A software-defined control collaborative scheduling method for mines

Abstract

The application discloses a kind of mining software-defined control collaborative scheduling methods, specifically related to the field of intelligent manufacturing, including control end and split into action item with mining equipment task, write in task identification, action serial number and equipment address, according to state message generation movement occupation boundary, occupation time period, space mutual exclusion token and control time slot, and based on task data space mutual exclusion token and control time slot binding;When execution permission state is established, send control instruction, when action completion state is established, truncate control time slot and shrink movement occupation boundary.The application can make the work area control authority of mining equipment and control instruction sending period belong to the same action item, and according to actual action completion state, release space boundary and time slot synchronously, avoid the problem that equipment still occupies area but subsequent instruction has been sent, or area has been released but control period is still occupied, improve the scheduling safety, control consistency in multi-mining equipment collaborative operation.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, and in particular to a software-defined control collaborative scheduling method for mining applications. Background Technology

[0002] With the increasing automation and intelligence of mine production, automatic control methods are gradually being adopted in production processes such as mining, transportation, hoisting, ventilation, drainage, and power supply. Mine production typically involves equipment such as coal mining machines, tunneling machines, hydraulic supports, scraper conveyors, belt conveyors, mine hoists, ventilation fans, drainage pumps, and power supply switches. These devices are interconnected in terms of process connections, start-up and shutdown sequences, operating areas, safety interlocks, and operating parameters. Intelligent manufacturing technology can uniformly manage production tasks, equipment status, control rules, and scheduling rules, and organize multiple pieces of equipment to work collaboratively according to the mine production process.

[0003] Existing mine collaborative control technologies typically collect data on equipment location, start / stop status, operating speed, load, liquid level, air volume, and switch on / off status. Based on the production plan, work tasks are broken down into control items such as equipment start-up, operation, speed adjustment, pause, and stop. The execution sequence of each piece of equipment is determined according to the sequence of operations, equipment availability, work area occupancy, task priority, operating load, and safety interlock conditions. The control system issues control commands to the corresponding equipment according to the determined scheduling sequence and updates subsequent work tasks and control commands based on the execution status feedback from the equipment.

[0004] In existing collaborative scheduling methods for mining equipment, interlocking of work areas and control command transmission periods are typically managed separately. Area permissions are often locked based on fixed areas or static safety ranges, while control commands are issued based on preset timing sequences or independent communication cycles. There is a lack of binding between the two based on the same action item. When equipment completes work early, completes work late, brakes are not maintained, actuators are not reset, or status confirmation is delayed, problems can easily arise where equipment still occupies the work area even after subsequent commands have been sent, or equipment has actually released part of the area but the control period is still occupied by the original task. This leads to low area utilization, long scheduling waiting times, and increases the risk of control inconsistencies in multi-equipment collaborative operations. Summary of the Invention

[0005] The main objective of this invention is to provide a software-defined control collaborative scheduling method for mining equipment. This method converts the motion occupancy boundary of mining equipment action items into spatial mutual exclusion tokens, converts the control command execution process into control time slots, and binds and releases them based on the same task data. This solves the problems of inconsistent control, low area utilization, and long scheduling waiting time caused by the independence of the work area control authority and the control command sending time period in the existing collaborative scheduling of mining equipment.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A software-defined control collaborative scheduling method for mining applications includes:

[0008] The control terminal acquires mining equipment tasks and breaks them down into action items;

[0009] The control terminal writes task data for the action item, and the task data includes task identifier, action sequence number and device address;

[0010] The control terminal receives a status message returned by the mining equipment, the status message carrying the task data, running status, execution permission status and action completion status;

[0011] The control terminal generates motion occupancy boundaries and occupancy periods based on the running status in the status message, reads the token boundaries and token periods of unreleased space mutex tokens in the scheduling record, and generates the space mutex token of the action item when there is no overlap between the boundaries and the periods.

[0012] A control time slot is generated based on the instruction sending time, the receiving confirmation time, and the action confirmation time. The spatial mutual exclusion token and the control time slot are bound to the task data and written into the scheduling record.

[0013] Send a control command when the execution permission status is established;

[0014] When the action completion state is established, the control time slot is truncated and the motion occupancy boundary is contracted, and the resulting free boundary and free time slot are allocated to the spatiotemporally matched pending action items.

[0015] Preferably, after receiving the status message, the control terminal checks the task identifier, action sequence number, and device address in the status message against the task identifier, action sequence number, and device address of the current action item. If all three match, the status message is used for the scheduling of the current action item; if any one of them does not match, the status message is not used for the scheduling of the current action item.

[0016] Preferably, the control terminal also writes the target position, target direction, and expected termination condition for the action item;

[0017] The operating status includes the current position, direction of travel, current speed, and braking status. The control terminal generates the motion occupancy boundary and the occupancy period based on the current position, direction of travel, current speed, braking status, target position, and target direction.

[0018] Preferably, when the control terminal generates the motion occupancy boundary, it takes the current position as the boundary starting point, superimposes the control cycle displacement corresponding to the current speed and the remaining braking distance corresponding to the braking state along the direction of travel, and expands the superimposed boundary according to the vehicle body length, vehicle body width and safety distance of the mining equipment.

[0019] Preferably, the operating state also includes a steering angle;

[0020] When the steering angle indicates that the mining equipment is in a turning state, the control terminal determines the area traversed by the outer edge of the vehicle body during the turning process based on the steering angle, target direction, vehicle body length and vehicle body width, and incorporates this area into the motion occupancy boundary.

[0021] Preferably, when the control terminal generates the spatial mutual exclusion token, it writes the task identifier, action sequence number, device address, token boundary, token time period and release condition of the corresponding action item into the spatial mutual exclusion token;

[0022] The token boundary is determined by the movement occupancy boundary, and the token time period is determined by the occupancy time period.

