to an algorithm. The infrared transmitter (including the UWB tag) is powered by an intrinsically safe mine power supply, and the infrared receiver is located on the front panel of the electro-hydraulic control equipment on the hydraulic support. The infrared receiver solves the problem that the front panel of the electro-hydraulic control equipment cannot be aligned with the infrared transmitter of the coal mining machine. The infrared transmitter and the coal mining machine communicate via a CAN (Controller Area Network) bus. The infrared transmitter and infrared access device support Zigbee communication, allowing the electro-hydraulic control equipment to control the coal mining machine's movements via the Zigbee wireless protocol.

[0068] like Figure 6As shown, this invention designs a four-byte data frame format consisting of a double-byte synchronization header, an incrementing counter, and a CRC8 checksum, coupled with a periodic sending and receiving verification mechanism to solve the collision problem in concurrent communication between multiple devices. For example, the data transmitted by the infrared transmitter can be [Sync 2B][Counter 18][CRC 1B], where Sync (0x5AA5) represents a double-byte anti-collision synchronization header, Counter (0-255) represents a strictly incrementing counter (supporting automatic wraparound), and CRC represents a CRC8 checksum used to verify Sync and Counter. The infrared receiver's data reception logic is as follows: after receiving the four-byte data starting with 0x5AA5, it verifies the last CRC bit to determine if it is valid data. Subsequently, after receiving five consecutive packets of data with the Counter incrementing, it updates the infrared status to 1. If no valid data is received within 500ms, the infrared status is updated to 0.

[0069] The overall steps of this invention are as follows: Step 1: Equipment initialization. After the coal mining machine is powered on, the infrared transmitter (including the UWB tag) starts; the main control chip initializes the anti-collision protocol parameters and outputs a 38kHz carrier wave; the UWB tag and the UWB bridge anchor node of the access device are paired, the base station starts the ranging algorithm, and the positioning accuracy is calibrated to ±5cm. Step 2: Data acquisition and anti-collision transmission. First, the infrared transmitter sends a frame of [0x5AA5 + counter + CRC8] data every 40ms through the infrared carrier circuit. The counter increments to 0xFF and then automatically wraps back. The CRC8 check covers the double-byte synchronization header and the counter field to ensure data integrity. Then, the UWB tag sends a ranging signal to the bridge anchor node every 10ms. The UWB bridge anchor node of the access device calculates the distance and angle of the coal mining machine relative to the current support. Finally, the two types of data are updated in real time in the electro-hydraulic control system. Through the fusion algorithm, the coal mining machine position update speed is ≤50ms. Step 3: Adaptive dual-mode data fusion. The fusion logic is dynamically executed based on data validity: When UWB data is valid and the infrared status is 1, the infrared data is calibrated using UWB data as a reference, and positioning information is output. When UWB is affected by electromagnetic interference in the equipment operating environment and the equipment installation position (invalid data or error > 10cm) but the infrared status is 1, the relative position of the coal mining machine is calculated by combining the infrared reception timing of the three adjacent supports. When the infrared status is 0 but the UWB data is valid, the UWB data is directly used, and the infrared transmitter power is increased by 30% to enhance the signal's ability to penetrate dust. When both types of data are invalid, an audible and visual alarm is immediately triggered, and the electro-hydraulic control system controls the hydraulic support to pause its movement to ensure operational safety. Fourth step: Collaborative control and command interaction. Based on the fused positioning data, the electro-hydraulic control system controls the hydraulic support to move synchronously according to the coal mining machine's trajectory, with a response time ≤ 500ms. Fifth step: Status feedback. The electro-hydraulic control system uploads the fused positioning data via the CAN bus and controls the coal mining machine equipped with infrared receivers via Zigbee.

[0070] In some embodiments, UWB tags and UWB base stations can be replaced with high-frequency RFID (Product Frequency Identification) modules, and the fusion logic can be adjusted to "RFID positioning + infrared calibration" to adapt to short-distance (≤5m) integrated mining scenarios.

[0071] Figure 7 A structural block diagram of a hydraulic support control system according to an embodiment of the present invention is shown; wherein, the hydraulic support control system 70 includes:

[0072] The first processing module 702 is used to control the infrared transmitter on the coal mining machine to periodically send infrared data frames, wherein the infrared transmitter integrates an ultra-wideband tag.

