CN116291659A - Hydraulic support man-machine cooperative control strategy recommendation method - Google Patents
Hydraulic support man-machine cooperative control strategy recommendation method Download PDFInfo
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Abstract
The invention relates to a hydraulic support man-machine cooperative control strategy recommendation method, and belongs to the technical field of coal mine intellectualization. Comprising the following steps: acquiring a current human-machine cooperative control strategy influence factor set, wherein the human-machine cooperative control strategy influence factor set comprises a working face geological environment state set, a hydraulic support system state set and a post working state set; inputting a man-machine cooperative control strategy influence factor set into a pre-established hydraulic support man-machine cooperative mode decision AOG model; and recommending the hydraulic support man-machine cooperative control strategy according to the output result of the hydraulic support man-machine cooperative mode decision AOG model. According to the invention, the man-machine cooperative control strategy of the hydraulic support can be automatically recommended according to the influence factor set of the current man-machine cooperative control strategy, so that the workload of post workers is reduced, and meanwhile, the intelligent coal mine construction is promoted.
Description
Technical Field
The invention relates to the technical field of coal mine intellectualization, in particular to a hydraulic support man-machine cooperative control strategy recommendation method.
Background
At present, the construction of an intelligent working face of a coal mine is in a primary stage, the intelligent electro-hydraulic control system automation technology of a hydraulic support is relatively mature, and the intelligent electro-hydraulic control system programs of various control modes of the hydraulic support are set according to the requirements of coal mining technology by sensing and collecting the environment and equipment state information of the working face, so that the automatic control of actions such as lifting, lowering, moving, pushing, protecting and the like of the hydraulic support is realized.
However, due to different geological conditions of coal mines, for fully mechanized mining working surfaces with complex geological conditions, the automatic and manual cooperative regulation and control of the hydraulic support are still indispensable, and the mode of cooperative selection of the automatic and manual regulation and control of the hydraulic support is paid attention to. At present, the selection of the automatic and manual regulation modes of the hydraulic support still depends on manual decision, so that the workload of labor workers is heavier, and the method is contrary to the aim of intelligent coal mine construction.
Disclosure of Invention
In order to solve the technical problems, the invention provides a hydraulic support man-machine cooperative control strategy recommendation method. The technical scheme of the invention is as follows:
a hydraulic support man-machine cooperative control strategy recommendation method comprises the following steps:
s1, acquiring a current human-computer cooperative control strategy influence factor set, wherein the human-computer cooperative control strategy influence factor set comprises a working face geological environment state set, a hydraulic support system state set and a post work state set;
s2, inputting the influence factor set of the man-machine cooperative control strategy into a pre-established hydraulic support man-machine cooperative mode decision AOG model;
and S3, recommending a hydraulic support man-machine cooperative control strategy according to an output result of the hydraulic support man-machine cooperative mode decision AOG model.
Optionally, the hydraulic support man-machine cooperative control strategy comprises a manual cooperative control mode, a split cooperative control mode, an approved cooperative control mode and a overrule cooperative control mode;
the manual cooperative control mode refers to: the control task is completed by the operation of the post worker, the post worker directly observes the state of the hydraulic support and completes the operation on site or realizes the remote operation through the man-machine interaction of the intelligent electro-hydraulic control system;
the division cooperative control mode refers to: the control task is completed by the post worker and the intelligent electrohydraulic control system together and independently, the post worker decomposes the control task into a plurality of longitudinal or transverse subtasks according to the control target and the execution capacity of the intelligent electrohydraulic control system, the subtasks are distributed to the intelligent electrohydraulic control system, the intelligent electrohydraulic control system realizes closed-loop intelligent control and completes the control task by sensing the state data of the hydraulic support, the intelligent electrohydraulic control system analyzes the state data of the hydraulic support and the completion condition of the subtasks thereof, a decision/execution scheme of the unfinished subtasks is provided for the post worker, and the post worker reasonably completes the unfinished subtasks in due time according to the scheme;
approved cooperative control modalities refer to: the intelligent electrohydraulic control system provides a decision/action scheme for the post worker according to the current working condition, the decision/action scheme can be executed after being approved by the post worker, the post worker is a supervision role in the whole control process, and the control authority can be obtained in an intervention way at any time;
the overrule type cooperative control mode refers to: the intelligent electro-hydraulic control system is used for independently completing control tasks, the intelligent electro-hydraulic control system provides a decision/action scheme for a post worker according to the current working condition, and if the intelligent electro-hydraulic control system does not obtain the rejection of the post worker within the preset time, the decision/action scheme is executed autonomously.
