Device cooperative control method, device and apparatus based on time sensitive network

Abstract

This invention provides a device collaborative control method, device, and apparatus based on time-sensitive networking (TSN), belonging to the field of industrial automation control and communication network technology. The method includes: constructing a three-level TSN architecture consisting of a central control layer, a regional access layer, and a device terminal layer; using a TSN protocol and a central controller as the main clock source, performing time synchronization among all nodes in the three-level TSN network; dividing the network communication cycle into multiple time slots, and allocating dedicated deterministic transmission windows for service traffic of different priorities through the gated list control of the TSN access switch; performing frame duplication operations on key control commands to generate at least two identical data frames; and transmitting the duplicated data frames in parallel to the target device terminal through different physical links. The target device terminal receives and eliminates redundant frames before executing the command. This method solves the problem of low accuracy in device collaborative control based on TSN.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation control and communication network technology, specifically relating to a device collaborative control method, device, and apparatus based on time-sensitive networking. Background Technology

[0002] The control system for fully mechanized coal mining faces is the core of intelligent coal mining. By integrating various advanced technologies, it centrally monitors and coordinates the control of coal mining machines, hydraulic supports, and transportation equipment, thereby improving production efficiency and safety. Currently, the control systems for fully mechanized coal mining faces mainly employ traditional industrial Ethernet (such as Profinet, Ethernet / IP) or fieldbus (such as CAN, RS485) technologies to construct a collaborative control network for equipment such as coal mining machines, hydraulic supports, and scraper conveyors. This type of system issues commands through a central controller, relying on a "best-effort" network transmission mode to achieve basic control functions such as equipment start-up and shutdown, and parameter adjustment. Simultaneously, it transmits non-real-time data such as video monitoring and mine pressure monitoring, representing the mainstream control architecture for intelligent coal mining today.

[0003] The existing control system has the following defects: (1) Traditional networks lack a high-precision time synchronization mechanism (even if the conventional IEEE1588 protocol is used, the single-hop time synchronization accuracy is only 20ns). The control command transmission delay fluctuates to tens of milliseconds, which cannot meet the timing requirements of scenarios such as early warning of periodic pressure in coal mining face (requiring response within 10ms) and hydraulic support following action (requiring sub-second synchronization), which easily leads to asynchronous equipment action. (2) The fault switching time of traditional redundancy technology (such as ring network protection) exceeds 20ms. If a single point of failure such as link interruption or switch failure occurs, it is easy to cause the loss of key control commands, leading to accidents such as coal blockage of scraper conveyor and lag in hydraulic support support, and unplanned shutdowns cause significant economic losses. (3) Control commands (kb level), video monitoring (Mb level), and mine pressure monitoring data (Gb level) share the same bandwidth. When traffic surges, key control commands are easily squeezed out by non-real-time data, and the delay can increase by 3-5 times, which cannot guarantee the determinism of control transmission and affects the stability of core functions such as automatic straightening and following support. (4) A control network and a monitoring network need to be built separately to achieve data isolation and transmission. The amount of cabling is large, the hardware cost is high, and the compatibility of different manufacturers' equipment protocols is poor. Later maintenance requires separate debugging for different networks, resulting in low operation and maintenance efficiency and high cost.

[0004] In summary, the existing equipment control systems for fully mechanized coal mining faces suffer from poor real-time performance, low reliability, and redundant architecture, resulting in poor command transmission stability and low precision in equipment collaborative control. Summary of the Invention

[0005] To address the issue of low accuracy in device collaborative control based on time-sensitive networks, this invention provides a device, apparatus, and device for device collaborative control based on time-sensitive networks.

[0006] A first aspect of the present invention provides a device cooperative control method based on time-sensitive networking, comprising the following steps: A three-tier time-sensitive network architecture is constructed, consisting of a central control layer, a regional access layer, and a device terminal layer. The central control layer includes a central controller and at least two TSN core switches. The regional access layer includes multiple TSN access switches connected to the TSN core switches. The device terminal layer includes a controller, a conveyor controller, and multiple hydraulic support controllers, with the controllers of the device terminal layer connected to the TSN access switches. Based on the support of the IEEE 802.1AS-Rev protocol by the TSN core switch and TSN access switch, the central controller is used as the main clock source to synchronize the time of all nodes in the three-level time-sensitive network in order to establish a unified time reference. Based on the TSN access switch's support for the IEEE 802.1Qbv protocol and combined with the established unified time base, the network communication cycle is divided into multiple time slots; through the gated list control of the TSN access switch, dedicated deterministic transmission windows are allocated to service traffic of different priorities; among them, the highest priority time slot is used to transmit key control commands for coal mining machines and hydraulic supports. Based on the dual physical redundancy links and network node support for the IEEE 802.1CB protocol, the sending end of the central control layer performs frame duplication operation on key control commands to generate at least two identical data frames; and transmits the duplicated data frames in parallel to the controller of the device terminal layer through different physical links. The controller of the device terminal layer receives and eliminates the redundant frames before executing the commands.