[0023] Preferably, after the control terminal reads the token boundary and token time period of the unreleased space mutex token, it performs boundary overlap judgment between the movement occupancy boundary of the current action item and the token boundary, and performs time period overlap judgment between the occupancy time period of the current action item and the token time period.

[0024] When boundaries and time periods overlap, the control terminal does not generate a spatial mutex token for the current action item.

[0025] Preferably, the control time slot includes an instruction transmission interval, an action execution interval, and a status confirmation interval;

[0026] The instruction transmission interval is determined from the instruction sending time to the receipt confirmation time; the action execution interval is determined from the receipt confirmation time to the expected time when the action completion status is established; the status confirmation interval is determined from the expected time when the action completion status is established to the action confirmation time.

[0027] Preferably, when the control terminal binds the spatial mutual exclusion token and the control time slot according to the task data, it writes the spatial mutual exclusion token number, control time slot number, task identifier, action sequence number and device address into the same scheduling record; the control instruction carries the spatial mutual exclusion token number, control time slot number, action sequence number and device address, and the mining equipment executes the control instruction after verifying that they are consistent.

[0028] Preferably, the action completion state includes at least two of the following: position reached state, zero speed state, braking holding state, actuator in position state, actuator reset state, and execution permission state;

[0029] The control terminal uses the time corresponding to the last completed state of the action as the actual end time of the control time slot, and truncates the control time slot and shrinks the motion occupancy boundary according to the actual end time to form the idle boundary and the idle time slot; the spatiotemporal matching is that the motion occupancy boundary of the action to be launched is located within the idle boundary, and the control time slot of the action to be launched is located within the idle time slot.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. This invention breaks down mining equipment tasks into action items, using task identifiers, action sequence numbers, and equipment addresses as the common association basis for status messages, spatial exclusion tokens, control time slots, and control commands. This ensures that equipment operating status, area occupancy permissions, and command transmission time periods belong to the same action item. The control terminal generates motion occupancy boundaries and occupancy time periods based on real-time operating status such as current position, direction of travel, current speed, and braking status. A spatial exclusion token is generated when there is no overlap between the boundaries and time periods. This avoids mis-occupancy or mis-release caused by interlocking based solely on fixed areas or fixed times, improving the accuracy of area control and scheduling security during collaborative mining equipment operations.

[0032] 2. This invention further integrates the sending, receiving, confirmation, action execution, and status confirmation processes of control commands into control time slots, and binds these control time slots to spatial mutual exclusion tokens, writing them into the same scheduling record. After the action completion status is established, the control terminal truncates the control time slot based on the time corresponding to the last established status, and shrinks the motion occupancy boundary according to the actual operating status, forming idle boundaries and idle time slots, which are then reassigned to time-space matched pending action items. This enables the synchronous release and reuse of spatial and temporal permissions, avoiding the problem of equipment still occupying an area while subsequent commands have been sent, or the area being released but the control time slot still being occupied, thus improving the collaborative efficiency of continuous operation of mining equipment. Attached Figure Description

[0033] Figure 1 This is a flowchart of the mining software-defined control collaborative scheduling method of the present invention. Detailed Implementation

[0034] The present invention will be further described below with reference to specific embodiments. It should be understood that the following content is used to illustrate the technical solution of the present invention and is not intended to limit the scope of protection of the present invention. Without departing from the technical concept of the present invention, those skilled in the art can make adaptive adjustments to some data sources, communication methods or boundary expression forms according to the type of mining equipment, underground communication conditions, working area division method and equipment controller configuration.

[0035] The mining software-defined control collaborative scheduling method described in this invention can be executed by a mining equipment collaborative scheduling system. This mining equipment collaborative scheduling system includes a control terminal, communication transmission equipment, a mining equipment controller, an equipment status detection device, an actuator control device, and a safety interlocking device.

[0036] The control terminal is used to perform task splitting, status message reception, motion occupancy boundary generation, occupancy period generation, spatial mutual exclusion token management, control time slot management, control command sending, and scheduling record maintenance. The control terminal can be located in an underground central control chamber, a surface dispatch center, or an underground edge control station, or it can be implemented by an explosion-proof industrial control computer, a scheduling server, an edge computing gateway, a programmable logic controller (PLC), or a mining software-defined controller. Internally, the control terminal can include a task processing unit, a status receiving unit, a boundary generation unit, a token management unit, a time slot management unit, a command sending unit, and a scheduling record storage unit. The task processing unit processes tasks from mining equipment and generates action items; the status receiving unit receives status messages returned by the mining equipment; the boundary generation unit generates motion occupancy boundaries and occupancy periods based on the operating status; the token management unit generates, maintains, updates, and releases spatial mutual exclusion tokens; the time slot management unit generates, truncates, extends, and reclaims control time slots; the command sending unit sends control commands to the mining equipment; and the scheduling record storage unit stores the correspondence between action items, status messages, spatial mutual exclusion tokens, control time slots, and control commands.

[0037] Communication transmission equipment is used to enable data interaction between the control terminal and the mining equipment controller. This equipment may include mining industrial Ethernet switches, mining ring network switches, mining wireless base stations, underground positioning communication base stations, mining explosion-proof and intrinsically safe communication gateways, or mining intrinsically safe data transmission substations. The messages transmitted by the communication transmission equipment must carry at least a task identifier, action sequence number, device address, and timestamp, enabling the control terminal to identify the action items corresponding to status messages and control commands.

[0038] The mining equipment controller is located on the side of the mining equipment and can be a coal mining machine controller, a tunneling machine controller, a mining transport vehicle on-board controller, a hydraulic support electro-hydraulic controller, a scraper conveyor controller, or a local controller for other mining equipment. The mining equipment controller is connected to the equipment status monitoring device, the actuator control device, and the safety interlock device. It receives control commands sent from the control terminal, drives the mining equipment or its actuators to operate based on the verification results, and returns status messages to the control terminal.