Optionally, the factors of the working face geological environment state set comprise coal seam geological conditions and gas dust environment; factor grades of the geological conditions of the coal seam comprise complex structures, a small number of structures, broken top plates and good conditions; the factor grade of the gas dust environment comprises that the gas dust is higher, only the gas is higher, only the dust is higher and the gas dust is normal;
factors of the hydraulic support system state set comprise the speed of the coal mining machine, the intelligent level of the hydraulic support and the state of the hydraulic support system; the factor level of the speed of the coal mining machine comprises exceeding the upper limit of the following capacity, being faster, normal and slower; the intelligent level factor level of the hydraulic support comprises automatic control function failure, automatic control of only a middle section, automatic control of a full-section 1-time cutter and automatic control of a full-section multiple cutters; the factor level of the hydraulic support system state comprises complete failure, critical function failure, unnecessary function failure and complete integrity;
factors of the station work state set comprise station work technical level and station work task load; factor classes of the level of job engineering include very skilled, relatively skilled, medium, new; the factor level of the job task load comprises no task, low load, full load and overload.
Optionally, the step S2 includes, when inputting the set of influence factors of the man-machine cooperative control strategy into a pre-established hydraulic support man-machine cooperative mode decision AOG model:
s21, assigning the factor grade of each factor in the human-computer cooperative control strategy influence factor set based on a binarization assignment rule to obtain a binarization sequence of the human-computer cooperative control strategy influence factor set;
s22, inputting a binarization sequence of the human-machine cooperative control strategy influence factor set into a pre-established hydraulic support human-machine cooperative mode decision AOG model.
Optionally, the step S3 includes, when recommending a hydraulic support man-machine cooperative control strategy according to an output result of the hydraulic support man-machine cooperative modal decision AOG model:
and recommending a hydraulic support man-machine cooperative control strategy according to the binarization output result sequence of the hydraulic support man-machine cooperative modal decision AOG model.
Optionally, the recommending the hydraulic support man-machine cooperative control strategy according to the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model includes:
when the binarization output result sequence of the hydraulic support man-machine collaborative mode decision AOG model comprises a man-machine collaborative control mode, the man-machine collaborative control mode indicated by the binarization output result sequence of the hydraulic support man-machine collaborative mode decision AOG model is directly used as a hydraulic support man-machine collaborative control strategy;
when the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model comprises at least two man-machine cooperative control modes, carrying out AND operation on the preset score of each man-machine cooperative control mode and the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model to determine the score of each man-machine cooperative control mode, and recommending the hydraulic support man-machine cooperative control strategy according to the score of each man-machine cooperative control mode and a preset preference mode.
Optionally, the recommending hydraulic support man-machine cooperative control strategy according to the score of each man-machine cooperative control mode and the preset preference mode includes:
when the preset preference mode is the manual preference mode, calculating an output mode score according to the following formula (1):
（1）；
when the preset preference mode is the machine preference mode, calculating an output mode score according to the following formula (2):
（2）；
in the formula (1) and the formula (2), M is the output modal score, M i 、M j The sum operation result of the preset score of the human-machine cooperative control mode and the binarization output result sequence of the hydraulic support human-machine cooperative mode decision AOG model;
and taking the man-machine cooperative control mode corresponding to the output mode score as a hydraulic support man-machine cooperative control strategy.
All the above optional technical solutions can be arbitrarily combined, and the detailed description of the structures after one-to-one combination is omitted.
By means of the scheme, the beneficial effects of the invention are as follows:
the hydraulic support man-machine cooperative control strategy recommendation method is provided by pre-establishing a hydraulic support man-machine cooperative mode decision AOG model, inputting the hydraulic support man-machine cooperative mode decision AOG model after acquiring the current man-machine cooperative control strategy influence factor set, recommending the hydraulic support man-machine cooperative control strategy according to the output result of the hydraulic support man-machine cooperative mode decision AOG model, and can automatically recommend the hydraulic support man-machine cooperative control strategy according to the current man-machine cooperative control strategy influence factor set, so that the workload of a post worker is reduced, and meanwhile, the method has a pushing effect on the construction of an intelligent coal mine.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Fig. 1 is a flow chart of a hydraulic support man-machine cooperative control strategy recommendation method provided by the invention.
Fig. 2 is a schematic diagram of a hydraulic support man-machine cooperative control strategy recommendation method provided by the invention.
Fig. 3 is a schematic diagram of four human-computer cooperative control modes provided by the invention.
Fig. 4 is a schematic diagram of a framework of the hydraulic support man-machine collaborative modal decision AOG model provided by the invention.
Fig. 5 is a schematic diagram of a binarization assignment rule provided by the present invention.
FIG. 6 is a schematic diagram of test results of a method according to an embodiment of the present invention.
Fig. 7 is a flow chart of a hydraulic bracket man-machine cooperative control decision making routine based on the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
The hydraulic support man-machine cooperative control strategy recommendation method provided by the embodiment of the invention can be executed by any equipment with computing capability, such as a PC (personal computer), a mobile terminal and the like. As shown in fig. 1, the method provided by the embodiment of the invention includes the following steps:
s1, acquiring a current human-machine cooperative control strategy influence factor set, wherein the human-machine cooperative control strategy influence factor set comprises a working face geological environment state set, a hydraulic support system state set and a post work state set.
S2, inputting the influence factor set of the man-machine cooperative control strategy into a pre-established hydraulic support man-machine cooperative mode decision AOG model.
And S3, recommending a hydraulic support man-machine cooperative control strategy according to an output result of the hydraulic support man-machine cooperative mode decision AOG model.