[0007] Furthermore, the process of using the central controller as the main clock source to perform time synchronization among all nodes in the three-level time-sensitive network includes the following steps: The central controller is selected as the master clock using the optimal master clock algorithm; The master clock broadcasts the time signal via Sync and Follow_Up messages; After receiving the time signal, the slave node measures the link delay through preset delay request messages and preset delay response messages, and calibrates the local clock based on the hardware timestamp.

[0008] Furthermore, after electing the central controller as the master clock through the optimal master clock algorithm, the process further includes: Configure at least one of the TNS core switches as a backup master clock; When a master clock failure is detected, the synchronization service will be switched to the backup master clock within a preset time period.

[0009] Furthermore, the allocation of dedicated deterministic transmission windows for service traffic of different priorities includes: a preset first time slot for transmitting the highest priority critical control instructions, a preset second time slot for transmitting the second priority important data, and a preset third time slot for transmitting ordinary data.

[0010] Furthermore, the processing delay for the controller at the device terminal layer to remove duplicate frames is no greater than 1 microsecond.

[0011] Furthermore, it also includes fault detection of the connectivity of the dual physical redundancy links. When a link interruption is detected, control commands are transmitted through a preset link.

[0012] Furthermore, after the time synchronization, the device also monitors the clock synchronization status of the terminal layer device, and triggers the device to resynchronize time when the clock deviation is detected to exceed a threshold.

[0013] A second aspect of the present invention provides a device collaborative control system based on time-sensitive networking, comprising: The building module is used to construct a three-level time-sensitive network architecture consisting of a central control layer, a regional access layer, and a device terminal layer. The central control layer includes a central controller and at least two TSN core switches; the regional access layer includes multiple TSN access switches connected to the TSN core switches; and the device terminal layer includes a controller, a conveyor controller, and multiple hydraulic support controllers, with the controllers of the device terminal layer connected to the TSN access switches. The synchronization module is used to support the IEEE 802.1AS-Rev protocol based on the TSN core switch and TSN access switch. It uses the central controller as the main clock source to synchronize the time of all nodes in the three-level time-sensitive network in order to establish a unified time reference. The transmission module is used to support the IEEE 802.1Qbv protocol based on the TSN access switch and, in conjunction with the established unified time base, divide the network communication cycle into multiple time slots; through the gate list control of the TSN access switch, it allocates dedicated deterministic transmission windows for service traffic of different priorities; among them, the highest priority time slot is used to transmit key control commands for coal mining machines and hydraulic supports. The execution module is used to support the IEEE 802.1CB protocol based on dual physical redundancy links and network nodes. At the transmitting end of the central control layer, it performs frame duplication operation on key control commands to generate at least two identical data frames. The duplicated data frames are then transmitted in parallel to the controller of the device terminal layer through different physical links. The controller of the device terminal layer receives and eliminates the redundant frames before executing the commands.

[0014] A third aspect of the present invention provides a computer device including 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 above-described method.

[0015] A fourth aspect of the present invention provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0016] The device cooperative control method based on time-sensitive networks provided by this invention has the following beneficial effects: By constructing a three-tiered time-sensitive network architecture—"central control layer - regional access layer - device terminal layer"—a highly reliable physical foundation for the control system is laid at the hardware level. This solves the inherent single-point-of-failure risk of traditional single-link or non-deterministic networks and ensures the redundancy of control command transmission paths. Based on this, nanosecond-level high-precision time synchronization is achieved across the entire network using the IEEE 802.1AS-Rev protocol. This establishes a unified and accurate clock reference for all distributed equipment such as coal mining machines, hydraulic supports, and scraper conveyors. This is the fundamental prerequisite for achieving microsecond-level precise coordinated action between devices, directly overcoming the technical bottleneck of action synchronization failure caused by local clock deviations in each device. Furthermore, by setting a fixed communication period for the network and allocating exclusive transmission time slots with different priorities, the end-to-end delay of control commands is stably controlled within milliseconds with minimal latency fluctuations. This fundamentally solves the problems of uncertain command transmission delays and large jitter caused by traffic contention in traditional "best-effort" networks, meeting the stringent timing requirements of scenarios such as hydraulic support follow-up actions. Finally, for the most critical control commands, a mechanism of frame duplication and parallel transmission of redundant paths with rapid elimination at the receiving end is adopted to ensure the absolute reliable delivery of critical commands. Attached Figure Description

[0017] To more clearly illustrate the embodiments and design schemes of the present invention, the accompanying drawings required for this embodiment will be briefly described below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a three-level time-sensitive network architecture provided by the present invention according to an exemplary embodiment; Figure 2 This is a schematic diagram of a high-precision time synchronization process provided by the present invention according to an exemplary embodiment; Figure 3 This is a schematic diagram of a TSN private network and slicing scheme provided by the present invention according to an exemplary embodiment; Figure 4 This is a schematic diagram of a TSN networking scheme provided by the present invention according to an exemplary embodiment; Figure 5 This is a schematic diagram of the TSN networking logic provided by the present invention according to an exemplary embodiment. Detailed Implementation

[0019] To enable those skilled in the art to better understand and implement the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0020] A time-sensitive network (TSN)-based device collaborative control method is characterized by constructing a three-level TSN network architecture: a central control layer, a regional access layer, and a device terminal layer. This architecture integrates time synchronization protocol (IEEE 802.1AS-Rev), time-aware shaping protocol (IEEE 802.1Qbv), and frame duplication and cancellation protocol (IEEE 802.1CB). The technical solutions provided by various embodiments of this invention are described in detail below with reference to the accompanying drawings. The method specifically includes the following steps:

[0021] S1. Network architecture construction steps: Construct a three-level time-sensitive network architecture consisting of a central control layer, a regional access layer, and a device terminal layer to provide a physical foundation for high-reliability data transmission and device collaboration.

