CN-122014244-A - Control system and method of mining equipment, related equipment and mining equipment

CN122014244ACN 122014244 ACN122014244 ACN 122014244ACN-122014244-A

Abstract

The application provides a control system and method of mining equipment, related equipment and the mining equipment, wherein the control system comprises a lower computer, an upper computer and a heterogeneous communication link, the lower computer is connected with an executing mechanism and a sensor group, the lower computer is used for receiving sensor data of the sensor group and control instructions of the upper computer, the control instructions of the executing mechanism are sent to the executing mechanism, the sensor data are sent to the upper computer, the upper computer is connected with the lower computer through the heterogeneous communication link, the upper computer is used for receiving the sensor data sent by the lower computer, determining the control instructions based on the sensor data and sending the control instructions to the lower computer, and the upper computer and the lower computer adopt different communication protocols. The complex data processing and global decision tasks are concentrated in the upper computer, and the high-real-time signal acquisition and mechanism driving tasks are distributed to the lower computer, so that the technical contradiction that the calculation performance and the real-time response are difficult to be simultaneously considered by a single controller is solved.

Inventors

YUAN YIN
Tian Cunxiao
PANG DAWEI

Assignees

三一重型装备有限公司
三一智能装备有限公司

Dates

Publication Date: 20260512
Application Date: 20260128

Claims (10)

1. The control system of the mining equipment is characterized by comprising a control system of the mining equipment, an executing mechanism and a sensor group, wherein the control system comprises a lower computer, an upper computer and a heterogeneous communication link; The lower computer is connected with the executing mechanism and the sensor group, and is used for receiving sensor data of the sensor group and a control instruction of the upper computer, sending the control instruction of the executing mechanism to the executing mechanism and sending the sensor data to the upper computer; The upper computer is connected with the lower computer through the heterogeneous communication link, the upper computer is used for receiving sensor data sent by the lower computer, determining the control instruction based on the sensor data, sending the control instruction to the lower computer, the upper computer and the lower computer are configured with different communication protocols, and the heterogeneous communication link is used for carrying out bidirectional conversion on the data of the different communication protocols between the upper computer and the lower computer.
2. The mining equipment control system of claim 1, wherein the host computer runs a ROS2 operating system and is deployed with MicroROS proxy services, the lower computer runs a real-time operating system and is integrated with MicroROS client libraries, the heterogeneous communication link is established based on XRCE-DDS protocol, such that the lower computer is mapped as one standard node in the ROS2 operating system network.
3. A control system of a mining apparatus according to claim 1 or 2, wherein the lower computer employs an STM32 series microcontroller as an embedded controller; And the upper computer adopts an RK3568 industrial control board, a PC server or a server deployed with Windows WSL/Ubuntu virtual machine as a computing platform.
4. A control system of a mining apparatus according to claim 1 or 2, wherein the physical transmission medium supported by the heterogeneous communication link comprises UART serial ports, CAN-FD bus or industrial ethernet.
5. A method of controlling a mining apparatus, comprising: The system initialization and communication establishment step, namely establishing communication connection between an upper computer and a lower computer; The data acquisition and release step, wherein the lower computer acquires sensor data of a sensor group and sends the sensor data to the upper computer; the upper computer generates a control instruction based on the received sensor data and sends the control instruction to the lower computer; And executing the step of receiving and analyzing the control instruction by the lower computer to drive the executing mechanism to act.
6. A control method of a mining apparatus as claimed in claim 5, characterized in that, In the system initialization and communication establishment step, the upper computer starts proxy service, and the lower computer is powered on and sends a connection request to establish a session; in the data acquisition and release step, the lower computer packages the acquired sensor data into a standard message format through an integrated client library thereof for transmission; in the decision and instruction issuing step, the upper computer converts the generated control instruction into a format recognizable by the lower computer through the proxy service and issues the control instruction; the communication between the upper computer and the lower computer is realized based on a preset communication protocol.
7. A control method of a mining apparatus as claimed in claim 6, wherein, The proxy service is MicroROS proxy service, the client library is MicroROS client library, and the preset communication protocol is XRCE-DDS protocol.
8. An electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor, carries out the steps of the method of controlling a mining device as claimed in any one of claims 5 to 7.
9. A readable storage medium, characterized in that it has stored thereon a program or instructions which, when executed by a processor, realizes the steps of the method of controlling a mining apparatus according to any one of claims 5 to 7.
10. A mining apparatus comprising a control system, an actuator and a sensor group of the mining apparatus as claimed in any one of claims 1 to 4.