[0039] Equipment status monitoring devices are used to provide information on the operating status of mining equipment. These devices may include an underground positioning device, a speed encoder, a drive shaft encoder, a steering angle sensor, a braking status detector, an actuator position sensor, a pressure sensor, a load detector, and an equipment outer edge position detection device. The underground positioning device outputs the current position and direction of travel; the speed encoder or drive shaft encoder outputs the current speed; the braking status detector outputs the braking status; the steering angle sensor outputs the steering angle; the actuator position sensor outputs the actuator's position or reset status; the pressure sensor and load detector output the operational stability of hydraulic supports, conveying equipment, or other mining equipment; and the equipment outer edge position detection device helps determine the actual area occupied by the mining equipment body or actuator within the available space.

[0040] The actuator control device is used to execute the motion control signals output by the mining equipment controller. The actuator control device may include a travel drive device, a steering drive device, a braking control device, a hydraulic cylinder control valve group, a motor controller, a scraper conveyor drive control device, or a support pushing control device. The operating status of the actuator control device can be written into a status message by the mining equipment controller.

[0041] Safety interlocking devices are used to establish an execution permission state. These devices may include emergency stop circuits, safety relays, interlock switches, adjacent equipment interlocking lines, personnel proximity detection devices, gas interlock signal input terminals, and equipment fault interlock input terminals. The safety interlocking device outputs a permission or interlock signal to the mine equipment controller or control terminal. When the execution permission state is established, it indicates that the current action item meets the safety conditions for execution; when the execution permission state is not established, the control terminal does not send the corresponding control command, or the mine equipment controller refuses to execute the received control command.

[0042] Figure 1 The overall implementation flow of the mining software-defined control collaborative scheduling method of the present invention is shown. For example... Figure 1 As shown, the control terminal first acquires and verifies the status message based on the action item task data to form a verified status message; then, it generates the motion occupancy boundary and occupancy time period based on the verified status message, and determines whether to generate a spatial mutual exclusion token by judging the overlap of the boundary time period; at the same time, the control terminal generates a control time slot based on the relevant time of instruction sending, receiving confirmation and action confirmation; then, it writes the spatial mutual exclusion token and control time slot into the token time slot binding record, and sends the control command when the execution permission judgment is established; after the mining equipment executes the control command, it feeds back the action completion status, and the control terminal forms an idle boundary and idle time slot based on the action completion judgment, and allocates them to the spatiotemporally matched pending action items that meet the spatial and temporal conditions.

[0043] Example 1: Action item splitting, task data writing, and status message reception.

[0044] In one embodiment of the present invention, the control terminal breaks down the mining equipment task into action items, writes task data for the action items, the task data being a task identifier, action sequence number, and equipment address, and receives a status message carrying the task data, running status, execution permission status, and action completion status.

[0045] Specifically, after receiving the mining equipment task, the control terminal first breaks down the task into action-level components. These tasks can include coal cutting by a coal mining machine, propulsion by a tunneling machine, movement of mining transport vehicles, moving of hydraulic supports, and starting or speed adjustment of a scraper conveyor. The control terminal then breaks down these tasks into action items that can be independently identified and executed by the mining equipment controller. Action items can include starting, moving, turning, positioning and stopping, braking, actuator movement, and resetting. Each action item corresponds to at least one control command that can be issued.

[0046] The control terminal writes task data for each action item. The task identifier distinguishes different mining equipment tasks; the action sequence number distinguishes different actions within the same mining equipment task and indicates the sequence of actions; the device address determines the communication address of the corresponding mining equipment controller. The device address can be taken from the communication address table of the mining equipment controller or from a pre-established device address configuration table on the control terminal.

[0047] In some implementations, the control terminal also writes a target position, a target direction, and an expected termination condition for the action item. The target position indicates the position that the mining equipment or actuator should reach; the target direction indicates the direction of the mining equipment after completing the action; and the expected termination condition determines whether the action item has been completed. The expected termination condition can be set to one or more of the following, depending on the action item type: position reached, speed zero, braking held, actuator in position, actuator reset, or execution permission status continuously established.

[0048] The control terminal sends a status read command to the mining equipment controller. The status read command carries the task identifier, action sequence number, equipment address, and sending timestamp of the current action item. Upon receiving the status read command, the mining equipment controller reads data related to the current action item from the equipment status detection device and safety interlock device, and generates a status message to return to the control terminal. The status message carries the task data, operating status, execution permission status, and action completion status. The operating status may include the current position, direction of travel, current speed, braking status, steering angle, actuator position, and equipment parameters. The execution permission status may include safety interlock circuit output permission, equipment controller executable status, emergency stop circuit not activated, equipment not in a fault-locked state, and adjacent equipment interlock conditions met. The action completion status may include position reached status, zero speed status, brake held status, actuator in position status, actuator reset status, and execution permission status continuously established.

[0049] In this embodiment, after receiving the status message, the control terminal checks the task identifier, action sequence number, and device address in the status message against the task identifier, action sequence number, and device address of the current action item. If all three match, the status message is used for the scheduling of the current action item; if any one of them does not match, the status message is not used for the scheduling of the current action item.

[0050] The scheduling process includes motion occupancy boundary generation, occupancy period generation, spatial mutual exclusion token generation, control time slot generation, control command sending judgment, control time slot truncation, and motion occupancy boundary contraction. Through the above consistency verification, the control terminal can ensure that the current position, direction of travel, current speed, braking status, steering angle, actuator position, execution permission status, and action completion status all belong to the same action item. If any task data is inconsistent, the control terminal can mark the status message as a non-current action item message, an abnormal message, or a late message, and prohibit the status message from participating in the subsequent scheduling processing of the current action item. This avoids cross-referencing of status data from different mining equipment, different tasks, or different action cycles.