The method provided by the embodiment of the invention aims at judging working conditions of coal face people, machines and annular states by constructing a hydraulic support man-machine cooperative mode decision AOG model, and outputting a man-machine cooperative control strategy in real time by decision, and the principle is shown in figure 2. In the view of figure 2,I W representing the geological environment state set of the working face as,I S Representing the state set of the hydraulic support system,I P A set of job status is represented,O M and the output result of the hydraulic support man-machine cooperative mode decision AOG model is shown.
The man-machine cooperative control strategy of the hydraulic support according to the embodiment of the invention comprises four man-machine cooperative control modes, namely a manual cooperative control mode, a division cooperative control mode, an approval cooperative control mode and a rejection cooperative control mode, as shown in fig. 3.
The manual cooperative control mode refers to: all control tasks are completed by the operation of the post workers, the post workers directly observe the state of the hydraulic support and complete the operation on site or realize remote operation through man-machine interaction of the intelligent electro-hydraulic control system, as shown by the broken line arrow of the a diagram in fig. 3.
The division cooperative control mode refers to: the control task is completed by the post worker and the intelligent electrohydraulic control system together and independently, the post worker decomposes the control task into a plurality of longitudinal or transverse subtasks according to the control target and the execution capacity of the intelligent electrohydraulic control system, the subtasks are distributed to the intelligent electrohydraulic control system as shown by a dotted arrow pointing to the intelligent electrohydraulic control system from the post worker in the diagram b in fig. 3, the intelligent electrohydraulic control system realizes closed-loop intelligent control by sensing the state data of the hydraulic support and completes the control task, the intelligent electrohydraulic control system analyzes the state data of the hydraulic support and the subtask completion condition thereof, a decision/execution scheme for incomplete subtasks is provided for the post worker, as shown by a dotted arrow pointing to the post worker from the intelligent electrohydraulic control system in the diagram b in fig. 3, and the post worker reasonably completes the incomplete subtasks in due time according to the scheme.
Approved cooperative control modalities refer to: the intelligent electrohydraulic control system is mainly used for independently completing control tasks, the intelligent electrohydraulic control system provides a decision/action scheme for a post worker according to the current working condition, the decision/action scheme can be executed after being approved by the post worker, the post worker is a supervision role in the whole control process, and the control authority can be obtained in an intervention mode at any time, as shown by a dotted arrow of a graph c in fig. 3.
The overrule type cooperative control mode refers to: the intelligent electro-hydraulic control system is mainly used for independently completing a control task, the intelligent electro-hydraulic control system provides a decision/action scheme for a post worker according to the current working condition, and if the intelligent electro-hydraulic control system does not obtain the post worker overrule within the preset time, the decision/action scheme is automatically executed, as shown by a dotted arrow of a d diagram in fig. 3.
Specifically, factors of the working face geological environment state set mainly comprise coal seam geological conditions and gas dust environments; factors of the hydraulic support system state set comprise the speed of the coal mining machine, the intelligent level of the hydraulic support and the state of the hydraulic support system; the factors of the station work state set comprise the station work technical level and the station work task load. The factor grade of the geological condition of the coal seam comprises complex structure, a small amount of structures, broken top plates and good condition; the factor grade of the gas dust environment comprises that the gas dust is higher, only the gas is higher, only the dust is higher and the gas dust is normal; the factor level of the speed of the coal mining machine comprises exceeding the upper limit of the following capacity, being faster, normal and slower; the intelligent level factor level of the hydraulic support comprises automatic control function failure, automatic control of only a middle section, automatic control of a full-section 1-time cutter and automatic control of a full-section multiple cutters; the factor level of the hydraulic support system state comprises complete failure, critical function failure, unnecessary function failure and complete integrity; factor classes of the level of job engineering include very skilled, relatively skilled, medium, new; the factor level of the job task load comprises no task, low load, full load and overload. The above factors and the factor classes are shown in table one.
List one
In factor grade of coal seam geological conditions, the complicated structure refers to the situation that the occurrence of a coal-bearing rock system in the coal seam geology to be mined is greatly changed, fault development is seriously affected by rock magma invasion; the small number of structures refers to the situation that in the geology of a coal seam to be mined, the structure activities are less, the formed structure is relatively smaller, and the influence range is smaller; the broken roof is the condition that the rock stratum in the coal seam to be mined has low strength, joint crack development, poor integrity and low self-stabilization capability, and the roof is difficult to maintain in the control area of the working face; the condition is good, namely, the coal layer is preserved in the geology of the coal layer to be mined, the coal quality and the coal layer thickness are beneficial to the mining and the production of the coal mine, and meanwhile, the sustainable utilization of coal resources can be fully ensured.
In the factor grade of the gas dust environment, the relative gas emission amount of the mine is more than 10m 3 Absolute gas emission quantity of mine is greater than 40m 3 Absolute gas emission quantity of any tunneling working face of mine per minute is more than 3m 3 Absolute gas emission quantity of any coal face of mine/min is more than 5m 3 And/min, wherein the gas content is higher in any of the four conditions. According to well-defined mine operation, the total dust concentration in the air cannot exceed 1mg/m at the most 3 While the respiratory dust can not exceed 3.5mg/m at the maximum 3 If the standard is exceeded, the dust concentration is calculated to be high.