[0073] The second processing module 704 is used to receive infrared data frames using an infrared receiver on the hydraulic support.

[0074] The third processing module 706 is used to parse the infrared data frame to determine the infrared data;

[0075] The fourth processing module 708 is used to communicate with the ultra-wideband base station on the hydraulic support and the ultra-wideband tag to obtain the first positioning data of the coal mining machine.

[0076] The fifth processing module 710 is used to determine the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data;

[0077] The sixth processing module 712 is used to control the operation of the hydraulic support based on the second positioning data.

[0078] The hydraulic support control system 70 provided by this invention includes: a first processing module 702, a second processing module 704, a third processing module 706, a fourth processing module 708, a fifth processing module 710, and a sixth processing module 712. The first processing module 702 first controls an infrared transmitter mounted on the coal mining machine to periodically send infrared data frames, wherein the infrared data frames contain the position information of the coal mining machine. Subsequently, the second processing module 704 uses an infrared receiver on the hydraulic support to receive the infrared data frames sent by the infrared transmitter, and the third processing module 706 parses the infrared data frames to obtain infrared data, wherein the infrared data contains the position information of the coal mining machine. Then, the fourth processing module 708 communicates with an ultra-wideband (UWB) tag in the coal mining machine using an UWB base station on the hydraulic support to obtain the first positioning data of the coal mining machine. The UWB tag can be integrated into the infrared transmitter; by integrating the UWB tag into the infrared transmitter, the hardware design can be simplified, while meeting the miniaturization requirements of mining equipment. After obtaining the first positioning data, the validity of the first positioning data is determined, i.e., whether the first positioning data can be used. Simultaneously, after obtaining the infrared data, the validity of the infrared data is also determined, i.e., whether the infrared data is complete and usable. Subsequently, the fifth processing module 710 determines the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data. That is, when both the first positioning data and the infrared data are valid, the second positioning data is determined simultaneously based on both, thus ensuring the accuracy of the second positioning data. When either the first positioning data or the infrared data is invalid, the second positioning data can still be determined based on the other data, thus ensuring that the second positioning data related to the coal mining machine can still be obtained even when single positioning or communication technology is interrupted. Finally, the sixth processing module 712 controls the hydraulic support to operate based on the second positioning data, i.e., controls the hydraulic support to move according to the coal mining machine. This invention, by setting an ultra-wideband tag and an infrared transmitter in the coal mining machine, and setting an ultra-wideband base station and an infrared receiver on the hydraulic support, allows the hydraulic support to determine the coal mining machine's position data using two different methods, thereby solving the problem of inaccurate coal mining machine position data when single positioning or communication technology signals are interrupted.

[0079] In some embodiments, the hydraulic support control system 70 may optionally include: a seventh processing module, used to calculate a first check code based on a preset double-byte synchronization header and the value of an incrementing counter; and an eighth processing module, used to combine the double-byte synchronization header, the value of the incrementing counter, and the first check code to obtain an infrared data frame.

[0080] In this embodiment, the hydraulic support control system 70 includes a seventh processing module and an eighth processing module. The seventh processing module first calculates a first checksum based on a preset double-byte synchronization header and the value of an incrementing counter. The double-byte synchronization header is a special binary sequence at the beginning of the infrared data frame, indicating that it consists of two bytes (16 bits). The preset double-byte synchronization header can be 0x5AA5. The incrementing counter is a number that automatically increments by 1 in each cycle. It is used to distinguish infrared data frames and determine whether an infrared data frame is lost or is the latest frame. When the incrementing counter reaches its maximum value, it automatically wraps back to 0 and starts again. The first checksum can be a CRC8 checksum, which is an 8-bit cyclic redundancy check code. After obtaining the first checksum, the eighth processing module combines the double-byte synchronization header, the value of the incrementing counter, and the first checksum to obtain the infrared data frame. That is, the format of the infrared data frame is double-byte synchronization header + incrementing counter + CRC8 checksum. By setting the infrared data frame format to a double-byte synchronization header + incrementing counter + CRC8 checksum, the anti-collision infrared communication protocol was implemented, thus solving the problem of collisions in concurrent communication between multiple devices.