[0051] Example 2: Generation of motion occupancy boundaries, occupancy time periods, and spatial mutual exclusion tokens.

[0052] In one embodiment of the present invention, the control terminal generates motion occupancy boundaries and occupancy periods according to the operating state, reads the token boundaries and token periods of unreleased spatial mutex tokens in the scheduling record, and generates the spatial mutex token of the action item when there is no overlap between the boundaries and the periods.

[0053] During the process of generating motion occupancy boundaries and occupancy periods, the operating state includes the current position, direction of travel, current speed, and braking state. The control terminal generates the motion occupancy boundaries and occupancy periods based on the current position, direction of travel, current speed, braking state, target position, and target direction.

[0054] Specifically, the control unit uses the current position as the starting point of the movement occupancy boundary and the direction of travel as the boundary extension direction. Based on the current speed, it determines the distance the mining equipment may continue to move within the control cycle. The control unit also determines the distance the mining equipment may still occupy before entering a stopped or held state from its current movement state, based on the braking status. Subsequently, the control unit superimposes the control cycle displacement corresponding to the current speed and the remaining braking distance corresponding to the braking status along the direction of travel, and combines this with the target position to determine the forward region that the current action item may occupy.

[0055] In this embodiment, when the control terminal generates the motion occupancy boundary, it takes the current position as the boundary starting point, superimposes the control cycle displacement corresponding to the current speed and the remaining braking distance corresponding to the braking state along the direction of travel, and expands the superimposed boundary according to the vehicle body length, vehicle body width and safety distance of the mining equipment.

[0056] The vehicle body length and width can be provided by the equipment parameters registered in the mining equipment controller or by the equipment parameter table on the control terminal. Safety clearances can be preset according to mine safety regulations, roadway width, equipment type, travel speed, or operating environment. The control terminal maintains safety margins at the front, rear, and sides of the mining equipment, ensuring that the movement boundary covers the mining equipment body, control cycle movement margin, braking margin, and safety protection margin.

[0057] The boundary of motion occupancy can be represented by a roadway mileage range, a set of coordinate points, a set of regional cells, or a polygonal region. When represented by a roadway mileage range, the boundary of motion occupancy can include the starting mileage, the ending mileage, and the lateral occupancy range; when represented by a set of coordinate points or a polygonal region, the boundary of motion occupancy can include multiple boundary points that enclose the occupancy area; when represented by a set of regional cells, the boundary of motion occupancy can include the grid cells or roadway segments occupied by the current action item.

[0058] In some implementations, the operating state also includes a steering angle. When the steering angle indicates that the mining equipment is in a steering state, the control terminal determines the area traversed by the outer edge of the vehicle body during the steering process based on the steering angle, target direction, vehicle body length, and vehicle body width, and incorporates this area into the motion occupancy boundary.

[0059] Specifically, the control unit reads the current direction, target direction, and turning angle of the mining equipment to determine whether the equipment is turning. When the equipment is turning, the control unit determines the area traversed by the outer edge of the vehicle body during the turning process based on the spatial range that the front, rear, and side edges of the equipment may sweep during the turning process. This area is merged with the forward area formed during straight-line movement and used as the motion occupancy boundary for the current action. Through this process, the lateral occupancy range generated during the turning process can be included in the spatial mutual exclusion judgment.

[0060] In this embodiment, the occupancy period represents the estimated time range within which the current action item occupies the motion occupancy boundary. The start time of the occupancy period can be determined based on the time when the current action item is allowed to begin entering the motion occupancy boundary. The end time of the occupancy period can be determined based on the estimated time for the mining equipment to reach the target position, complete steering, enter the braking holding state, or complete the actuator action. During the execution of the action, the control terminal can update the occupancy period based on subsequent status messages to ensure that the occupancy period is consistent with the actual operating status of the mining equipment.

[0061] After the control unit generates the motion occupancy boundary and occupancy period for the current action item, it reads the token boundary and token period for unreleased spatial mutex tokens from the scheduling record. The scheduling record is used to store authorized but not yet released spatial mutex tokens, generated control time slots, and the correspondence between the two and action items. Unreleased spatial mutex tokens indicate that the corresponding action item still holds area control rights within a specific spatial boundary and a specific time range.

[0062] In this embodiment, when the control terminal generates the spatial mutual exclusion token, it writes the task identifier, action sequence number, device address, token boundary, token time period and release condition of the corresponding action item into the spatial mutual exclusion token; wherein, the token boundary is determined by the motion occupancy boundary and the token time period is determined by the occupancy time period.

[0063] In some implementations, the spatial mutex token also includes a token number and a token status. The token status can include valid, pending release, and released. The release condition can be set in association with the action completion status, such as position reached, velocity at zero, braking held, actuator in position, actuator reset, or execution permission status remaining valid. After the control terminal writes the spatial mutex token into the scheduling record, subsequent actions must be compared with unreleased spatial mutex tokens in the scheduling record before obtaining spatial control permissions.

[0064] After the control terminal reads the token boundary and token time period of the unreleased space mutex token, it performs boundary overlap judgment between the movement occupancy boundary of the current action item and the token boundary, and performs time period overlap judgment between the occupancy time period of the current action item and the token time period; when the boundary overlaps and the time period overlaps, the control terminal does not generate a space mutex token for the current action item.