[0022] like Figure 1 As shown, the central control layer includes a central controller and at least two time-sensitive network core switches; the regional access layer includes multiple time-sensitive network access switches, with dual physical links deployed in the regional access layer, and the time-sensitive network access switches are connected to the time-sensitive network core switches; the device terminal layer includes a coal mining machine controller, a scraper conveyor controller, and multiple hydraulic support controllers, and the controllers of the device terminal layer are connected to the time-sensitive network access switches.

[0023] Three-level time-sensitive network architecture: This refers to the network structure in this invention with three clearly defined functional layers. This architecture is not a simple stacking of network devices, but a hierarchical design based on the control logic of the coal mine working face.

[0024] Central Control Layer: This refers to the decision-making and command center located underground or in the surface control center. Its physical entities include the central controller that runs the control algorithms and the TSN core switch that serves as the network data hub. This layer is responsible for generating global collaborative control commands (such as following the process flow) and serves as the time synchronization source for the entire network.

[0025] Regional Access Layer: This refers to the data transmission and scheduling backbone laid along the longwall mining face. Its physical entity is the TSN access switches distributed within the hydraulic support array at regular intervals (e.g., every 10 supports). This layer is responsible for reliably aggregating equipment data and accurately executing traffic scheduling commands from the central control layer. The TSN private network and slicing scheme are as follows... Figure 3 As shown.

[0026] Equipment Terminal Layer: This refers to the lowest-level control unit that directly connects to and controls the physical execution equipment. Its physical entities include the coal mining machine controller, scraper conveyor controller, and each hydraulic support controller. This layer is responsible for receiving commands and driving the equipment to perform precise actions, while also collecting and uploading equipment status data.

[0027] Dual physical links: Preferably, two completely independent communication lines with separate physical paths are established in the network. In this invention, it specifically refers to network links laid along the left and right sides of the longwall mining face in a coal mine, connected by flame-retardant mining cables. Its core purpose is to provide path redundancy; when either link is damaged or interrupted by interference, data can still be transmitted through the other link, ensuring uninterrupted control.

[0028] S2. Based on the support of the IEEE 802.1AS-Rev protocol by the TSN core switch and TSN access switch, time synchronization is performed among all nodes in the three-level time-sensitive network with the central controller as the main clock source to establish a unified time reference.

[0029] High-precision time synchronization steps: Within this three-level time-sensitive network architecture, nanosecond-level time synchronization is achieved based on the time-sensitive network protocol, establishing a unified time reference for all access devices, enabling various devices distributed across the work surface to operate under the same time scale.

[0030] Time-Sensitive Networking Protocol (TSN): In this step, it specifically refers to the IEEE 802.1AS-Rev protocol (also known as gPTP - Generalized Precision Time Protocol), used to achieve high-precision clock synchronization. This protocol is one of the core protocols of the TSN series, defining a message exchange mechanism between master and slave clocks for distributing a unified time base across the network.

[0031] Nanosecond-level time synchronization: This refers to calibrating the deviation between the local clock and the master clock of all nodes in the network (from the core switch to the device controller at the very end) to within 100 nanoseconds (i.e., 0.1 microseconds) through the aforementioned protocols and hardware timestamp technology. This extremely high-precision time consistency is the technical foundation for ensuring that devices distributed across a 100-meter-long working surface can operate "simultaneously" or according to a strict timing sequence.

[0032] A unified time reference refers to a virtual, high-precision clock that all devices across the network follow after synchronization. This ensures that a command issued by the central controller with a specific "execution time" can be executed accurately by all relevant devices at the same absolute moment, thereby achieving spatial coordination with centimeter-level precision, such as between hydraulic support groups and coal mining machine cutting drums.

[0033] S3. Based on the TSN access switch's support for the IEEE 802.1Qbv protocol and combined with the established unified time base, the network communication cycle is divided into multiple time slots. Through the gated list control of the TSN access switch, dedicated deterministic transmission windows are allocated to service traffic of different priorities. Among them, the highest priority time slot is used to transmit key control commands for coal mining machines and hydraulic supports.

[0034] Deterministic traffic scheduling steps: Set a fixed communication period for network communication, and allocate exclusive transmission time slots for data of different priorities within each period. This ensures that critical control commands can obtain contention-free, deterministic, low-latency transmission under any network load, thereby guaranteeing the real-time performance of collaborative control.

