CN116291659B - Human-machine collaborative control strategy recommendation method for hydraulic supports - Google Patents

Abstract

The invention relates to a human-machine collaborative control strategy recommendation method for a hydraulic support, belonging to the technical field of coal mine intelligence. Including: obtaining the current human-machine collaborative control strategy influencing factor set, which includes the geological environment state set of the working face, the hydraulic support system state set and the post worker state set; the human-machine collaborative control strategy influencing factor set Input the pre-established man-machine collaborative modal decision-making AOG model of hydraulic support; recommend the man-machine collaborative control strategy of hydraulic support according to the output results of the man-machine collaborative modal decision-making AOG model of hydraulic support. The present invention can automatically recommend the man-machine synergy control strategy of the hydraulic support according to the current man-machine synergy control strategy influence factor set, which not only reduces the workload of post workers, but also promotes the construction of intelligent coal mines.

Description

Human-machine collaborative control strategy recommendation method for hydraulic supports

technical field

The invention relates to the technical field of intelligentization of coal mines, in particular to a human-machine collaborative control strategy recommendation method for a hydraulic support.

Background technique

At present, the construction of intelligent working face in coal mine is in its infancy, and the automation technology of intelligent electro-hydraulic control system of hydraulic support is relatively mature. Through sensing and collecting working face environment and equipment status information, various control modes of hydraulic support can be set according to the requirements of coal mining process. The advanced intelligent electro-hydraulic control system program realizes the automatic control of the lifting, lowering, moving, pushing, side guard and telescopic beam of the hydraulic support.

However, due to the different geological conditions of coal mines, for the fully mechanized mining face with complex geological conditions, hydraulic support automation and manual coordinated control are still necessary, and which method to choose for hydraulic support automation and manual control has attracted widespread attention. At present, the selection of hydraulic support automation and manual control methods still relies on manual decision-making, which not only makes the work burden of labor workers relatively heavy, but also runs counter to the purpose of intelligent coal mine construction.

Contents of the invention

In order to solve the above technical problems, the present invention provides a human-machine cooperative control strategy recommendation method for a hydraulic support. Technical scheme of the present invention is as follows:

A human-machine collaborative control strategy recommendation method for a hydraulic support, comprising:

S1. Obtain the current human-machine collaborative control strategy influencing factor set, the human-machine collaborative control strategy influencing factor set includes the geological environment state set of the working face, the hydraulic support system state set and the post worker state set;

S2, inputting the influence factor set of the man-machine collaborative control strategy into the pre-established man-machine collaborative mode decision-making AOG model of the hydraulic support;

S3. Recommending a human-machine collaborative control strategy for the hydraulic support according to the output result of the human-machine collaborative modal decision-making AOG model of the hydraulic support.

Optionally, the man-machine collaborative control strategy of the hydraulic support includes a manual collaborative control mode, a division of labor collaborative control mode, an approval collaborative control mode and a veto collaborative control mode;

The manual cooperative control mode refers to: all the control tasks are completed by the post workers, and the post workers directly observe the state of the hydraulic support and complete the operation on the spot or realize remote operation through the human-computer interaction of the intelligent electro-hydraulic control system;

The division of labor collaborative control mode means that the post workers and the intelligent electro-hydraulic control system jointly and independently complete the control tasks, and the post workers decompose the control tasks into multiple vertical or horizontal sub-tasks according to the control objectives and the execution capabilities of the intelligent electro-hydraulic control system. And the subtasks are assigned to the intelligent electro-hydraulic control system. The intelligent electro-hydraulic control system realizes the closed-loop intelligent control and completes the control task by sensing the state data of the hydraulic support. The intelligent electro-hydraulic control system analyzes the state data of the hydraulic support and the completion of its subtasks, and sends Post workers provide decision-making/execution plans for unfinished subtasks, and post workers complete unfinished subtasks in a timely and reasonable manner according to the plan;

Approval collaborative control mode means that the control task is mainly completed independently by the intelligent electro-hydraulic control system, and the intelligent electro-hydraulic control system provides a decision/action plan to the post workers according to the current working conditions, and the decision/action plan can only be approved by the post workers. Execution, the post in the entire control process is a supervisory role, and can intervene at any time to obtain control authority;

The mode of veto cooperative control means that the control task is mainly completed independently by the intelligent electro-hydraulic control system, and the intelligent electro-hydraulic control system provides a decision/action plan to the post workers according to the current working conditions, and if the intelligent electro-hydraulic control system is in the preset If there is no veto by the post workers within the time limit, the decision/action plan will be implemented independently.