[0065] Boundary overlap refers to the intersection of the movement occupancy boundary of the current action item and the token boundary of the unreleased spatial mutex token, or the interval between them cannot meet the safety distance requirements. Time period overlap refers to the shared time segment between the occupancy time segment of the current action item and the token time segment of the unreleased spatial mutex token. If the movement occupancy boundary of the current action item does not overlap with the token boundary of the unreleased spatial mutex token, and the occupancy time segment of the current action item does not overlap with the token time segment of the unreleased spatial mutex token, the control terminal generates a spatial mutex token for the current action item. If both the boundaries and time periods overlap, the current action item remains in an unauthorized state, and the control terminal does not assign the corresponding spatial control permission to the action item. Therefore, the generation of spatial mutex tokens is constrained by both spatial boundaries and time periods.

[0066] Example 3: Controlling time slot generation and token time slot binding.

[0067] In one embodiment of the present invention, the control terminal generates a control time slot according to the instruction sending time, the receiving confirmation time, and the action confirmation time, binds the spatial mutual exclusion token and the control time slot according to the task data, and writes them into the scheduling record.

[0068] In this embodiment, the control time slot includes an instruction transmission interval, an action execution interval, and a status confirmation interval. The instruction transmission interval is determined by the time from instruction transmission to receipt confirmation; the action execution interval is determined by the time from receipt confirmation to the expected time when the action completion status is established; and the status confirmation interval is determined by the time from the expected time when the action completion status is established to the action confirmation time.

[0069] The command transmission time is the time generated when the control terminal prepares to send a control command to the mining equipment controller; the reception confirmation time is the time when the mining equipment controller returns after confirming receipt of the control command; and the action confirmation time is the time when the control terminal receives the action completion status message returned by the mining equipment controller. The estimated time for the action completion status to be established is determined by the control terminal based on the current operating status and expected completion conditions of the action item. For movement-type actions, the control terminal can determine the estimated time for the action completion status to be established based on the current position, target position, current speed, permissible speed, and braking status. For turning-type actions, the control terminal can determine the estimated time for the action completion status to be established based on the current direction of travel, target direction, and turning angle. For actuator actions, the control terminal can determine the estimated time for the action completion status to be established based on the current position of the actuator, target position, and permissible action speed. The above times are determined by the current field status data and equipment control parameters, and do not rely on historical scheduling records or empirical models.

[0070] In this embodiment, when the control terminal binds the spatial mutual exclusion token and the control time slot according to the task data, it writes the spatial mutual exclusion token number, control time slot number, task identifier, action sequence number and device address into the same scheduling record; the control instruction carries the spatial mutual exclusion token number, control time slot number, action sequence number and device address, and the mining equipment executes the control instruction after verifying that they are consistent.

[0071] The spatial mutex token number is used to identify the spatial control permissions acquired by the current action item, and the control slot number is used to identify the time range for sending and executing instructions confirmed by the current action item. The task identifier, action sequence number, and device address are used to confirm whether the spatial mutex token, control slot, and control instruction belong to the same action item. After the control terminal writes the above data into the same scheduling record, subsequent sending of control instructions, receiving of status messages, truncation of control slots, and shrinking of motion occupancy boundaries are all based on this scheduling record for verification.

[0072] Through the above binding method, the control terminal can simultaneously confirm whether the current action item has a valid spatial mutex token and an available control time slot before sending control commands. The control terminal only enters the control command sending process when the spatial mutex token is valid, the control time slot is available, and the task identifier, action sequence number, and device address correspond correctly. This avoids situations where the control command only obtains time sending permission but not spatial control permission, or only obtains spatial control permission but not time sending permission.

[0073] Example 4: Sending control instructions when the permission status is established.

[0074] In one embodiment of the present invention, the control terminal sends a control command when the execution permission state is established.

[0075] The execution permission status can be jointly determined by the safety interlock device, the mining equipment controller, and the interlock signals of adjacent equipment. A valid execution permission status can include the safety interlock line outputting permission, the equipment controller returning to an executable state, the emergency stop circuit not activating, the equipment not being in a fault-locked state, and the adjacent equipment interlock conditions being met. If the execution permission status is invalid, the control terminal will retain the corresponding control command in the pending queue and will not send the control command to the mining equipment controller.

[0076] When generating control commands, the control terminal writes the spatial mutual exclusion token number, control time slot number, action sequence number, and device address into the control command. The control command can also carry the allowed start time and the latest confirmation time. The control terminal sends the control commands to the mining equipment controller at the corresponding device address via mining industrial Ethernet, mining wireless communication network, or other underground communication links.

[0077] After receiving a control command, the mining equipment controller verifies the spatial mutual exclusion token number, control time slot number, action sequence number, and equipment address in the command. If all verification results match the currently authorized data, the mining equipment controller executes the control command and returns a receipt confirmation time to the control terminal. If any data is inconsistent, the mining equipment controller does not execute the control command and may return an abnormal status message to the control terminal.

[0078] In some implementations, if the control terminal does not receive a reception confirmation from the mining equipment controller before the latest confirmation time, the control terminal cancels the occupation of the current control time slot and keeps the corresponding control command in the pending transmission queue or regenerates a control time slot. In this case, the control terminal does not immediately release the corresponding spatial mutex token, but keeps the spatial mutex token valid until it receives a status message carrying consistent task data again and confirms the current position and stop status of the mining equipment. This process avoids directly transferring spatial control authority to other actions when communication is not confirmed.

[0079] Example 5: Time slot truncation, boundary contraction and redistribution after the action completion state is established.

[0080] In one embodiment of the present invention, when the action completion state is established, the control terminal truncates the control time slot and shrinks the motion occupancy boundary, and allocates the formed idle boundary and idle time slot to the spatiotemporally matched pending action item.

[0081] During the execution of control commands by the mining equipment, the control terminal continuously receives status messages carrying task data and updates the scheduling record based on the operating status, execution permission status, and action completion status in the status messages. The action completion status includes at least two of the following: position reached, zero speed, brake holding, actuator in position, actuator reset, and execution permission status.