In factor grades of the speed of the coal mining machine, according to the factory standard of the equipment speed, the speed of the coal mining machine is calculated to be slower if the set speed of the coal mining machine is far lower than the standard value because of different specific models of the coal mining machine; if the speed of the coal mining machine accords with the set standard value, the speed of the coal mining machine is normal; if the speed of the coal mining machine is slightly larger than the set standard value and working face working procedures are normally carried out, the speed of the coal mining machine is calculated to be higher; if the speed of the coal mining machine reaches the upper limit, but still does not meet the speed within the standard range of the following capacity of the coal mining machine set by the working face, the calculated coal mining machine exceeds the upper limit of the following capacity.
In the factor level of the intelligent level of the hydraulic support, if the automatic function of the hydraulic support fails, calculating the condition of the automatic function failure of the hydraulic support; if only the middle section is automatic, calculating that only the middle section is automatic; if only one cutter is automatically controlled in the working procedure, calculating the condition of 1 cutter automation in the whole section; if the multi-section knife is automatically controlled in the process, the situation that the whole multi-section knife is automatically controlled is calculated.
In the factor level of the hydraulic support system state, if all the system functions are abnormal and cannot be executed, calculating the complete failure condition; if the key function of the system is invalid and the other functions are normal, calculating the condition that the key function of the system is invalid; if the key functions of the system are normal and some small functions fail, the situation that unnecessary functional parts fail is calculated; if the system is fully functional, the situation is calculated that the system is fully functional.
In the factor grades of the technical level of the post worker, the post worker is classified into 4 grades according to whether the post worker can be fully familiar with the service and can independently judge. If the job worker just enters the job, the job worker is recognized as a novice if the job worker is unknown; if the post worker takes the job for a plurality of months, a certain experience is accumulated, but the post worker still has a large deficiency, and the post worker level is considered to be medium; if the job has had his own understanding, but still has a small portion of the deficiency, the job is deemed to be more skilled; if the job worker can already be judged completely autonomously and has a great accuracy, the job worker is considered to be very skilled.
In the factor level of the job load of the job, if the job is not received by the job, the job is considered to have no work load; if the task amount received by the post worker is smaller than the business capacity of the post worker, the work load of the post worker is considered to be low; if the task bar received by the post worker can be just completed, the work load of the post worker is considered to be full; if the workload received by the job site worker is greater than the service capacity of the job site worker, the job site worker cannot finish the work, and the workload of the job site worker is considered to be overload.
Further, the hydraulic support man-machine cooperative mode decision AOG model in the embodiment of the invention adopts a AND-OR Graph (AOG) model to represent the reasoning relation of different types, different factors, different factor grades And four man-machine cooperative control modes. The AOG model is a hierarchical model composed of nodes, edges and attributes, the nodes and edges form a Graph, and each node has corresponding attributes. According to coal mining technology and field experience, the framework of the hydraulic support man-machine collaborative mode decision AOG model is shown in (a) to (d) of fig. 4, wherein boxes are AND nodes, represent components of an object, and the AND nodes are triggered if and only if all sub-nodes are triggered. The circle box is an or node, which represents different options of a certain component, and is triggered whenever any child node is triggered. The uppermost block is a root node, and is a recommendation result of the human-machine cooperative control mode. The lowest box is the end node, which is the specific factor level variable.
Based on the factors and the factor levels, the specific mode of determining the man-machine cooperative control mode is as follows:
as shown in fig. 4 (a), in the manual cooperative control mode, if any of three conditions of normal, slower, and faster coal mining machine speed exist, OR 1=1, and vice versa is 0; OR 2=1 if any one of the three conditions of automatic control of only the middle section, automatic control of the full-section 1-time knife and automatic control of the full-section multiple-time knife exists in the intelligent level of the hydraulic support, and otherwise, 0; OR 3=1 if any of two conditions of non-essential functional part failure and complete condition in the state of the hydraulic support system exists, and otherwise, 0; OR 4=1 if any of the three conditions of very skilled, more skilled, and medium exist in the level of job engineering, and otherwise 0; OR 5=1 if any one of the two conditions of no task and low load exists in the job task load of the post, and otherwise, 0; if any one of a small number of structures and broken top plates exists in the geological conditions of the coal seam, OR6 = 1, and otherwise 0; if any one of three conditions of higher gas only, higher dust only and normal gas dust in the gas dust environment exists, OR 7=1, otherwise, 0; OR 8=1 if any one of the three conditions of full load and overload in new people and job task load in the job technical level exists, and otherwise is 0; OR 9=1 if either of a small number of formations in the coal seam geological conditions and only the gas in the gas dust environment is high exists, otherwise 0; OR1, OR2, OR3, … …, OR7 values are all 1, AND 1=1, whereas 0; when the values of OR8 AND OR9 are all 1, AND 2=1, AND vice versa is 0; AND1, 2 AND the intelligent level of the hydraulic support are failed in automatic control function, the hydraulic support is completely failed in system state, key functional parts are failed, the speed of the coal mining machine exceeds the upper limit of the following capacity, the structure is complex in the geological condition of the coal seam, AND if any one of the six conditions that the gas dust is high in the gas dust environment exists, OR 10=1, otherwise, the condition is 0. If the value of OR10 is 1, the man-machine cooperative control mode which is composed of a plurality of input factors and is suitable for the underground condition is a manual cooperative control mode; if the value of OR10 is 0, the downhole conditions constituted by the above input factors are not suitable for the manual cooperative control mode.