Optionally, the factors of the geological environment state set of the working face include coal seam geological conditions and gas dust environment; the factor levels of the coal seam geological conditions include complex structure, small amount of structure, broken roof, and good conditions; the gas dust environment Factor grades include high gas and dust, high gas only, high dust only, and normal gas and dust;

The factors of the state set of the hydraulic support system include the speed of the shearer, the intelligence level of the hydraulic support, and the state of the hydraulic support system; the factor levels of the speed of the shearer include exceeding the upper limit of the follow-up capacity, faster, normal, and slower; The factor level of support intelligence level includes automatic control function failure, automatic control only in the middle section, automatic control of one knife in the whole section, automatic control of multiple knife in the whole section; the factor level of hydraulic support system status includes complete failure, failure of key functional parts, Non-essential functional parts fail, all intact;

The factors of the state set of post workers include the technical level of the post workers and the task load of the post workers; the factor grades of the technical level of the post workers include very skilled, relatively skilled, medium, and newcomers; the factor grades of the job load of the post workers include none Task, under load, full load, over load.

Optionally, when the S2 inputs the man-machine collaborative control strategy influencing factor set into the pre-established hydraulic support man-machine collaborative modal decision-making AOG model, it includes:

S21, assigning the factor levels of each factor in the human-machine collaborative control strategy influencing factor set based on the binarization assignment rule, and obtaining the binary sequence of the human-computer collaborative control strategy influencing factor set;

S22, input the binary sequence of the influence factor set of the man-machine collaborative control strategy into the pre-established man-machine collaborative modal decision-making AOG model of the hydraulic support.

Optionally, when the S3 recommends the human-machine collaborative control strategy of the hydraulic support according to the output result of the human-machine collaborative modal decision-making AOG model of the hydraulic support, it includes:

According to the binarized output sequence of the man-machine collaborative modal decision-making AOG model of the hydraulic support, the man-machine collaborative control strategy of the hydraulic support is recommended.

Optionally, the human-machine collaborative control strategy for the hydraulic support is recommended according to the binarized output sequence of the human-machine collaborative modal decision-making AOG model of the hydraulic support, including:

When the binary output result sequence of the man-machine collaborative modal decision-making AOG model of the hydraulic support includes a human-machine collaborative control mode, directly output the binary output of the man-machine collaborative modal decision-making AOG model of the hydraulic support The man-machine cooperative control mode indicated by the result sequence is used as the man-machine cooperative control strategy of the hydraulic support;

When the binarized output sequence of the human-machine collaborative mode decision-making AOG model of the hydraulic support includes at least two human-machine collaborative control modes, the preset score of each human-machine collaborative control mode and the hydraulic pressure The binarized output sequence of the human-computer collaborative mode decision-making AOG model of the bracket is calculated and calculated to determine the score of each human-computer collaborative control mode, according to the score of each human-computer collaborative control mode and the preset preference Man-machine collaborative control strategy for hydraulic supports recommended by model model.

Optionally, the human-machine collaborative control strategy for the hydraulic support is recommended according to the scores of each human-machine collaborative control mode and the preset preference mode, including:

When the preset preference mode is artificial preference, the output mode score is calculated by the following formula (1): (1);

When the preset preference mode is the machine preference mode, the output mode score is calculated by the following formula (2): (2);

In formula (1) and formula (2), M is the output modal score, M _i and M _j are the preset scores of the human-machine collaborative control mode and the two values of the human-machine collaborative modal decision-making AOG model of the hydraulic support. The AND operation result of the valued output result sequence;

The man-machine cooperative control mode corresponding to the output mode score is used as the man-machine cooperative control strategy of the hydraulic support.

All the optional technical solutions above can be combined arbitrarily, and the present invention does not describe in detail the combined structures one by one.

By means of the above scheme, the beneficial effects of the present invention are as follows:

By pre-establishing the AOG model of man-machine collaborative modal decision-making of hydraulic support, and inputting the AOG model of man-machine collaborative modal decision-making of hydraulic support after obtaining the current set of influencing factors of man-machine collaborative control strategy, and then according to The output result of the decision-making AOG model recommends the man-machine collaborative control strategy of the hydraulic support, and provides a human-machine collaborative control strategy recommendation method for the hydraulic support. The collaborative control strategy not only reduces the workload of post workers, but also promotes the construction of intelligent coal mines.

The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it according to the contents of the description, the preferred embodiments of the present invention and accompanying drawings are described in detail below.