[0081] In some embodiments, optionally, the third processing module 706 is specifically used to extract the value of the incrementing counter and the first check code from the infrared data frame after recognizing the double-byte synchronization header; calculate the second check code by analyzing the double-byte synchronization header and the value of the incrementing counter; compare the first check code and the second check code; and determine that the infrared data frame has passed the verification based on the comparison being consistent, and use the infrared data frame as infrared data.

[0082] In this embodiment, the third processing module 706 is specifically used to extract the value of the incrementing counter and the first checksum from the infrared data frame after recognizing the double-byte synchronization header. Upon recognizing the double-byte synchronization header, it can be determined that the data frame corresponding to this double-byte synchronization header is the infrared data frame of the coal mining machine. By setting the recognition of the double-byte synchronization header, parsing erroneous data frames is avoided. After extracting the value of the incrementing counter of the infrared data frame, the second checksum is calculated using the same algorithm as the infrared transmitter based on the double-byte synchronization header and the value of the incrementing counter. The second checksum is then compared with the extracted first checksum. If they match, it indicates that the infrared data frame has passed verification, meaning that the content of the infrared data frame is complete and valid. Therefore, the infrared data frame is directly used as infrared data. By verifying the infrared data frame after it is received by the hydraulic support, the accuracy of the infrared data is ensured.

[0083] In some embodiments, optionally, the fifth processing module 710 is specifically used to determine a first weight value corresponding to the first positioning data and a second weight value corresponding to the infrared data when the validity of the infrared data is valid and the validity of the first positioning data is valid, wherein the first weight value is greater than the second weight value; and to determine the second positioning data based on the first positioning data, the infrared data, the first weight value and the second weight value.

[0084] In this embodiment, the fifth processing module 710 is specifically used to determine that when both the infrared data and the first positioning data are valid, it means that both the received infrared data and the first positioning data can be used. Therefore, it determines a first weight value corresponding to the first positioning data and a second weight value corresponding to the infrared data, wherein the first weight value is greater than the second weight value, and both the first and second weight values ​​are preset. Subsequently, the second positioning data is determined using a weighted summation method based on the first positioning data, the infrared data, the first weight value, and the second weight value. In other words, the second positioning data is determined by using the first positioning data as a reference and calibrating it with the infrared data, thereby ensuring the accuracy of the second positioning data.

[0085] In some embodiments, optionally, the fifth processing module 710 is specifically used to determine the second positioning data based on the first positioning data when the validity of the infrared data is invalid and the validity of the first positioning data is valid.

[0086] In this embodiment, the fifth processing module 710 is specifically used when the validity of the infrared data is invalid and the validity of the first positioning data is valid. That is, when the received infrared data is unusable or cannot be received, and the first positioning data is usable, the first positioning data is directly used as the second positioning data. Simultaneously, the infrared transmitter power is increased by 30% to enhance the signal's ability to penetrate dust, so that subsequent infrared data can be received or can be used. By directly using the first positioning data as the second positioning data when the validity of the infrared data is invalid and the validity of the first positioning data is valid, the problem of inaccurate position data of the coal mining machine when a single positioning or communication technology signal is interrupted is solved.

[0087] In some embodiments, optionally, the fifth processing module 710 is specifically used to determine the timing information of infrared data received by multiple adjacent hydraulic supports when the validity of infrared data is valid and the validity of the first positioning data is invalid; and to determine the second positioning data based on the infrared data and timing information received by each hydraulic support.

[0088] In this embodiment, the fifth processing module 710 is specifically used to determine the timing information of the infrared data received by multiple adjacent hydraulic supports when the infrared data is valid and the first positioning data is invalid (i.e., when the first positioning data is unavailable or not received). Finally, based on the infrared data and timing information received by each hydraulic support, the relative position of the coal mining machine, i.e., the second positioning data, is calculated. By calculating the relative position of the coal mining machine based on the infrared reception timing of adjacent hydraulic supports when the first positioning data is invalid, the problem of inaccurate position data of the coal mining machine when a single positioning or communication signal is interrupted is solved.

[0089] In some embodiments, optionally, the hydraulic support control system 70 further includes: a ninth processing module, configured to control the hydraulic support to pause its moving action and trigger an audible and visual alarm signal when the validity of the infrared data is invalid and the validity of the first positioning data is invalid.