[0035] Fixed communication cycle: refers to a network being divided into a series of continuous, repetitive fixed time windows.

[0036] Preferably, in this invention, the time axis is specifically divided into cyclic periods of 2 milliseconds in length. The same scheduling rules are repeated within each period, providing a predictable temporal framework for network behavior.

[0037] Transmission time slot: refers to a dedicated time segment allocated to a specific type of data stream within a communication cycle. This invention divides a 2ms cycle into three time slots: Critical control time slot (0-200 microseconds): dedicated to transmitting the highest priority commands such as equipment emergency stops and support actions. Important data time slot (200-800 microseconds): used to transmit less important information such as equipment speed adjustments and sensor data. Ordinary data time slot (800-2000 microseconds): used to transmit non-real-time data such as video and logs. This division achieves network isolation in the time dimension, ensuring the absolute priority of critical commands.

[0038] Contention-free, deterministic low-latency transmission: This is the core effect to be achieved in this step. "Content-free" means that high-priority data is transmitted in dedicated time slots and will not be blocked by low-priority data; "deterministic" means that the end-to-end latency (from sending to receiving) of critical instructions is predictable, has an upper limit, and fluctuates very little (e.g., stable within 3.5ms, with fluctuations of less than 0.2ms), and is no longer affected by other network traffic.

[0039] S4. Based on the dual physical redundancy links and network node support for the IEEE 802.1CB protocol, perform frame copying operations on key control commands to generate at least two identical data frames; and transmit the copied data frames in parallel to the target device terminal through different physical links. The target device terminal receives and eliminates the redundant frames before executing the commands.

[0040] Redundant transmission and elimination steps for key instructions: For the highest priority control instructions, the frame is copied at the sending end and sent in parallel through redundant paths. Duplicate frames are identified and eliminated at the receiving end. This achieves zero instruction loss and zero switching delay in the event of a single-point link failure, ensuring the reliability of coordinated control.

[0041] Highest priority control commands: In the context of this invention, these specifically refer to commands that, if lost or delayed, could immediately lead to equipment damage or safety accidents, such as emergency stop commands for coal mining machines and hydraulic support lifting commands (to prevent roof collapse).

[0042] Frame duplication: refers to the process of completely copying the original key instruction data packet at the data sending end (such as the central controller) based on the IEEE 802.1CB protocol, generating two frames with identical content and sequence numbers.

[0043] Parallel transmission via redundant paths: This refers to transmitting two copies of the frame simultaneously through previously established dual physical links (such as a left link and a right link). Even if one path fails completely, the instruction can still arrive via the other path.

[0044] Duplicate frame identification and elimination: This refers to the process at the data receiving end (such as a coal mining machine controller) that quickly identifies duplicate data frames with the same content arriving at different times by detecting the unique sequence number in the data packets. Within 1 microsecond, the later-arriving copy is discarded, and only the first arriving frame is submitted to the application for execution. This mechanism achieves zero switching time and zero instruction loss in fault conditions.

[0045] The time-sensitive network core switch and the time-sensitive network access switch support time-aware shaping and frame duplication elimination protocols; the time-sensitive network core switch also supports centralized configuration protocols.

[0046] Based on the above inventive concept, the following embodiments are provided: 1. Network architecture setup.

[0047] Hardware configuration: Includes a central controller with a TSN configuration management module, two redundant TSN core switches, N TSN access switches configured with one switch for every 10 hydraulic supports, one coal mining machine controller, one scraper conveyor controller, and one independent hydraulic support controller. All equipment is connected via mine-grade flame-retardant cables, forming dual physical links on both sides of the working face to achieve physical path redundancy.

[0048] Protocol stack configuration: Network nodes all support IEEE 802.1AS-Rev (gPTP), 802.1Qbv (Time-Aware Shaping), and 802.1CB (Frame Copy Elimination) protocols; TSN core switches additionally support the IEEE 802.1Qcc centralized configuration protocol to achieve unified management and dynamic adjustment of network parameters.

[0049] Specifically, a three-layer time-sensitive network architecture is deployed: Central Control Layer: In a centralized control room on the surface or underground, a central controller integrating a TSN configuration management module is deployed, along with at least two TSN core switches that are mutually redundant. Regional Access Layer: Along the longwall mining face, several TSN access switches are deployed according to the principle of "one switch for every 10 hydraulic supports". These switches are connected to the two core switches via mine-grade flame-retardant cables, thus physically forming a link on the left and right sides of the working face. Equipment Terminal Layer: The coal mining machine controller, scraper conveyor controller, and each hydraulic support controller are treated as terminal devices and connected to the nearest TSN access switch.

[0050] Protocol stack configuration and environment adaptation: All TSN switches and controllers support the IEEE 802.1AS-Rev (time synchronization), 802.1Qbv (time-aware shaping), and 802.1CB (frame duplication and cancellation) protocol stacks. The core switch additionally supports the IEEE 802.1Qcc (centralized network configuration) protocol for unified management. All network devices are capable of wide-temperature operation and have IP65 or higher protection ratings, ensuring stable operation in the harsh environment of underground coal mines. This results in a TSN hardware network with dual physical link redundancy, protocol readiness, and strong environmental adaptability.