[0082] For different types of actions, the control unit can select the appropriate combination of action completion states based on the expected termination conditions of the action. For movement-type actions, the action completion states can include position reached, zero speed, and brake holding. For steering-type actions, the action completion states can include target direction reached, steering angle stopped changing, and equipment resumes straight-line movement. For actuator actions, the action completion states can include actuator in position, actuator reset, and execution permission continuously established. For braking-type actions, the action completion states can include zero speed and brake holding.

[0083] The control terminal does not use a single state as the sole basis for truncation of control time slots and contraction of motion occupancy boundaries. When the action completion state includes multiple states, the control terminal determines the order of their occurrence according to the times corresponding to each state. The control terminal uses the time corresponding to the last completed state in the action completion state as the actual end time of the control time slot, and truncates the control time slot and contracts the motion occupancy boundary based on the actual end time, forming the idle boundary and the idle time slot.

[0084] Specifically, if the end time of the original control time slot is later than the actual end time, the control terminal registers the portion of the original control time slot that ends later than the actual end time as an idle time slot. If the end time of the original control time slot is earlier than the actual end time, the control terminal extends the control time slot to the actual end time and keeps the pending action items that overlap with the extended portion in a waiting state.

[0085] After determining the actual end time of the control time slot, the control terminal shrinks the motion occupancy boundary according to the operating status of the mining equipment at the actual end time. The control terminal reads the current position, direction of travel, current speed, braking status, actuator position, and equipment outer edge occupancy status at the actual end time, and redetermines the boundary still occupied by the mining equipment at that moment. The portion of the original motion occupancy boundary not covered by the boundary still occupied at that moment forms an empty boundary. The portion still occupied by the mining equipment body, braking holding state, or actuator is not released as an empty boundary. Through the above processing, the truncation of the control time slot and the shrinking of the motion occupancy boundary are triggered by the same action completion state.

[0086] In this embodiment, the spatiotemporal matching means that the motion occupancy boundary of the action to be initiated is located within the idle boundary, and the control time slot of the action to be initiated is located within the idle time slot.

[0087] A pending action item refers to an action item for which task data has been written but control commands have not yet been sent. The control terminal reads the motion occupancy boundary, control time slot, execution permission status, and the token boundary and token time period of the unreleased space mutex token in the scheduling record for the pending action item. The control terminal first determines whether the motion occupancy boundary of the pending action item is within the free boundary and whether it overlaps with the token boundary of the unreleased space mutex token. If the motion occupancy boundary of the pending action item is within the free boundary and does not overlap with the token boundary of the unreleased space mutex token, the control terminal then determines whether the control time slot of the pending action item is within the free time slot. If the control time slot of the pending action item is within the free time slot and the execution permission status is established, the control terminal allocates the free boundary and free time slot to the pending action item.

[0088] In some implementations, when multiple pending actions satisfy the spatiotemporal matching conditions, the control terminal can select the pending actions in a deterministic order. The control terminal can first select the pending action with the earlier completion time of its preceding actions; if the completion times of the preceding actions are the same, select the pending action with the earlier allowed start time; if the allowed start times are still the same, select the pending action with the higher degree of matching between the control time slot and the idle time slot. This selection process is based on the action's temporal data, spatial boundaries, and execution permission status, and does not require the introduction of task weights, scoring models, or historical experience comparisons.

[0089] In some implementations, when the mining equipment fails to complete its action within the expected time, the control terminal re-determines the operating status of the mining equipment based on the latest received status message, and re-determines the motion occupancy boundary and control time slot for that action item. If the mining equipment is still in motion, in a brake-unheld state, or in an actuator-unreset state, the control terminal keeps the corresponding spatial exclusion token valid and extends the control time slot until the action completion state is established. Action items to be initiated that overlap with the extended motion occupancy boundary do not acquire spatial exclusion tokens, and action items to be initiated that overlap with the extended control time slot do not acquire the corresponding control time slot.

[0090] In some implementations, if the execution permission status expires during action execution, the control terminal stops sending subsequent control commands and keeps the generated spatial mutex token and control time slot under control. If the task identifier, action sequence number, or device address in the status message is inconsistent, the control terminal does not release the spatial mutex token or truncate the control time slot based on the status message. If the control terminal cannot confirm the current position, braking status, or actuator position of the mining equipment, the control terminal does not release the corresponding free boundary. Through the above processing, it can be ensured that spatial control permissions and control command sending periods are always allocated and released based on the valid status data of the same action item.

[0091] In summary, this invention establishes a correspondence between task data, operating status, spatial exclusion tokens, control time slots, and control commands through data interaction between the control terminal, communication transmission equipment, mining equipment controller, equipment status detection device, actuator control device, and safety interlocking device. The control terminal generates motion occupancy boundaries and occupancy periods based on the operating status, using the non-overlapping nature of the boundaries and time slots as the condition for generating spatial exclusion tokens. It generates control time slots based on the command sending time, reception confirmation time, and action confirmation time, and binds these control time slots to spatial exclusion tokens. It synchronously truncates control time slots and shrinks motion occupancy boundaries based on the action completion status. Finally, it allocates the resulting idle boundaries and idle time slots to time- and space-matched pending action items. Thus, coordinated scheduling of mining equipment operating area control permissions and control command sending periods can be achieved.

[0092] Exemplary Description

[0093] To facilitate understanding of the scheduling process of this invention, the following explanation uses the coordinated scheduling of a mining transport vehicle and a set of hydraulic support actions in an underground transport roadway as an example. In this example, the roadway centerline is used as the longitudinal coordinate, with the unit being meters. The location of the vehicle or support is represented by the roadway mileage, and the lateral range is represented by the offset to both sides of the roadway centerline.