Description of drawings

Fig. 1 is a flow chart of a human-machine collaborative control strategy recommendation method for a hydraulic support provided by the present invention.

Fig. 2 is a schematic diagram of a human-machine collaborative control strategy recommendation method for a hydraulic support provided by the present invention.

Fig. 3 is a schematic diagram of four man-machine collaborative control modes provided by the present invention.

Fig. 4 is a schematic framework diagram of the man-machine cooperative modal decision-making AOG model of the hydraulic support provided by the present invention.

Fig. 5 is a schematic diagram of a binarization assignment rule provided by the present invention.

Fig. 6 is a schematic diagram of the test results of the method provided by the embodiment of the present invention.

Fig. 7 is a flow chart of the man-machine cooperative control decision-making program of the hydraulic support based on the present invention.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

The human-machine collaborative control strategy recommendation method for a hydraulic support provided in the embodiment of the present invention can be executed by any device with computing power, such as a PC, a mobile terminal, and the like. As shown in Figure 1, the method provided by the embodiment of the present invention includes the following steps:

S1. Obtain the current human-machine collaborative control strategy influencing factor set, the human-computer collaborative control strategy influencing factor set includes the geological environment state set of the working face, the hydraulic support system state set and the post worker state set.

S2. Input the influencing factor set of the man-machine collaborative control strategy into the pre-established man-machine collaborative modal decision-making AOG model of the hydraulic support.

S3. Recommending a human-machine collaborative control strategy for the hydraulic support according to the output result of the human-machine collaborative modal decision-making AOG model of the hydraulic support.

The method provided by the embodiment of the present invention aims to judge the human, machine and environmental conditions of the coal mining face by constructing the AOG model of the man-machine collaborative modal decision-making model of the hydraulic support, and to make real-time decisions and output the man-machine collaborative control strategy. The principle is shown in Figure 2 shown. In Fig. 2, I _W represents the state set of the geological environment of the working face, IS represents the state set of the hydraulic support system, IP represents the state set _of the post, and O _M represents the output result of the man-machine collaborative modal decision-making AOG model _of the hydraulic support.

Among them, the human-machine collaborative control strategy of the hydraulic support described in the embodiment of the present invention includes four human-machine collaborative control modes: manual collaborative control mode, division of labor collaborative control mode, approval collaborative control mode and veto collaborative control mode. Control mode, as shown in Figure 3.

The manual collaborative control mode refers to: all the control tasks are completed by the post workers, and the post workers directly observe the state of the hydraulic support and complete the operation on site or realize remote operation through the human-computer interaction of the intelligent electro-hydraulic control system, as shown in Figure 3 a Indicated by the dotted arrow in the figure.

The division of labor collaborative control mode means that the post workers and the intelligent electro-hydraulic control system jointly and independently complete the control tasks, and the post workers decompose the control tasks into multiple vertical or horizontal sub-tasks according to the control objectives and the execution capabilities of the intelligent electro-hydraulic control system. And assign the subtasks to the intelligent electro-hydraulic control system, as shown by the dotted arrow pointing from the post worker to the intelligent electro-hydraulic control system in Figure 3b, the intelligent electro-hydraulic control system realizes the closed-loop intelligent control by sensing the status data of the hydraulic support and completes the Control tasks, the intelligent electro-hydraulic control system analyzes the status data of the hydraulic support and the completion of its subtasks, and provides the decision-making/execution plan for the unfinished subtasks to the post workers. As shown by the dotted arrow of , the post worker completes the unfinished subtasks in a timely and reasonable manner according to the plan.

Approval collaborative control mode means that the control task is mainly completed independently by the intelligent electro-hydraulic control system, and the intelligent electro-hydraulic control system provides a decision/action plan to the post workers according to the current working conditions, and the decision/action plan can only be approved by the post workers. Execution, the post in the entire control process is a supervisory role, who can intervene to obtain control authority at any time, as shown by the dotted arrow in Figure 3 c.

The mode of veto cooperative control means that the control task is mainly completed independently by the intelligent electro-hydraulic control system, and the intelligent electro-hydraulic control system provides a decision/action plan to the post workers according to the current working conditions, and if the intelligent electro-hydraulic control system is in the preset If it is not rejected by the post workers within a certain period of time, the decision/action plan will be executed independently, as shown by the dotted arrow in Figure 3 d.