[0051] 2. High-precision time synchronization process.

[0052] Master clock election: After the system is powered on, the central controller is selected as the Grandmaster master clock through BMCA (Best Master Clock Algorithm), and the Beidou / GPS signal is connected to provide an absolute time reference to ensure long-term clock stability.

[0053] Hierarchical synchronization execution: The master clock broadcasts the time signal through Sync / Follow_Up messages. After receiving the signal from the nodes (switches, device controllers), the link delay is measured with the help of Pdelay_Req / Resp messages. The local clock is then calibrated with a MAC layer hardware timestamp with a precision of 4ns, ultimately achieving a network-wide time deviation of ≤100ns.

[0054] Redundancy protection measures: The TSN core switch is configured as a backup master clock. In the event of a master clock failure, the backup clock automatically takes over the synchronization service within 1ms using "millisecond-level seamless switching" technology to avoid time synchronization interruption.

[0055] Specifically, establish nanosecond-level network-wide time synchronization. The time synchronization process is as follows: Figure 2 As shown.

[0056] On the stable physical network built in the first step, a unified time reference is established, which is the foundation for all devices to achieve precise coordination. Master Clock Election: After the system powers on, the central controller is elected as the global master clock through the optimal master clock algorithm. This master clock can access BeiDou / GPS signals to obtain a high-precision absolute time reference. Hierarchical Time Distribution: The master clock periodically broadcasts Sync and Follow_Up messages to the entire network.

[0057] The next-level TSN core switch, access switch, and device controller act as slave clocks. After receiving these packets, they exchange Pdelay_Req and Pdelay_Resp packets with the master clock to accurately measure the link transmission delay between them. Preferably, preset delay request packets and preset delay response packets Pdelay_Req and Pdelay_Resp packets are used. The TSN networking scheme in this invention is as follows: Figure 4 As shown.

[0058] Throughout the message sending and receiving process, MAC layer hardware timestamp technology (with an accuracy of ±4ns) is used to record the precise sending and receiving times, thereby eliminating the impact of software stack latency during calculation.

[0059] The local clock dynamically adjusts itself based on the measured delay value, ultimately achieving a network-wide time deviation of ≤100 nanoseconds. The TSN logical networking of this invention is as follows: Figure 5 As shown.

[0060] Synchronous redundancy guarantee: One of the TSN core switches is configured as a backup master clock. Once the system detects a master clock failure, the backup master clock can seamlessly take over the time synchronization service within 1 millisecond, preventing the system from going out of control due to the loss of time base.

[0061] This step yields a globally unified clock with high precision (≤100ns) and high reliability (master / standby switching).

[0062] 3. Deterministic traffic scheduling mechanism.

[0063] Period planning: Set 2ms as the network communication period, which includes a 12.5μs GuardBand buffer to prevent interference from data frame fragments in different time slots and ensure data transmission integrity.

[0064] Preferably, the time slot allocation is (based on the GCL gating list): 0-200μs: Critical control time slot, only transmitting commands for adjusting the coal mining machine's cutting speed and raising / moving the hydraulic support (priority 1), ensuring that there is no contention in the transmission of core control commands; 200-800μs: Important data time slot, transmitting scraper conveyor speed control and mine pressure monitoring data (priority 2), balancing real-time performance and data volume requirements; 800-2000μs: Normal data time slot, used for transmitting video surveillance and device status logs (priority 3), utilizing remaining bandwidth to transmit non-real-time data.

[0065] Scheduling execution method: The TSN access switch updates the port gating status every 2ms, and only opens the transmission of specific priority traffic in the corresponding time slot to avoid data conflicts between different priorities.

[0066] Specifically, based on a unified time base, network traffic is meticulously scheduled to ensure that critical commands can always be transmitted without obstruction on dedicated "highways." This involves setting a communication cycle: dividing network communication into fixed, cyclical 2-millisecond communication cycles. Dividing the timeline into three levels: within each 2ms cycle, a gating list is used to divide the time axis into three time slots with different priorities. Allocating dedicated deterministic transmission windows to different priority traffic flows: a preset first time slot for transmitting the highest priority critical control commands, a preset second time slot for transmitting second-priority important data, and a preset third time slot for transmitting ordinary data.

[0067] By setting a fixed communication cycle for the network and allocating dedicated transmission time slots with different priorities, this invention implements deterministic scheduling of network traffic. This mechanism ensures that the highest priority critical control commands, such as emergency stops of coal mining machines and support frame raising, can obtain a contention-free and unblocked transmission channel within their dedicated time slots under any network load (even when running in parallel with large-volume video surveillance streams).

[0068] 4. Redundant transmission process for critical instructions.

[0069] Frame copying operation: After the central controller generates key instructions, it copies the instruction frame into two copies (including a unique identification sequence number) through the 802.1CB protocol, and sends them in parallel through the left A link and the right B link of the working plane respectively.