[0094] In this example, the control terminal receives a movement task from the mining transport vehicle V03. The task identifier is T20240618001, the device address is V03, the current action item is action sequence number 02, and the action content is to move forward from the current position to the target position and brake to maintain the position. Simultaneously, the control terminal has a pending action item for the hydraulic support H17. The task identifier is T20240618002, the device address is H17, the action sequence number is 01, and the action content is to push it into place.

[0095] At 08:15:00.000, the control terminal sends a status read command to the mining transport vehicle V03. The command carries the task identifier T20240618001, action number 02, and device address V03. At 08:15:00.120, the control terminal receives a status message returned by the mining transport vehicle V03. The task identifier, action number, and device address in this status message are T20240618001, 02, and V03 respectively, which match the current action item. Therefore, the control terminal uses this status message for the scheduling processing of the current action item.

[0096] In this status message, the current position of mining transport vehicle V03 is 118.0 meters, the direction of travel is increasing in the roadway mileage, the current speed is 1.0 meter per second, the braking status is brakeable, and the target position is 122.0 meters. The vehicle registration parameters include a body length of 5.0 meters, a body width of 1.8 meters, and a safety clearance of 0.5 meters. Based on the above operating status, the control terminal determines the motion occupancy boundary for this action item to be from 115.0 meters to 126.0 meters longitudinally and 1.4 meters on each side of the transverse centerline. This motion occupancy boundary covers the vehicle body, the continued movement distance within the control cycle, the remaining braking occupancy distance, and the safety clearance.

[0097] Meanwhile, based on the current position, target position, current speed, and braking status, the control terminal determines the occupation period of this action item to be from 08:15:02.000 to 08:15:18.000. The control terminal reads the unreleased spatial mutex tokens in the scheduling record and finds that the token boundary of existing token L045 is from 90.0 meters to 110.0 meters longitudinally, and the token period is from 08:15:00.000 to 08:16:00.000. Since the movement occupation boundary of the current action item does not overlap with the token boundary of token L045, the control terminal continues to check other unreleased tokens. After verification, there is no overlap in boundary and time period between the current action item and any unreleased spatial mutex tokens in the scheduling record.

[0098] Therefore, the control terminal generates a spatial exclusion token L1007 for action sequence number 02 of the mining transport vehicle V03. This spatial exclusion token contains the task identifier T20240618001, action sequence number 02, device address V03, token boundary (115.0 meters to 126.0 meters), token time period (08:15:02.000 to 08:15:18.000), and release conditions. The release conditions are set to be met in the position arrival state, zero speed state, and brake holding state.

[0099] Subsequently, the control terminal generates control time slot S3007. This control time slot includes an instruction transmission interval, an action execution interval, and a status confirmation interval. Specifically, the instruction transmission time is 08:15:02.000, the receipt confirmation time for mining transport vehicle V03 is 08:15:02.180, the estimated time for the action completion status to be established is 08:15:17.500, and the estimated time for action confirmation is 08:15:18.000. The control terminal writes the space mutex token number L1007, control time slot number S3007, task identifier T20240618001, action sequence number 02, and device address V03 into the same scheduling record.

[0100] At 08:15:02.000, the control terminal confirms that the execution permission status of mining transport vehicle V03 is established, i.e., the safety interlock line outputs permission, the equipment controller returns to the execute state, and the vehicle is not in an emergency stop or fault-locked state. The control terminal sends a control command to equipment address V03, carrying the spatial mutual exclusion token number L1007, control time slot number S3007, action sequence number 02, and equipment address V03. After verifying that the above data is consistent with the current authorization record, the equipment controller of mining transport vehicle V03 executes the travel control command and returns the receipt confirmation time 08:15:02.180.

[0101] During the operation of mining transport vehicle V03, the control terminal continuously receives status messages. At 08:15:12.600, the status message indicates that the vehicle has reached the target position of 122.0 meters; at 08:15:12.940, the status message indicates that the vehicle speed is zero; at 08:15:13.100, the status message indicates that the brake has entered the holding state. Since the completion status of this action item is jointly determined by the position arrival state, the zero speed state, and the brake holding state, the control terminal uses the time corresponding to the last established brake holding state, 08:15:13.100, as the actual end time of the control time slot.

[0102] The original control time slot S3007 ended at 08:15:18.000, later than the actual end time of 08:15:13.100. Therefore, the control terminal registered the time period between 08:15:13.100 and 08:15:18.000 as an idle time slot. Simultaneously, the control terminal re-determined the boundary still occupied by the mining transport vehicle V03 based on its actual stopping position, actual direction, brake holding status, and external edge position at 08:15:13.100. The re-determined boundary is 119.0 meters to 124.0 meters longitudinally and 1.4 meters on each side of the transverse centerline. The portion of the original boundary from 124.0 meters to 126.0 meters longitudinally was not actually occupied by the vehicle, and the control terminal registered this portion as an idle boundary.

[0103] At this time, the pending action item for hydraulic support H17 is already in the queue. The task identifier for this pending action item is T20240618002, action number 01, and device address H17. Based on the status message of H17, the control terminal generates a control time slot from 08:15:13.500 to 08:15:16.800, indicating a longitudinal boundary of 124.3 meters to 125.5 meters and a transverse boundary of 1.2 meters on each side of the centerline. The safety interlock line of H17 outputs permission, and the device controller returns to the executeable state.

[0104] The control terminal determines that the motion occupancy boundary of the H17 pending action item is entirely within the free boundary of 124.0 meters to 126.0 meters, and does not overlap with the token boundaries of other unreleased space exclusion tokens; simultaneously, the control time slots of the H17 pending action item, 08:15:13.500 to 08:15:16.800, are within the free time slots of 08:15:13.100 to 08:15:18.000. Therefore, the control terminal determines that the H17 pending action item meets the spatiotemporal matching conditions and allocates the free boundary and free time slot to the pending action item.