Specifically, the factors of the geological environment state set of the working face mainly include coal seam geological conditions and gas dust environment; the factors of the state set of the hydraulic support system include the speed of the shearer, the intelligence level of the hydraulic support, and the state of the hydraulic support system; The factors of the status set of post workers include the technical level of post workers and the task load of post workers. Among them, the factor grades of the geological conditions of the coal seam include complex structure, a small amount of structure, broken roof, and good conditions; the factor grades of the gas dust environment include higher gas and dust, higher only gas, higher only dust, and higher gas dust environment. All normal; the factor grades of the speed of the shearer include exceeding the upper limit of follow-up capacity, fast, normal, and slow; the factor grades of the intelligent level of the hydraulic support include automatic control function failure, automatic control only in the middle section, and 1 time in the whole section automatic control of knives, automatic control of multiple knives in the whole section; the factor grades of the state of the hydraulic support system include complete failure, failure of key functional parts, failure of non-essential functional parts, and all intact; the factor grades of the technical level of the post workers include very skilled, Relatively proficient, medium, and newcomers; the factor levels of the task load of the post workers include no task, low load, full load, and overload. The above-mentioned factors and factor levels are shown in Table 1.

Table I

In the factor grade of coal seam geological conditions, complex structure refers to the occurrence of coal-bearing rocks in the coal seam to be mined is greatly changed, faults are developed, and it is seriously affected by magma intrusion; , the tectonic activity is less, the formed structure is relatively small, and the scope of influence is small; the broken roof refers to the coal seam geology to be mined with low rock strength, well-developed joints and fissures, poor integrity, and low self-stabilization ability. Difficult to maintain within the scope of the area; good conditions refer to the geological preservation of the coal seam to be mined, the coal quality and thickness of the coal seam are conducive to the mining and production of the coal mine, and at the same time can fully guarantee the sustainable use of coal resources.

In the factor level of gas dust environment, the relative gas emission of the mine is greater than 10m ³ /t, the absolute gas emission of the mine is greater than 40m ³ /min, and the absolute gas emission of any tunneling face of the mine is greater than 3m ³ /min, The absolute gas emission rate of any coal mining face in the mine is greater than 5m ³ /min, and any one of the above four situations occurs, the gas content is high. According to the clear regulations of mine operation, the maximum concentration of total dust in the air cannot exceed 1mg/m ³ , and the maximum concentration of respirable dust cannot exceed 3.5mg/m ³ . If it exceeds the standard, the dust concentration is considered high.

In the factor grade of shearer speed, because of the different types of shearer, according to the equipment speed factory standard, if the set shearer speed is far lower than the standard value, the shearer speed is considered to be slow; if If the speed of the shearer meets the set standard value, the speed of the shearer is considered to be normal; if the speed of the shearer is slightly greater than the set standard value, and the process of the working face is carried out normally, the speed of the shearer is considered to be fast; If the speed of the coal machine has reached the upper limit, but still does not meet the speed within the standard range of the shearer follow-up machine set at the working face, then the shearer exceeds the upper limit of the follow-up capacity.

In the factor level of the intelligent level of the hydraulic support, if the automatic function of the hydraulic support fails, it is considered that the automatic function of the hydraulic support fails; if only the middle section is automatic, then it is considered that only the middle section is automatic; , only one knife process is automatically controlled, it is counted as the case of one knife automatic control in the whole section; if in the process, multiple knife sections are automatically controlled, it is counted as the situation of multiple knife automatic control in the whole section.

In the factor level of the state of the hydraulic support system, if all system functions are abnormal and cannot be executed, it will be regarded as a complete failure; if the key functions of the system fail and others are normal, it will be regarded as the failure of key functional parts of the system; if the key functions of the system are normal , if some small functions fail, it is considered as the failure of non-essential functional parts; if all the system functions are intact, it is considered as the situation that all the system functions are intact.

In the factor grade of the technical level of post workers, according to whether the post workers are fully familiar with the business and can make independent judgments, the post workers are divided into 4 grades. If the worker has just entered the job and knows nothing about the job, the worker is considered a novice; if the worker has been employed for several months and has accumulated a certain amount of experience, but there are still major deficiencies, the level of the worker is determined to be medium; if If the worker at the position already has his own understanding, but there are still a small number of deficiencies, the level of the worker at the position is deemed to be relatively skilled; if the worker at the position has been able to judge completely independently and has a great accuracy rate, the worker at the position is considered to be very skilled.

In the factor level of task load of the post worker, if the post worker does not receive the task, it is considered that the post worker has no workload; if the task amount received by the post worker is less than his own business ability, the post worker's workload is considered low; If the task column received by the post worker can just be completed, the work load of the post worker is considered as full; for overload.