[0070] Parallel transmission control: Data is transmitted independently through dual links. The TSN core switch receives two data streams through different physical ports to ensure that the transmission paths do not overlap and reduce the risk of simultaneous failure.

[0071] Frame elimination processing: After receiving dual-link data, the device controller identifies duplicate frames by sequence number, discards the later-arriving copies, and submits only the first-arriving frame to the execution layer. The processing delay is ≤1μs, ensuring the timeliness of instruction execution.

[0072] Specifically, after establishing a deterministic transmission channel, additional reliability reinforcement is implemented for the most critical instructions to achieve "zero-aware switching under fault conditions".

[0073] Frame duplication: When the central controller needs to issue high-priority commands such as "emergency stop of coal mining machine" or "support raising", it will trigger the IEEE 802.1CB protocol. This protocol copies the original command frame into two identical frames and assigns them the same unique sequence number.

[0074] Parallel transmission: These two identical frames are injected into the left and right links of the working plane built in the first step, respectively, and transmitted in parallel through two independent physical paths.

[0075] Frame cancellation: The controller located at the device terminal (such as the coal mining machine controller) simultaneously monitors the network. When it receives the instruction frame first through any link, it executes it immediately. When a duplicate frame with the same sequence number arrives through another link, the controller's fast identification algorithm identifies and discards it within 1 microsecond, thus ensuring that the instruction is executed only once.

[0076] It achieves "zero-switching-time" protection against single-point link or device failures, fundamentally eliminating the loss of critical instructions due to network failures.

[0077] 5. Exception handling mechanism.

[0078] Link interruption handling: The TSN access switch identifies link interruptions through the "second-level fault detection" function and immediately notifies the central controller via the 802.1CB protocol, triggering the priority of redundant paths to ensure that critical instructions are transmitted through backup links.

[0079] Time Deviation Correction: If the device controller's time deviation exceeds 500ns, a resynchronization request will be automatically initiated. During the synchronization process, the transmission of non-critical instructions will be suspended to avoid coordination errors caused by time deviation.

[0080] Specifically, the entire system possesses a closed-loop intelligence of "perception-decision-adjustment" to ensure long-term stable operation.

[0081] Link Failure Handling: TSN access switches possess second-level link failure detection capabilities. Once a physical link failure is detected, the central controller is immediately notified via the network. The controller then dynamically adjusts its traffic scheduling strategy, prioritizing all transmission paths of critical commands and forcing them to be transmitted through the remaining healthy links.

[0082] Time synchronization maintenance: The system continuously monitors the time deviation of each device controller. If a device's deviation exceeds the safety threshold of 500 nanoseconds, the system will automatically initiate a resynchronization request to that device. During the synchronization process, the transmission of non-critical commands from that device can be temporarily suspended to prevent errors in coordinated actions due to time asynchrony.

[0083] 1) Three-level time-sensitive network architecture and dual physical link integration design: Innovatively construct a three-level time-sensitive network architecture of "central control layer - regional access layer - device terminal layer", combined with dual physical link redundancy on both sides of the working face, to achieve physical isolation of transmission paths at the hardware level. At the same time, through the wide temperature explosion-proof design of TSN switches (-40℃~70℃, IP65 protection), it is adapted to the complex environment of underground coal mines, and solves the problems of easy interruption of traditional single links and equipment not being able to withstand extreme working conditions.

[0084] 2) Nanosecond-level time synchronization and millisecond-level fault switching collaborative mechanism: Based on the IEEE 802.1AS-Rev protocol and combined with proprietary hardware timestamp technology (accuracy ±4ns), the time deviation of the entire network is ≤100ns; at the same time, the TSN core switch is configured as a backup master clock, and through the "millisecond-level seamless switching" technology, the master clock can take over within 1ms when it fails, breaking through the bottleneck of low time synchronization accuracy and slow fault switching of the traditional IEEE 1588 protocol.

[0085] 3) Three-level time slot dynamic scheduling strategy based on GCL: Innovatively set a 2ms communication period and divide it into three levels of time slots (critical control 0-200μs, important data 200-800μs, and ordinary data 800-2000μs), introduce a 12.5μs Guard Band to avoid frame fragment interference, and realize the visualization configuration and dynamic adjustment of time slots through a unified network management platform to ensure that critical instructions are transmitted without contention and solve the latency fluctuation problem caused by traditional network traffic contention.

[0086] 4) Dual-link replication and fast elimination algorithm for critical instructions: Based on the IEEE 802.1CB protocol, for the highest priority instructions such as emergency stop of coal mining machine and support lifting, two frames with unique sequence numbers are generated at the sending end and transmitted in parallel through dual links; the receiving end adopts a proprietary "redundant frame fast identification algorithm" to complete the elimination of duplicate frames within 1μs, realize zero fault switching time, and overcome the defects of slow switching and easy loss of instructions in traditional redundancy technology.

[0087] 5) "One Network Convergence" and Multi-Protocol Compatibility Solution: Relying on TSN technology, control commands, video surveillance, and mine pressure monitoring data can be carried simultaneously on a single physical network, replacing the traditional dual architecture of "control network + monitoring network"; and based on the IEEE international standard, it is compatible with mainstream industrial protocols such as Ethernet / IP and PROFINET, adapts to the upgrade of old systems, and solves the problems of complex traditional network architecture and poor protocol compatibility.