[0105] The control terminal then generates a new space exclusion token L1008 and control time slot S3008 for the hydraulic support H17, and writes the task identifier T20240618002, action number 01, device address H17, space exclusion token number L1008, and control time slot number S3008 into the scheduling record. The control terminal sends a control command to H17, carrying L1008, S3008, action number 01, and device address H17. After the device controller of H17 verifies that the information matches, it executes the push operation.

[0106] As can be seen from the above example, although the mining transport vehicle V03 was originally scheduled to occupy the time slot until 08:15:18.000, it had already met the requirements of position arrival, zero speed, and braking hold by 08:15:13.100. The control unit did not release the control prematurely based solely on the target position arrival; instead, after all actions were completed, it simultaneously cut off the control time slot and contracted the movement occupancy boundary. The resulting idle time slot from 08:15:13.100 to 08:15:18.000 and the idle boundary from 124.0 meters to 126.0 meters were allocated to the hydraulic support H17's pending action item, which simultaneously met both spatial and temporal conditions. This achieved the synchronous recovery and reuse of spatial control authority and control command transmission time slots.

[0107] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A software-defined control collaborative scheduling method for mining, characterized in that, include: The control terminal acquires mining equipment tasks and breaks them down into action items; The control terminal writes task data for the action item, and the task data includes task identifier, action sequence number and device address; The control terminal receives a status message returned by the mining equipment, the status message carrying the task data, running status, execution permission status and action completion status; The control terminal generates motion occupancy boundaries and occupancy periods based on the running status in the status message, reads the token boundaries and token periods of unreleased space mutex tokens in the scheduling record, and generates the space mutex token of the action item when there is no overlap between the boundaries and the periods. A control time slot is generated based on the instruction sending time, the receiving confirmation time, and the action confirmation time. The spatial mutual exclusion token and the control time slot are bound to the task data and written into the scheduling record. Send a control command when the execution permission status is established; When the action completion state is established, the control time slot is truncated and the motion occupancy boundary is contracted, and the resulting free boundary and free time slot are allocated to the spatiotemporally matched pending action items.

2. The mining software-defined control collaborative scheduling method according to claim 1, characterized in that, After receiving the status message, the control terminal checks the task identifier, action sequence number, and device address in the status message against the task identifier, action sequence number, and device address of the current action item. If all three match, the status message is used for the scheduling of the current action item; if any one of them does not match, the status message is not used for the scheduling of the current action item.

3. The mining software-defined control collaborative scheduling method according to claim 1, characterized in that: The control terminal also writes the target position, target direction, and expected termination condition for the action item; The operating status includes the current position, direction of travel, current speed, and braking status. The control terminal generates the motion occupancy boundary and the occupancy period based on the current position, direction of travel, current speed, braking status, target position, and target direction.

4. The mining software-defined control collaborative scheduling method according to claim 3, characterized in that, When the control terminal generates the motion occupancy boundary, it takes the current position as the boundary starting point, superimposes the control cycle displacement corresponding to the current speed and the remaining braking distance corresponding to the braking state along the direction of travel, and expands the superimposed boundary according to the vehicle body length, vehicle body width and safety distance of the mining equipment.

5. The mining software-defined control collaborative scheduling method according to claim 3, characterized in that: The operating status also includes the steering angle; When the steering angle indicates that the mining equipment is in a turning state, the control terminal determines the area traversed by the outer edge of the vehicle body during the turning process based on the steering angle, target direction, vehicle body length and vehicle body width, and incorporates this area into the motion occupancy boundary.

6. The mining software-defined control collaborative scheduling method according to claim 1, characterized in that: When the control terminal generates the spatial mutual exclusion token, it writes the task identifier, action sequence number, device address, token boundary, token time period and release condition of the corresponding action item into the spatial mutual exclusion token; The token boundary is determined by the movement occupancy boundary, and the token time period is determined by the occupancy time period.

7. The mining software-defined control collaborative scheduling method according to claim 1, characterized in that: After the control terminal reads the token boundary and token time period of the unreleased space mutex token, it performs boundary overlap judgment between the movement occupancy boundary of the current action item and the token boundary, and performs time period overlap judgment between the occupancy time period of the current action item and the token time period. When boundaries and time periods overlap, the control terminal does not generate a spatial mutex token for the current action item.

8. The mining software-defined control collaborative scheduling method according to claim 1, characterized in that: The control time slot includes an instruction transmission interval, an action execution interval, and a status confirmation interval; The instruction transmission interval is determined from the instruction sending time to the receipt confirmation time; the action execution interval is determined from the receipt confirmation time to the expected time when the action completion status is established; the status confirmation interval is determined from the expected time when the action completion status is established to the action confirmation time.

9. The mining software-defined control collaborative scheduling method according to claim 1, characterized in that: When the control terminal binds the spatial mutual exclusion token and the control time slot according to the task data, it writes the spatial mutual exclusion token number, control time slot number, task identifier, action sequence number and device address into the same scheduling record; the control instruction carries the spatial mutual exclusion token number, control time slot number, action sequence number and device address, and the mining equipment executes the control instruction after verifying that they are consistent.

10. The mining software-defined control collaborative scheduling method according to claim 1, characterized in that: The action completion state includes at least two of the following: position reached state, zero speed state, brake holding state, actuator in position state, actuator reset state, and execution permission state; The control terminal uses the time corresponding to the last completed state of the action as the actual end time of the control time slot, and truncates the control time slot and shrinks the motion occupancy boundary according to the actual end time to form the idle boundary and the idle time slot; the spatiotemporal matching is that the motion occupancy boundary of the action to be launched is located within the idle boundary, and the control time slot of the action to be launched is located within the idle time slot.

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