Furthermore, the AOG model of human-machine collaborative modal decision-making for hydraulic supports in the embodiment of the present invention adopts the And-Or Graph (AOG) model to represent different types, different factors, different factor levels and four kinds of human-machine collaborative control modes. state reasoning relationship. The AOG model consists of nodes, edges, and attributes to form a hierarchical model. Nodes and edges form a graph (Graph), and each node has corresponding attributes. According to the coal mining technology and field experience, the framework of the man-machine collaborative modal decision-making AOG model of the hydraulic support designed by the embodiment of the present invention is shown in (a) to (d) in Figure 4, where the boxes are "AND" nodes , which represent the components of the object, and the "AND" node is triggered if and only if all child nodes are triggered. The circle box is an "or" node, which represents different options of a certain component. As long as any child node is triggered, the "or" node will be triggered. The top box is the root node, which is the recommendation result of the human-machine collaborative control mode. The bottom box is the terminal node, which is the level variable of the specific factor.

On the basis of the above factors and factor levels, the specific way to determine the man-machine collaborative control mode is as follows:

As shown in Figure 4(a), in the manual cooperative control mode, if any one of the three situations of normal, slow and fast speed of the shearer exists, OR1=1, otherwise it is 0 ;In the intelligent level of hydraulic support, if any of the three situations of automatic control of only the middle section, automatic control of one knife in the whole section, and automatic control of multiple knives in the whole section exists, OR2=1, otherwise it is 0; hydraulic support system If there is any one of the two situations of non-essential functional parts failure and all intact in the state, then OR3=1, otherwise it is 0; If one condition exists, OR4=1, otherwise it is 0; if there is any one of the two conditions of no task and low load, then OR5=1, otherwise it is 0; If any one of the two situations of roof broken and broken roof exists, OR6=1, otherwise it is 0; in the gas dust environment, only the gas is high, only the dust is high, and the gas and dust are normal. If any of the three situations exists, then OR7=1, otherwise it is 0; if there is any one of the three situations of full load and overload in the job load of newcomers in the technical level of post workers and post workers, then OR8=1, otherwise it is 0; in coal seam geological conditions If any of the two situations of a small amount of structure and high gas in the gas dust environment exists, OR9=1, otherwise it is 0; if the values of OR1, OR2, OR3,..., OR7 are all 1, AND1= 1, otherwise it is 0; if the values of OR8 and OR9 are all 1, AND2=1, otherwise it is 0; AND1, AND2, the automatic control function in the hydraulic support intelligent level is invalid, the hydraulic support system state is completely invalid, and the key functional parts are invalid , the speed of the coal shearer exceeds the upper limit of the follow-up capacity, the geological conditions of the coal seam have a complex structure, and the gas and dust in the gas and dust environment are high. If any of the six situations exists, then OR10=1, otherwise it is 0. If the value of OR10 is 1, it means that the human-machine cooperative control mode formed by the above-mentioned many input factors is suitable for downhole conditions is the manual cooperative control mode; if the value of OR10 is 0, then the above-mentioned many input factors constitute Downhole conditions are not suitable for manual cooperative control mode.

As shown in Figure 4(b), in the division of labor collaborative control mode, if any of the three situations of fast, normal and slow shearer speed exists, OR1=1, otherwise it is 0; In the intelligent level of the hydraulic support, if any of the three situations of automatic control of the middle section, automatic control of the single knife in the whole section, and automatic control of multiple knives in the whole section exists, OR2=1, otherwise it is 0; the state of the hydraulic support system If any of the two situations of failure of essential functional parts in China and Africa exists, OR3=1, otherwise it is 0; If this situation exists, then OR4=1, otherwise it is 0; if any one of the four situations of no task, low load, full load, and overload in the task load of the post worker exists, then OR5=1, otherwise it is 0; coal seam In the geological conditions, if any of the two situations of broken roof and intact condition exists, then OR6=1, otherwise it is 0; in the gas dust environment, only the dust is relatively high, and the gas dust is normal. If it exists, then OR7=1, otherwise it is 0; if any one of the three situations of very skilled, relatively skilled, and medium in the technical level of the post worker exists, then OR8=1, otherwise it is 0; there is no task in the post worker’s task load If any of the two situations of low load and low load exists, OR9=1, otherwise it is 0; if the values of OR1, OR2, OR3,..., OR7 are all 1, then AND1=1, otherwise it is 0; In the seven situations of OR1, OR2, OR3, OR8, OR9, the geological condition of the coal seam is intact, and only the gas is high in the gas dust environment, if the values of all factors are 1, then AND2=1, otherwise 0; AND1, AND2 If any value is 1, then OR10=1, otherwise it is 0. If the value of OR10 is 1, it means that the man-machine cooperative control mode formed by the above-mentioned many input factors suitable for downhole conditions is a division-of-labor cooperative control mode; if the value of OR10 is 0, the above-mentioned many input factors constitute Downhole conditions are not suitable for division of labor collaborative control mode.