[0088] The present invention has the following technical effects: 1) Significantly improved real-time performance and determinism to meet precise collaboration requirements: Through IEEE 802.1AS-Rev nanosecond-level time synchronization and IEEE 802.1Qbv three-level time slot scheduling, the end-to-end latency of control commands is stabilized at 2.9-3.5ms (measured value), which is more than 80% lower than traditional industrial Ethernet, and the latency fluctuation is ≤0.2ms. It can accurately match scenarios such as hydraulic support following the machine in coal mining faces and periodic pressure warnings. The equipment collaboration error is reduced from 50ms in traditional solutions to within 1.5ms, and the hydraulic support following accuracy reaches ±40mm (better than the industry standard of ±50mm), effectively solving the problem of asynchronous equipment movements.

[0089] 2) Significantly enhanced reliability, ensuring safe production: Relying on the IEEE 802.1CB frame duplication elimination mechanism and dual physical link redundancy, critical instructions are transmitted in parallel via dual paths. Redundant frames are eliminated within 1μs at the receiving end, and fault switching is synchronized. Combined with the TSN switch's "second-level fault detection" and "millisecond-level seamless clock switching," critical instructions are not lost even in the event of single-point problems such as link interruption or switch failure. The number of unplanned downtimes has been reduced from an average of 3 times per month to 1 time, avoiding accidents such as coal blockage in scraper conveyors and delayed hydraulic support, meeting the high reliability requirements of the "Coal Mine Safety Regulations" (AQ 6201-2006).

[0090] 3) Simplified network architecture and cost optimization, resulting in significant cost reduction and efficiency improvement: Through TSN "one-network convergence" technology, control commands (kb level), video surveillance (Mb level), and mine pressure monitoring data (Gb level) can be carried simultaneously on a single physical network, replacing the traditional "control network + monitoring network" dual architecture, reducing cabling costs by 40%; the unified network management platform supports "one-click configuration" and "remote diagnosis", reducing the number of underground inspections by maintenance personnel by 60%, and significantly reducing annual maintenance costs compared to traditional solutions, significantly reducing hardware procurement and subsequent maintenance costs.

[0091] 4) Excellent compatibility and adaptability, flexibly supporting system upgrades: Designed based on IEEE international standards, it is compatible with mainstream industrial protocols such as Ethernet / IP and PROFINET. In the upgrade of the old system at Yankuang Jinjitan Coal Mine, it achieves seamless integration with existing equipment without the need to replace the entire set of hardware. TSN equipment has an IP65 protection rating and a wide operating temperature range of -40℃ to 70℃, making it suitable for the complex environment of underground coal mines, which is humid, dusty, and subject to extreme temperature differences. It also supports various types of fully mechanized mining equipment and can be flexibly applied to new intelligent working faces and old system renovation scenarios, with extremely strong adaptability and scalability.

[0092] 5) Improved data transmission efficiency and early warning capabilities: The data upload latency for mine pressure monitoring, which assists in intelligent decision-making, has been reduced from 15ms in the traditional solution to 1.6ms. The ground monitoring center can view the mine pressure curve in real time through a unified network management platform. The periodic pressure warning time has been significantly shortened, allowing sufficient time for personnel evacuation and equipment adjustment. At the same time, the real-time traffic monitoring function can dynamically display parameters such as bandwidth usage and latency in each time slot, and automatically alarm when abnormalities occur, realizing network status visualization and fault prediction, and improving the level of intelligent decision-making and control in fully mechanized mining faces.

[0093] Based on the above inventive concept, the present invention also provides a device collaborative control system based on time-sensitive networking, comprising: The building module is used to construct a three-level time-sensitive network architecture consisting of a central control layer, a regional access layer, and a device terminal layer. The central control layer includes a central controller and at least two TSN core switches; the regional access layer includes multiple TSN access switches connected to the TSN core switches; and the device terminal layer includes a controller, a conveyor controller, and multiple hydraulic support controllers, with the controllers of the device terminal layer connected to the TSN access switches. The synchronization module is used to support the IEEE 802.1AS-Rev protocol based on the TSN core switch and TSN access switch. It uses the central controller as the main clock source to synchronize the time of all nodes in the three-level time-sensitive network in order to establish a unified time reference. The transmission module is used to support the IEEE 802.1Qbv protocol based on the TSN access switch and, in conjunction with the established unified time base, divide the network communication cycle into multiple time slots; through the gate list control of the TSN access switch, it allocates dedicated deterministic transmission windows for service traffic of different priorities; among them, the highest priority time slot is used to transmit key control commands for coal mining machines and hydraulic supports. The execution module is used to support the IEEE 802.1CB protocol based on dual physical redundancy links and network nodes. At the sending end of the central control layer, it performs frame duplication operation on key control commands to generate at least two identical data frames. The duplicated data frames are then transmitted in parallel to the controller of the device terminal layer through different physical links. The controller of the device terminal layer receives and eliminates the redundant frames before executing the commands.