As shown in fig. 4 (b), in the split cooperative control mode, if any one of the conditions of the faster, normal and slower coal mining machine speed exists, or1=1, and vice versa is 0; in the intelligent level of the hydraulic support, if any one of three conditions of automatic control of the middle section, automatic control of the full-section 1-time cutter and automatic control of the full-section multiple cutters exists, OR < 2 > =1, and otherwise, 0; OR 3=1 if either of the two conditions of failure of an unnecessary functional part and complete condition in the state of the hydraulic support system exists, and otherwise, 0; OR 4=1 if any one of four conditions of very skilled, more skilled, medium and new person exists in the level of engineering, and conversely is 0; if any one of the four conditions of no task, low load, full load and overload exists in the job task load, OR < 5 > =1, and otherwise, 0; if any one of the two conditions of broken top plate and intact condition exists in the geological conditions of the coal seam, OR6 = 1, otherwise 0; only the dust is higher in the gas dust environment, and if any one of the two conditions of normal gas dust exists, OR 7=1, otherwise 0; OR 8=1 if any one of three conditions of very skilled, more skilled, and medium is present in the level of engineering, and vice versa is 0; if any one of the two conditions of no task and low load exists in the job task load of the post, OR9 = 1, and vice versa is 0; OR1, OR2, OR3, … …, OR7, AND 1=1 if the values are all 1, whereas 0; OR1, OR2, OR3, OR8, OR9, good conditions in coal seam geology, only high gas in gas dust environment, AND 2=1 if the values of all the factors are 1, otherwise 0; AND1, AND2, if any value is 1, or10=1, AND vice versa is 0. If the value of OR10 is 1, the man-machine cooperative control mode which is composed of a plurality of input factors and is suitable for the underground condition is a division cooperative control mode; if the value of OR10 is 0, the downhole conditions constituted by the above input factors are not suitable for the split cooperative control mode.
As shown in fig. 4 (c), in the approved cooperative control mode, if either of the normal and slower conditions of the shearer speed exists, or1=1, and vice versa is 0; if any one of the two conditions of full-segment 1-time automatic control and full-segment multiple-time automatic control exists in the intelligent level of the hydraulic support, OR < 2 > =1, and otherwise, 0; OR 3=1 if either of the two conditions of failure of an unnecessary functional part and complete condition in the state of the hydraulic support system exists, and otherwise, 0; OR 4=1 if any one of four conditions of very skilled, more skilled, medium and new person exists in the level of engineering, and conversely is 0; if any one of the four conditions of no task, low load, full load and overload exists in the job task load, OR < 5 > =1, and otherwise, 0; if any one of the two conditions of broken top plate and intact condition exists in the geological conditions of the coal seam, OR6 = 1, otherwise 0; only the dust is higher in the gas dust environment, and if any one of the two conditions of normal gas dust exists, OR 7=1, otherwise 0; OR1, OR2, OR3, … …, OR7, AND 1=1 if the values are all 1, AND 0 otherwise. If the value of AND1 is 1, the man-machine cooperative control mode which is formed by the input factors AND is suitable for the underground condition is an approval cooperative control mode; if the value of AND1 is 0, the downhole conditions constituted by the above many input factors are not suitable for the approved cooperative control mode.
As shown in fig. 4 (d), in the overrule cooperative control mode, if the situation that the speed of the shearer is slow exists, or1=1, and conversely, 0; if the automatic control condition of the full-segment multi-cutter in the intelligent level of the hydraulic support exists, OR < 2 > = 1, and conversely, 0; OR 3=1 if all the conditions in the hydraulic support system state are present, and vice versa 0; OR 4=1 if any one of four conditions of very skilled, more skilled, medium and new person exists in the level of engineering, and conversely is 0; if any one of the four conditions of no task, low load, full load and overload exists in the job task load, OR < 5 > =1, and otherwise, 0; if the gas dust in the gas dust environment is normal, OR 6=1, otherwise 0; OR 7=1 if the condition is perfect in the geological condition of the coal seam, otherwise 0; OR1, OR2, OR3, … …, OR7, AND 1=1 if the values are all 1, AND 0 otherwise. If the value of AND1 is 1, the downhole condition formed by the input factors is suitable for overrule type cooperative control mode; if the value of AND1 is 0, the downhole conditions constituted by the above many input factors are not suitable for the overrule cooperative control mode.
In a specific embodiment, the step S2 includes, when inputting the set of influence factors of the man-machine cooperative control strategy into a pre-established hydraulic support man-machine cooperative mode decision AOG model:
and S21, assigning the factor grade of each factor in the human-computer cooperative control strategy influence factor set based on the binarization assignment rule to obtain a binarization sequence of the human-computer cooperative control strategy influence factor set.