[0090] In this embodiment, the hydraulic support control system 70 further includes a ninth processing module. This ninth processing module is used to immediately control the hydraulic support to pause its movement and trigger an audible and visual alarm signal when both the infrared data and the first positioning data are invalid (i.e., when the infrared data is unavailable or not received, and the first positioning data is also unavailable or not received), thereby ensuring operational safety.

[0091] An electronic device according to an embodiment of the present invention includes a memory processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the hydraulic support control method as described above.

[0092] The electronic device provided by the present invention, when the processor executes the computer program, implements the steps of the above-described hydraulic support control method, and can achieve the technical effects of any of the above embodiments, which will not be repeated here.

[0093] One embodiment of the present invention provides a storage medium on which a computer program is stored, which, when executed by a processor, implements the steps of the hydraulic support control method as described above.

[0094] The storage medium provided by this invention enables the computer program to implement the steps of the above-described hydraulic support control method when executed by a processor, and can achieve the technical effects of any of the above embodiments, which will not be elaborated further.

[0095] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, unless otherwise expressly specified and limited. The terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0096] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0097] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A hydraulic support control method, characterized in that, include: The infrared transmitter on the coal mining machine is controlled to periodically send infrared data frames, wherein the infrared transmitter integrates an ultra-wideband tag; The infrared data frames are received using an infrared receiver on the hydraulic support. The infrared data frame is parsed to determine the infrared data; The first positioning data of the coal mining machine is obtained by communicating with the ultra-wideband base station on the hydraulic support and the ultra-wideband tag. The second positioning data is determined based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data. The hydraulic support is controlled to operate based on the second positioning data.

2. The hydraulic support control method according to claim 1, characterized in that, Before the step of periodically transmitting infrared data frames by the infrared transmitter on the controlled coal mining machine, the following steps are included: The first checksum is calculated based on the preset double-byte synchronization header and the value of the incrementing counter; The infrared data frame is obtained by combining the double-byte synchronization header, the value of the incrementing counter, and the first checksum.

3. The hydraulic support control method according to claim 2, characterized in that, The step of parsing the infrared data frame to determine the infrared data includes: After the double-byte synchronization header is identified, the value of the incrementing counter and the first check code are extracted from the infrared data frame. The second checksum is obtained by calculating the values ​​of the double-byte synchronization header and the incrementing counter; Compare the first check code and the second check code; Based on the consistency of the comparison, it is determined that the infrared data frame has passed the verification, and the infrared data frame is used as the infrared data.

4. The hydraulic support control method according to claim 1, characterized in that, The step of determining the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: When the validity of the infrared data is valid and the validity of the first positioning data is valid, a first weight value corresponding to the first positioning data and a second weight value corresponding to the infrared data are determined, wherein the first weight value is greater than the second weight value. The second positioning data is determined based on the first positioning data, the infrared data, the first weight value, and the second weight value.

5. The hydraulic support control method according to claim 1, characterized in that, The step of determining the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: When the validity of the infrared data is invalid and the validity of the first positioning data is valid, the second positioning data is determined based on the first positioning data.

6. The hydraulic support control method according to claim 1, characterized in that, The step of determining the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data includes: When the infrared data is valid and the first positioning data is invalid, the timing information of multiple adjacent hydraulic supports receiving the infrared data is determined. The second positioning data is determined based on the infrared data and timing information received by each of the hydraulic supports.

7. The hydraulic support control method according to claim 1, characterized in that, Also includes: When the validity of the infrared data is invalid and the validity of the first positioning data is invalid, the hydraulic support is controlled to pause the moving action and an audible and visual alarm signal is triggered.

8. A hydraulic support control system, characterized in that, include: The first processing module is used to control the infrared transmitter on the coal mining machine to periodically send infrared data frames, wherein the infrared transmitter integrates an ultra-wideband tag. The second processing module is used to receive the infrared data frame using the infrared receiver on the hydraulic support. The third processing module is used to parse the infrared data frame to determine the infrared data. The fourth processing module is used to communicate with the ultra-wideband tag using the ultra-wideband base station on the hydraulic support to obtain the first positioning data of the coal mining machine. The fifth processing module is used to determine the second positioning data based on the validity of the infrared data, the validity of the first positioning data, the first positioning data, and the infrared data. The sixth processing module is used to control the hydraulic support to work based on the second positioning data.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the hydraulic support control method as described in any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the hydraulic support control method as described in any one of claims 1 to 7.

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