[0094] The present invention also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 The steps of the provided time-sensitive network-based device cooperative control method.

[0095] This invention also provides a computer device. At the hardware level, the computer device includes a processor, an internal bus, a network interface, memory, and non-volatile memory, and may also include other hardware required for various operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then executes it to achieve the above-mentioned functions. Figure 1 The steps of the provided time-sensitive network-based device cooperative control method.

[0096] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0098] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0100] It should be noted that the specific embodiments described above enable those skilled in the art to more fully understand the present invention, but do not limit the present invention in any way. Therefore, although the present invention has been described in detail in this specification, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention; and all technical solutions and improvements that do not depart from the spirit and scope of the present invention are covered within the protection scope of the patent of the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A device cooperative control method based on time-sensitive networking, characterized in that, The method includes the following steps: A three-tier time-sensitive network architecture is constructed, consisting of a central control layer, a regional access layer, and a device terminal layer. The central control layer includes a central controller and at least two TSN core switches. The regional access layer includes multiple TSN access switches connected to the TSN core switches. The device terminal layer includes a controller, a conveyor controller, and multiple hydraulic support controllers, with the controllers of the device terminal layer connected to the TSN access switches. Based on the support of the IEEE 802.1AS-Rev protocol by the TSN core switch and TSN access switch, the central controller is used as the main clock source to synchronize the time of all nodes in the three-level time-sensitive network in order to establish a unified time reference. Based on the TSN access switch's support for the IEEE 802.1Qbv protocol and combined with the established unified time base, the network communication cycle is divided into multiple time slots; through the gated list control of the TSN access switch, dedicated deterministic transmission windows are allocated to service traffic of different priorities; among them, the highest priority time slot is used to transmit key control commands for coal mining machines and hydraulic supports. Based on the dual physical redundancy links and network node support for the IEEE 802.1CB protocol, the sending end of the central control layer performs frame duplication operation on key control commands to generate at least two identical data frames; and transmits the duplicated data frames in parallel to the controller of the device terminal layer through different physical links. The controller of the device terminal layer receives and eliminates the redundant frames before executing the commands.

2. The method according to claim 1, characterized in that, The process of using a central controller as the main clock source to achieve nanosecond-level time synchronization among all nodes in a three-level time-sensitive network includes the following steps: The central controller is selected as the master clock using the optimal master clock algorithm; The master clock broadcasts the time signal via Sync and Follow_Up messages; After receiving the time signal, the slave node measures the link delay through preset delay request messages and preset delay response messages, and calibrates the local clock based on the hardware timestamp.

3. The method according to claim 2, characterized in that, After electing the central controller as the master clock through the optimal master clock algorithm, the process further includes: Configure at least one of the TNS core switches as a backup master clock; When a master clock failure is detected, the synchronization service will be switched to the backup master clock within a preset time period.

4. The method according to claim 1, characterized in that, The allocation of dedicated deterministic transmission windows for service traffic of different priorities includes: a preset first time slot for transmitting the highest priority critical control instructions, a preset second time slot for transmitting the second priority important data, and a preset third time slot for transmitting ordinary data.

5. The method according to claim 1, characterized in that, The processing delay for the controller at the device terminal layer to remove duplicate frames is no greater than 1 microsecond.

6. The method according to claim 1, characterized in that, It also includes fault detection of the connectivity of the dual physical redundancy links. When a link interruption is detected, control commands are transmitted through a preset link.

7. The method according to claim 1, characterized in that, It also includes monitoring the clock synchronization status of the device terminal layer after the time synchronization, and triggering the device to resynchronize time when the clock deviation is detected to exceed a threshold.

8. A device collaborative control system based on time-sensitive networking, characterized in that, include: The building module is used to construct a three-level time-sensitive network architecture consisting of a central control layer, a regional access layer, and a device terminal layer. The central control layer includes a central controller and at least two TSN core switches; the regional access layer includes multiple TSN access switches, which are connected to the TSN core switches; and the controller of the device terminal layer is connected to the TSN access switches. The synchronization module is used to support the IEEE 802.1AS-Rev protocol based on the TSN core switch and TSN access switch. With the central controller as the main clock source, it performs nanosecond-level time synchronization among all nodes in the three-level time-sensitive network to establish a unified time reference. The transmission module is used to support the IEEE 802.1Qbv protocol based on the TSN access switch and, in conjunction with the established unified time base, divide the network communication cycle into multiple time slots. Through the gate list control of the TSN access switch, it allocates dedicated deterministic transmission windows for service traffic of different priorities. Among them, the highest priority time slot is used to transmit key control commands for coal mining machines and hydraulic supports. The execution module is used to support the IEEE 802.1CB protocol based on dual physical redundancy links and network nodes, perform frame copying operations on key control commands, generate at least two identical data frames, and transmit the copied data frames in parallel to the target device terminal through different physical links. The target device terminal receives and eliminates the redundant frames before executing the commands.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 7.

10. A computer device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in any one of claims 1 to 7.

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