The binarization assignment rule is shown in fig. 5, that is, the binarization assignment of the factor level is 1, the assignment of the factor level is not 0, and the four levels of the seven factors are arranged according to a preset sequence. The predetermined order may be set as required, for example, the predetermined order is the arrangement order of the factor classes in the above table. If, for example, the four factor classes for the seven factors are: the factor level of the coal seam geological condition is complex in structure, the factor level of the gas dust environment is high in gas dust, the factor level of the coal mining machine speed is high, the factor level of the intelligent level of the hydraulic support is automatically controlled only in the middle section, the factor level of the system state of the hydraulic support is the failure of unnecessary functional parts, the factor level of the station worker technical level is medium, the factor level of the station worker task load is overload, and the binarization sequence of the man-machine cooperative control strategy influence factor set is 1000 1000 0100 0100 0010 0010 0001.
S22, inputting a binarization sequence of the human-machine cooperative control strategy influence factor set into a pre-established hydraulic support human-machine cooperative mode decision AOG model.
Based on the above, the step S3 is to recommend the hydraulic support man-machine cooperative control strategy according to the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model when recommending the hydraulic support man-machine cooperative control strategy according to the output result of the hydraulic support man-machine cooperative mode decision AOG model.
Specifically, the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model is a sequence composed of four binary numbers, each bit in the binarization output result sequence indicates a man-machine cooperative control mode, and each bit in the binarization output result sequence sequentially represents a manual cooperative control mode, a division cooperative control mode, an approval cooperative control mode and a rejection cooperative control mode. If a certain bit is 1, recommending a man-machine cooperative control mode corresponding to the bit as a hydraulic support man-machine cooperative control strategy. For example, if the binarized output result sequence is 0100, a split-mode cooperative control mode is recommended as a hydraulic support man-machine cooperative control strategy.
It should be noted that, the binarization assignment rule of the four human-computer cooperative control modes may have boundary intersection, so that the sum or calculation result may not be unique, that is, the situation that a plurality of bits are 1 may occur in the binarization output result sequence of the hydraulic support human-computer cooperative mode decision AOG model, for this reason, when the binarization output result sequence of the hydraulic support human-computer cooperative mode decision AOG model recommends a hydraulic support human-computer cooperative control strategy, the embodiment of the invention includes the following two situations:
first case: when the binarization output result sequence of the hydraulic support man-machine collaborative mode decision AOG model comprises a man-machine collaborative control mode, the man-machine collaborative control mode indicated by the binarization output result sequence of the hydraulic support man-machine collaborative mode decision AOG model is directly used as a hydraulic support man-machine collaborative control strategy.
Second case: when the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model comprises at least two man-machine cooperative control modes, carrying out AND operation on the preset score of each man-machine cooperative control mode and the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model to determine the score of each man-machine cooperative control mode, and recommending the hydraulic support man-machine cooperative control strategy according to the score of each man-machine cooperative control mode and a preset preference mode.
The preset score of each human-computer cooperative control mode can be set according to the needs, for example, the preset scores of the manual cooperative control mode, the division cooperative control mode, the approval cooperative control mode and the rejection cooperative control mode are respectively 1 score, 2 scores, 3 scores and 4 scores. On the basis, if the binarized output result sequence is 0110, the scores of the manual cooperative control mode, the division cooperative control mode, the approval cooperative control mode and the overrule cooperative control mode indicated by the binarized output result sequence are 0 score, 2 score, 3 score and 0 score.
Based on the above, in order to determine which man-machine cooperative control mode is finally recommended as a recommendation result, the embodiment of the invention recommends a hydraulic support man-machine cooperative control strategy according to the score of each man-machine cooperative control mode and a preset preference mode. The preset preference modes include manual preference mode and machine preference mode. Specifically, when recommending the hydraulic support man-machine cooperative control strategy according to the score of each man-machine cooperative control mode and a preset preference mode, the method comprises the following two conditions:
case 1: when the preset preference mode is a manual preference mode, calculating an output mode score according to the following formula (1), and taking a man-machine cooperative control mode corresponding to the output mode score as a hydraulic support man-machine cooperative control strategy:
（1）。
case 2: when the preset preference mode is the machine preference mode, calculating an output mode score according to the following formula (2), and taking a man-machine cooperative control mode corresponding to the output mode score as a hydraulic support man-machine cooperative control strategy:
（2）。
in the formula (1) and the formula (2), M is the output modal score, M i 、M j And outputting the AND operation result of the result sequence by the preset score and the binarization of the human-machine cooperative control mode. When the binarized output result sequence indicates three human-machine cooperative control modes, the formula (1) and the formula (2) M i 、M j And adding a parameter.