As shown in Figure 4(c), in the approved cooperative control mode, if any of the two situations of normal and slow shearer speed exists, OR1=1, otherwise it is 0; hydraulic support intelligent If any one of the two situations of automatic control of one knife in the whole section and automatic control of multiple knife in the whole section exists in the level, then OR2=1, otherwise it is 0; in the state of the hydraulic support system, the non-essential functional parts fail and all are in good condition If any one of the two situations exists, OR3=1, otherwise it is 0; if any one of the four situations of very skilled, relatively skilled, medium, and newcomers in the technical level of post workers exists, then OR4=1, Otherwise, it is 0; if there is any one of the four situations of no task, low load, full load, and overload in the task load of the post worker, then OR5=1, otherwise it is 0; in the coal seam geological conditions, the roof is broken and the condition is intact. If any one of the two conditions exists, OR6=1, otherwise it is 0; in the gas dust environment, only the dust is relatively high, and the gas dust is normal, if any of the two conditions exists, OR7=1, otherwise it is 0; if OR1, OR2, OR3, ..., OR7 are all 1, then AND1=1, otherwise it is 0. If the value of AND1 is 1, it means that the man-machine collaborative control mode composed of the above input factors is suitable for the downhole condition is the approved cooperative control mode; if the value of AND1 is 0, the above input factors constitute the The downhole conditions are not suitable for the approval cooperative control mode.

As shown in Figure 4(d), in the mode of veto cooperative control, if the speed of the shearer is slow, then OR1=1, otherwise it is 0; If the control condition exists, then OR2=1, otherwise it is 0; if all the conditions of the hydraulic support system are in good condition, then OR3=1, otherwise it is 0; there are four situations in the technical level of post workers: very skilled, relatively skilled, medium and newcomers If any one of the conditions exists, OR4=1, otherwise it is 0; in the four situations of no task, low load, full load, and overload, if any one of the four conditions exists, OR5=1, and vice versa is 0; if the gas dust exists normally in the gas dust environment, then OR6=1, otherwise it is 0; if the coal seam geological conditions are in good condition, then OR7=1, otherwise it is 0; OR1, OR2, OR3,... , OR7 If the values are all 1, then AND1=1, otherwise it is 0. If the value of AND1 is 1, it means that the downhole conditions formed by the above many input factors are suitable for the veto cooperative control mode; if the value of AND1 is 0, the downhole conditions formed by the above many input factors are not suitable for the veto cooperative control mode modal.

In a specific embodiment, when the S2 inputs the man-machine collaborative control strategy influencing factor set into the pre-established hydraulic support man-machine collaborative modal decision-making AOG model, it includes:

S21. Assign values to the factor levels of each factor in the set of influencing factors of the human-machine collaborative control strategy based on the binary assignment rule, and obtain a binary sequence of the set of influencing factors of the human-computer collaborative control strategy.

Among them, the binarization assignment rules are shown in Figure 5, that is, the binarization assignment of satisfying factor grades is 1, and the assignment of unsatisfactory factor grades is 0, and the four grades of the seven factors can be arranged in a preset order. The preset order can be set as required, for example, the preset order is the arrangement order of each factor level in Table 1 above. For example, if the four factor levels of the above seven factors are: the factor level of the geological condition of the coal seam is complex structure, the factor level of the gas and dust environment is that the gas and dust are relatively high, and the factor level of the shearer speed is In order to be faster, the factor level of the intelligent level of the hydraulic support is only the automatic control of the middle section, the factor level of the state of the hydraulic support system is the failure of non-essential functional parts, the factor level of the technical level of the post workers is medium, and the task load of the post workers The factor level of is overload, then the binarization sequence of the human-machine cooperative control strategy influencing factor set is 1000 1000 0100 0100 0010 0010 0001.

S22, input the binary sequence of the influence factor set of the man-machine collaborative control strategy into the pre-established man-machine collaborative modal decision-making AOG model of the hydraulic support.