Description

Control system and method of mining equipment, related equipment and mining equipment Technical Field The application relates to the technical field of mining equipment, in particular to a control system and method of the mining equipment, related equipment and the mining equipment. Background Along with the deep advancement of intelligent construction of coal mines, fully mechanized mining working faces gradually evolve from traditional mechanized mining to an intelligent collaborative mode of 'less humanization and no humanization'. The hydraulic support is used as a supporting main body of the fully-mechanized coal mining face, and the electrohydraulic control system of the hydraulic support not only bears core tasks of supporting a top plate, pushing a scraper conveyor and the like, but also needs to carry out complex collaborative operation with equipment such as a coal mining machine, a scraper machine, a patrol robot and the like. The current fully-mechanized mining automation technology is not limited to single-machine action execution any more, but extremely high requirements are put on the self-adaptive control of a bracket group, the gesture sensing precision and the data interaction real-time among heterogeneous devices, which marks that a hydraulic bracket is being transformed to 'roboticized equipment with sensing and decision-making capabilities'. However, most existing hydraulic bracket electro-hydraulic control systems employ a conventional closed embedded architecture. The typical implementation mode is that STM32 (ST Microelectronics-bit ARM Cortex-M MCU, meaning semiconductor 32-bit ARM Cortex-M series microcontroller), DSP (DIGITAL SIGNAL Processor) or special industrial MCU (Microcontroller Unit, microcontroller) is used as a core controller, a bare metal program or a lightweight real-time operating system (such as uCOS, freeRTOS) is operated, and all bracket controllers are communicated mainly through CAN buses (Controller Area Network, controller local area network buses), RS485 (Recommended Standard 485, RS-485 buses) or private industrial Ethernet protocols. In the software development level, a tightly coupled programming mode based on a specific hardware platform is generally adopted, control logic, a driver and a communication protocol are highly bound, and each manufacturer generally defines a private application layer protocol to realize adjacent frame control and state uploading among the frames. Therefore, a control system and a control method of a mining device, related devices and mining devices, which can break a technical barrier, realize seamless integration of heterogeneous devices and have high software reusability, have become a key technical problem to be solved in the field. Disclosure of Invention The present application aims to solve at least one of the technical problems existing in the prior art or related art. To this end, a first aspect of the application provides a control system for a mining apparatus. A second aspect of the application provides a method of controlling a mining apparatus. A third aspect of the application provides an electronic device. A fourth aspect of the present application provides a readable storage medium. A fifth aspect of the application provides a mining apparatus. In view of the above, the first aspect of the application provides a control system of a mining device, the mining device comprises a control system of the mining device, an execution mechanism and a sensor group, the control system comprises a lower computer, an upper computer and a heterogeneous communication link, wherein the lower computer is connected with the execution mechanism and the sensor group, and is used for receiving sensor data of the sensor group and control instructions of the upper computer, sending the control instructions of the execution mechanism to the execution mechanism and sending the sensor data to the upper computer, the upper computer is connected with the lower computer through the heterogeneous communication link, the upper computer is used for receiving the sensor data sent by the lower computer, determining the control instructions based on the sensor data and sending the control instructions to the lower computer, the upper computer and the lower computer are configured with different communication protocols, and the heterogeneous communication link is used for carrying out bidirectional conversion on data of different communication protocols between the upper computer and the lower computer. The control system of the mining equipment provided by the application is applied to the mining equipment comprising an actuating mechanism (such as a solenoid valve group of a hydraulic bracket) and a sensor group (such as pressure, travel and inclination sensors). The system core comprises a lower computer, an upper computer and a heterogeneous communication link. The lower computer is directly connected with the executing mechanism and the senso