Taking the above example as an example, if the scores of the manual cooperative control mode, the division cooperative control mode, the approval cooperative control mode and the rejection cooperative control mode are 0 score, 2 score, 3 score and 0 score, and the preset preference mode is the manual preference mode, selecting the man-machine cooperative control mode with the smallest score as the man-machine cooperative control strategy of the hydraulic support according to the formula (1), namely selecting the division cooperative control mode as the man-machine cooperative control strategy of the hydraulic support; when the preset preference mode is the machine preference mode, selecting the man-machine cooperative control mode with the largest score as the hydraulic support man-machine cooperative control strategy according to the formula (2), namely selecting the approved cooperative control mode as the hydraulic support man-machine cooperative control strategy.
In order to verify the feasibility of the method provided by the embodiment of the invention, the algorithm for designing the AOG model and rule in the Python according to the binarization assignment rule tests the completeness of the method provided by the embodiment of the invention. The model is designed into seven factors, each factor is four grades, and the total combined quantity is 4 7 All combinations of the traversal tests are shown in table two and fig. 6, =16384. The traversing test result does not have the condition that the model output is 0, and the four man-machine cooperative control mode selections can be realized, so that the completeness of the model is verified.
Watch II
Based on the above, according to the coal mining process flow, in order to better apply the hydraulic support man-machine cooperative mode decision AOG model, a hydraulic support man-machine cooperative control decision program flow is designed, as shown in fig. 7.
Specifically, the hydraulic support man-machine cooperative control decision program flow is as follows: after the operation of the i-th bracket is started, firstly judging whether a manual cooperative control mode is finished, if yes, judging whether the i-th bracket meets the automatic machine following condition, if yes, executing the automatic machine following program, otherwise, judging whether the manual cooperative control mode is executed again; after the automatic machine following program is executed, judging whether the automatic machine following is finished or not, and if not, continuing to judge; after the automatic follow-up machine is finished, judging whether the I-shaped bracket needs to be regulated and controlled again after the automatic follow-up machine is finished, and if not, ending the operation of the I-shaped bracket; the selection of the division type cooperative control mode, the approval type cooperative control mode and the overrule type cooperative control mode is required to be performed after the regulation and control are performed again. If the worker-division type cooperative control mode is selected to regulate and control again, outputting the worker-division type cooperative control mode, confirming whether manual regulation and control are finished according to the inferred operation parameters, and ending the program if the regulation and control are finished; outputting an approval cooperative control mode if the approval cooperative control mode is selected; the approval type cooperative control mode needs manual confirmation, if the manual confirmation is needed, the hydraulic support automatic program is executed, whether the automatic program is completed or not is judged, and if the execution is completed, the program is ended; if the manual operation is not approved, selecting a worker-division cooperative control mode for regulation and control again, and ending the program after the manual operation is finished; outputting the overrule type cooperative control mode if the overrule type cooperative control mode is selected; if the manual work is not overruled within 2min, the automatic program of the hydraulic support is executed, the execution completion program is finished, if the manual work is overruled, the cooperative control mode of the division work is selected for regulation and control again, and the program is finished after the manual operation is finished.
In summary, according to the hydraulic support man-machine cooperative control strategy recommendation method provided by the embodiment of the invention, four man-machine cooperative control modes of a manual cooperative control mode, a division cooperative control mode, an approval cooperative control mode and a rejection cooperative control mode are designed, seven factors including coal seam geological conditions, gas dust environment, coal mining machine speed, intelligent level of the hydraulic support, system state of the hydraulic support, station technical level, station task load and the like are taken as inputs, an AOG model for the man-machine cooperative mode decision of the hydraulic support is constructed, two mode selection preference mechanisms of the manual preference type and the machine preference type are formulated, and a binary rule assignment algorithm is adopted to carry out traversal calculation on 16384 total input parameter combinations, so that the completeness of the model is verified. Meanwhile, a hydraulic support man-machine cooperative control decision program flow chart is designed, a hydraulic support man-machine cooperative mode decision AOG model is well applied, the work load of a post worker is reduced, and meanwhile, the hydraulic support man-machine cooperative control decision AOG model has a pushing effect on the construction of an intelligent coal mine.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and it should be noted that it is possible for those skilled in the art to make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.
Claims (7)
1. The hydraulic support man-machine cooperative control strategy recommendation method is characterized by comprising the following steps of:
s1, acquiring a current human-computer cooperative control strategy influence factor set, wherein the human-computer cooperative control strategy influence factor set comprises a working face geological environment state set, a hydraulic support system state set and a post work state set;
s2, inputting the influence factor set of the man-machine cooperative control strategy into a pre-established hydraulic support man-machine cooperative mode decision AOG model;
and S3, recommending a hydraulic support man-machine cooperative control strategy according to an output result of the hydraulic support man-machine cooperative mode decision AOG model.