On the basis of the above content, when the S3 recommends the human-machine collaborative control strategy of the hydraulic support according to the output result of the human-machine collaborative modal decision-making AOG model of the hydraulic support, the AOG model is decided according to the human-machine collaborative modal decision of the hydraulic support The binarized output result sequence recommends a man-machine collaborative control strategy for hydraulic supports.

Specifically, the binary output sequence of the man-machine collaborative modal decision-making AOG model of the hydraulic support is a sequence of four binary numbers, and each bit in the binary output sequence indicates a human-machine collaborative control mode , and each bit in the binary output sequence represents the manual collaborative control mode, the division of labor collaborative control mode, the approval collaborative control mode and the veto collaborative control mode. If a certain bit is 1, it means that the man-machine collaborative control mode corresponding to this bit is recommended as the man-machine collaborative control strategy of the hydraulic support. For example, if the binarization output sequence is 0100, then the division of labor cooperative control mode is recommended as the man-machine cooperative control strategy of the hydraulic support.

It should be noted that the binary assignment rules of the four man-machine collaborative control modes may have boundary crossings, resulting in an AND or calculation result that may not be unique, that is, the binary output results of the hydraulic support man-machine collaborative modal decision-making AOG model There may be a situation where multiple bits are "1" in the sequence. Therefore, in the embodiment of the present invention, when recommending the man-machine collaborative control strategy of the hydraulic support according to the binary output result sequence of the man-machine collaborative modal decision-making AOG model of the hydraulic support , including the following two situations:

The first case: when the binarized output sequence of the man-machine collaborative modal decision-making AOG model of the hydraulic support includes a man-machine collaborative control mode, the man-machine collaborative modal decision-making AOG model of the hydraulic support is directly The human-machine collaborative control mode indicated by the binarized output sequence is used as the hydraulic support human-machine collaborative control strategy.

The second case: when the binarized output sequence of the man-machine collaborative mode decision-making AOG model of the hydraulic support includes at least two kinds of man-machine collaborative control modes, the preset classification of each man-machine collaborative control mode value and the binarization output sequence of the man-machine collaborative mode decision-making AOG model of the hydraulic support are carried out and operation to determine the score of each man-machine collaborative control mode, and according to the score of each man-machine collaborative control mode And the pre-set preference mode recommends the man-machine cooperative control strategy of the hydraulic support.

The preset score of each man-machine cooperative control mode can be set according to the needs. For example, the embodiment of the present invention sets manual cooperative control mode, division of labor cooperative control mode, approval cooperative control mode and veto cooperative control mode. The preset score values of the control mode are 1 point, 2 points, 3 points and 4 points respectively. On this basis, if the binarized output result sequence is 0110, then the manual collaborative control mode, division of labor collaborative control mode, approval collaborative control mode and veto collaborative control mode indicated by the binary output result sequence Modal scores are 0, 2, 3, and 0.

On the basis of the above content, in order to determine which human-machine cooperative control mode is finally recommended as the recommendation result, the embodiment of the present invention recommends hydraulic pressure based on the scores of each human-machine cooperative control mode and the preset preferred mode. Bracket Human-Machine Collaborative Control Strategy. The preset preference modes include human preference and machine preference. Specifically, when recommending the human-machine collaborative control strategy of the hydraulic support according to the scores of each human-machine collaborative control mode and the preset preference mode, the following two situations are included:

Case 1: When the preset preference mode is artificial preference, the output mode score is calculated by the following formula (1), and the human-machine collaborative control mode corresponding to the output mode score is As a human-machine collaborative control strategy for hydraulic supports: (1).

Case 2: When the preset preference mode is the machine preference mode, the output mode score is calculated by the following formula (2), and the human-machine collaborative control mode corresponding to the output mode score is As a human-machine collaborative control strategy for hydraulic supports: (2).

In formula (1) and formula (2), M is the output mode score, M _i and M _j are the AND operation results of the preset score of the human-machine cooperative control mode and the binary output result sequence. When the binarized output sequence indicates three man-machine cooperative control modes, it is enough to add another parameter after the formulas (1) and (2) M _i and M _j above.

Still taking the above example as an example, if the scores of the manual collaborative control mode, the division of labor collaborative control mode, the approval collaborative control mode and the veto collaborative control mode are 0 points, 2 points, 3 points and 0 points points, and the pre-set preference mode is the manual preference mode, according to the formula (1), select the man-machine collaborative control mode with the smallest score as the man-machine collaborative control strategy of the hydraulic support, that is, select the division of labor collaborative control mode As a man-machine collaborative control strategy for hydraulic supports; when the preset preference mode is machine-preferred, the man-machine collaborative control mode with the largest score is selected as the man-machine collaborative control strategy for hydraulic supports according to formula (2), namely The approved cooperative control mode is selected as the man-machine cooperative control strategy of the hydraulic support.

In order to verify the feasibility of the method provided by the embodiment of the present invention, the embodiment of the present invention also designed the algorithm of the above-mentioned AOG model and rules in Python according to the above-mentioned binarization assignment rules to test the completeness of the method provided by the embodiment of the present invention. The model is designed with seven factors, each factor has four levels, and the total number of combinations is 4 ⁷ =16384. All combinations are traversed and tested as shown in Table 2 and Figure 6. The traversal test results did not show that the model output is all 0, and the four human-machine collaborative control modes can be selected, which verifies the completeness of the model.

Table II

On the basis of the above content, according to the coal mining process, in order to better apply the AOG model of the human-machine collaborative decision-making model of the hydraulic support, the human-machine collaborative control decision-making process of the hydraulic support is hereby designed, as shown in Figure 7.

Specifically, the decision-making process of the man-machine collaborative control of the hydraulic support is as follows: after the operation of the i-th support starts, it is first judged whether it is in the manual cooperative control mode. Follow-up condition, "Yes" executes the automatic follow-up program, "No" means that the automatic follow-up condition is not met, and it is necessary to re-judge whether to execute the manual cooperative control mode; after the automatic follow-up program is executed, judge whether the automatic follow-up is completed , continue to judge if it is not completed; after the automatic follow-up is completed, judge whether it is necessary to adjust again after the automatic follow-up of the i-support is completed. Approval collaborative control mode and veto collaborative control mode selection. If the division-based collaborative control mode is selected for re-regulation, the division-based collaborative control mode will be output, and it must be confirmed whether the manual adjustment is completed according to the reasoned operating parameters. If it is completed, the program will end; if the approval-based collaborative control mode is selected, the approval will be output. collaborative control mode; approval collaborative control mode requires manual confirmation, if manually confirmed, the hydraulic support automation program will be executed, and it will be judged whether the automation program is completed, and the program will end when the execution is completed; if the manual is not approved, the division of labor coordination The control mode is adjusted again, and the program ends after the manual operation is completed; if the vetoing cooperative control mode is selected, the vetoing cooperative control mode is output; if the manual is not rejected within 2 minutes, the hydraulic support automation program is executed, and the program ends when the execution is completed. If it is vetoed, the division of labor cooperative control mode will be used to regulate again, and the program will end after the manual operation is completed.

In summary, the human-machine collaborative control strategy recommendation method for hydraulic supports provided by the embodiment of the present invention designs manual collaborative control modes, division of labor collaborative control modes, approval collaborative control modes, and veto collaborative control modes. Four human-machine cooperative control modes are inputted from seven factors including coal seam geological conditions, gas dust environment, shearer speed, hydraulic support intelligence level, hydraulic support system status, post worker technical level, post worker task load, etc., to construct The AOG model of man-machine collaborative modal decision-making for hydraulic supports was established, and two modal selection preference mechanisms of manual preference and machine preference were formulated, and the binarization rule assignment algorithm was used to traverse and calculate all 16384 kinds of input parameter combinations, which verified the model completeness. At the same time, the decision-making process flow chart of the man-machine collaborative control of the hydraulic support is designed, and the man-machine collaborative modal decision-making AOG model of the hydraulic support is well applied, which not only reduces the workload of the post workers, but also promotes the construction of intelligent coal mines.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements can be made without departing from the technical principle of the present invention. and modifications, these improvements and modifications should also be considered as the protection scope of the present invention.

Claims (6)

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;

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 hydraulic support man-machine cooperative control strategy comprises a manual cooperative control mode, a division cooperative control mode, an approval cooperative control mode and a rejection 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.

2. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 1, 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.

3. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 2, wherein the S2 when inputting the man-machine cooperative control strategy influence factor set into a pre-established hydraulic support man-machine cooperative mode decision AOG model comprises:

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.

4. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 3, wherein the S3 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 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.

5. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 4, 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.

6. The hydraulic support man-machine cooperative control strategy recommendation method according to claim 5, wherein the recommending hydraulic support man-machine cooperative control strategy according to the score of each man-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.