2. The hydraulic mount human-machine cooperative control strategy recommendation method according to claim 1, wherein the hydraulic mount human-machine cooperative control strategy comprises a manual cooperative control mode, a split cooperative control mode, an approval cooperative control mode and a overrule cooperative control mode;
the manual cooperative control mode refers to: the control task is completed by the operation of the post worker, the post worker directly observes the state of the hydraulic support and completes the operation on site or realizes the remote operation through the man-machine interaction of the intelligent electro-hydraulic control system;
the division cooperative control mode refers to: the control task is completed by the post worker and the intelligent electrohydraulic control system together and independently, the post worker decomposes the control task into a plurality of longitudinal or transverse subtasks according to the control target and the execution capacity of the intelligent electrohydraulic control system, the subtasks are distributed to the intelligent electrohydraulic control system, the intelligent electrohydraulic control system realizes closed-loop intelligent control and completes the control task by sensing the state data of the hydraulic support, the intelligent electrohydraulic control system analyzes the state data of the hydraulic support and the completion condition of the subtasks thereof, a decision/execution scheme of the unfinished subtasks is provided for the post worker, and the post worker reasonably completes the unfinished subtasks in due time according to the scheme;
approved cooperative control modalities refer to: the intelligent electrohydraulic control system provides a decision/action scheme for the post worker according to the current working condition, the decision/action scheme can be executed after being approved by the post worker, the post worker is a supervision role in the whole control process, and the control authority can be obtained in an intervention way at any time;
the overrule type cooperative control mode refers to: the intelligent electro-hydraulic control system is used for independently completing control tasks, the intelligent electro-hydraulic control system provides a decision/action scheme for a post worker according to the current working condition, and if the intelligent electro-hydraulic control system does not obtain the rejection of the post worker within the preset time, the decision/action scheme is executed autonomously.
3. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 1 or2, wherein,
factors of the working face geological environment state set comprise coal seam geological conditions and gas dust environments; factor grades of the geological conditions of the coal seam comprise complex structures, a small number of structures, broken top plates and good conditions; the factor grade of the gas dust environment comprises that the gas dust is higher, only the gas is higher, only the dust is higher and the gas dust is normal;
factors of the hydraulic support system state set comprise the speed of the coal mining machine, the intelligent level of the hydraulic support and the state of the hydraulic support system; the factor level of the speed of the coal mining machine comprises exceeding the upper limit of the following capacity, being faster, normal and slower; the intelligent level factor level of the hydraulic support comprises automatic control function failure, automatic control of only a middle section, automatic control of a full-section 1-time cutter and automatic control of a full-section multiple cutters; the factor level of the hydraulic support system state comprises complete failure, critical function failure, unnecessary function failure and complete integrity;
factors of the station work state set comprise station work technical level and station work task load; factor classes of the level of job engineering include very skilled, relatively skilled, medium, new; the factor level of the job task load comprises no task, low load, full load and overload.
4. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 3, wherein the S2 includes, when inputting the man-machine cooperative control strategy influence factor set into a pre-established hydraulic support man-machine cooperative mode decision AOG model:
s21, assigning the factor grade of each factor in the human-computer cooperative control strategy influence factor set based on a binarization assignment rule to obtain a binarization sequence of the human-computer cooperative control strategy influence factor set;
s22, inputting a binarization sequence of the human-machine cooperative control strategy influence factor set into a pre-established hydraulic support human-machine cooperative mode decision AOG model.
5. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 4, wherein the S3 when recommending a hydraulic support man-machine cooperative control strategy according to an output result of the hydraulic support man-machine cooperative mode decision AOG model comprises:
and recommending a hydraulic support man-machine cooperative control strategy according to the binarization output result sequence of the hydraulic support man-machine cooperative modal decision AOG model.
6. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 5, wherein the hydraulic support man-machine cooperative control strategy recommendation method according to the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model comprises:
when the binarization output result sequence of the hydraulic support man-machine collaborative mode decision AOG model comprises a man-machine collaborative control mode, the man-machine collaborative control mode indicated by the binarization output result sequence of the hydraulic support man-machine collaborative mode decision AOG model is directly used as a hydraulic support man-machine collaborative control strategy;
when the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model comprises at least two man-machine cooperative control modes, carrying out AND operation on the preset score of each man-machine cooperative control mode and the binarization output result sequence of the hydraulic support man-machine cooperative mode decision AOG model to determine the score of each man-machine cooperative control mode, and recommending the hydraulic support man-machine cooperative control strategy according to the score of each man-machine cooperative control mode and a preset preference mode.
7. The hydraulic mount human-machine cooperative control strategy recommendation method according to claim 6, wherein the recommending hydraulic mount human-machine cooperative control strategy according to the score of each human-machine cooperative control mode and a preset preference mode comprises:
when the preset preference mode is the manual preference mode, calculating an output mode score according to the following formula (1):
（1）；
when the preset preference mode is the machine preference mode, calculating an output mode score according to the following formula (2):
（2）；
in the formula (1) and the formula (2), M is the output modal score, M i 、M j The sum operation result of the preset score of the human-machine cooperative control mode and the binarization output result sequence of the hydraulic support human-machine cooperative mode decision AOG model;
and taking the man-machine cooperative control mode corresponding to the output mode score as a hydraulic support man-machine cooperative control strategy.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117027900A (en) * | 2023-09-28 | 2023-11-10 | 太原理工大学 | Automatic and manual cooperative control method for hydraulic support |
| CN117027900B (en) * | 2023-09-28 | 2023-12-08 | 太原理工大学 | Automatic and manual cooperative control method for hydraulic support |
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