WO2024198301A1 - Coal mine edge control system - Google Patents

Abstract

Provided is a coal mine edge control system, comprising: a cloud module and an edge control module. The cloud module is connected to the edge control module, and the edge control module is connected to a front-end device; the edge control module is used for receiving operation data of the front-end device for analysis processing to acquire processed data, generating a front-end control instruction on the basis of the processed data, and issuing the front-end control instruction to the front-end device for execution; and the cloud module is used for receiving the processed data, updating global data on the basis of the processed data, generating an edge control instruction on the basis of the global data, and issuing the edge control instruction to the edge control module for execution.

Description

Coal Mine Edge Control System

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based on the Chinese patent application with application number 2023103156542 and application date March 24, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference.

Technical Field

The present disclosure relates to the technical field of underground control systems, and in particular to a coal mine edge control system.

Background Art

In the mining process of most coal mines in the industrial control field, a closed control and management architecture is basically adopted. In the actual production and manufacturing process of coal mining, different process nodes have large differences in specific indicator requirements, but the on-site data interaction and control process have real-time and response deterministic requirements; above the on-site control layer is the monitoring and management layer. At present, the simplest is just some data information spreadsheets, which are loose and non-standardized.

Summary of the invention

The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

To this end, the purpose of the present disclosure is to propose a coal mine edge control system, a cloud-based coal mine edge control method, an electronic device, a computer-readable storage medium, a computer program product and a computer program.

To achieve the above-mentioned purpose, the first aspect of the present disclosure proposes a coal mine edge control system, including: a cloud module and an edge control module, the cloud module is connected to the edge control module, and the edge control module is connected to the front-end device; the edge control module is used to receive the operation data of the front-end device for analysis and processing to obtain processing data, and generate front-end control instructions based on the processing data, and send them to the front-end device for execution; the cloud module is used to receive the processing data, and summarize the processing data, update the global data, and generate edge control instructions based on the global data, and send them to the edge control module for execution.

According to one embodiment of the present disclosure, the edge control module further includes: an edge cloud unit, an edge gateway unit and an edge controller unit, the cloud platform is connected to the edge cloud unit, the edge cloud unit is connected to the edge gateway unit, the edge gateway unit is connected to the edge controller unit, and the edge controller unit is connected to the front-end device; the edge controller unit is used to control the working state of the front-end device based on the front-end control instruction and collect the operation data of the front-end device; the edge gateway unit is used to realize the multi-network protocol interconnection between the edge controller unit and the edge cloud unit, and to control the edge controller unit And/or authorization or verification of access rights of the edge cloud unit; the edge cloud unit is used to process the job data to generate processed data, and filter out sensitive data from the processed data for storage, and upload the remaining processed data except the sensitive data to the cloud module.

According to one embodiment of the present disclosure, an edge controller unit is installed with an application, and the edge controller unit includes: an application layer, an intermediate layer and a firmware layer; the firmware layer is used to provide low-level drivers and/or network facilities and/or virtualization platforms for front-end devices; the intermediate layer is used to provide an operating environment for applications to facilitate rapid deployment; the application layer is used to provide a development environment for applications, and the development environment supports multiple programming languages.

According to one embodiment of the present disclosure, a virtualization platform includes: a robot platform RBP, an input-output function platform IOP and a multi-protocol platform MPP. The robot platform RBP, the input-output function platform IOP and the multi-protocol platform MPP communicate and interconnect with the front-end device through a network port converter; RBP is used to control the visual robot distributed on the front-end device and realize downhole visual perception based on the visual robot; IOP is used to transmit data of analog signals and digital signals sent by the front-end device; MPP is used to realize interconnection between multiple communication protocols.

According to one embodiment of the present disclosure, the IOP is further used to perform digital-to-analog conversion and invalid data filtering on analog signals and/or digital signals to obtain pre-processed analog signals and/or digital signals.

According to one embodiment of the present disclosure, the communication protocols of the edge controller unit include Modbus/TCP, Modbus/RTU, EtherCAT, ProfiNet, and Ethernet/IP.

According to an embodiment of the present disclosure, the edge control module is further used to: generate a front-end control instruction based on the edge control instruction, and send it to the front-end device.

According to one embodiment of the present disclosure, the system is also used to: in response to the size of the job data exceeding the processing volume threshold of the edge control module, upload the excess job data to the cloud module for analysis and processing to generate processing data.

According to one embodiment of the present disclosure, the front-end device is provided with a sensor, and the sensor is used to collect the operation information of the front-end device and the environmental information of the well, and summarize and generate the operation data.

According to one embodiment of the present disclosure, the sensor is provided with a wireless signal transmitting device, and the edge control module is provided with a wireless signal receiving device matching the wireless signal transmitting device.

The second aspect of the implementation of the present disclosure proposes a cloud-based coal mine edge control method, which is applicable to the edge control end, including: receiving the operation data of the front-end device for analysis and processing to obtain processing data, and generating front-end control instructions based on the processing data, and sending them to the front-end device for execution.

The third aspect of the implementation of the present disclosure proposes a cloud-based coal mine edge control method, which is applicable to the cloud, including: receiving processed data, and updating global data based on the processed data, and generating edge control instructions based on the global data, and sending them to the edge control module for execution.

A fourth aspect of the present disclosure provides an electronic device, including: one or more processors; a memory; For storing one or more programs or instructions; the processor calls the programs or instructions stored in the memory to execute the cloud-based coal mine edge control method as described in any embodiment of the second aspect or the third aspect of the present disclosure.

The fifth aspect of the present disclosure proposes a computer-readable storage medium, wherein the computer-readable storage medium stores programs or instructions, and the programs or instructions enable a computer to execute the cloud-based coal mine edge control method as described in any embodiment of the second aspect or the third aspect of the present disclosure.

The sixth aspect of the present disclosure proposes a computer program product, including a computer program, which, when executed by a processor, implements the cloud-based coal mine edge control method as described in any embodiment of the second aspect or the third aspect of the present disclosure.

The seventh aspect of the present disclosure proposes a computer program, wherein the computer program includes computer program code, and when the computer program code is run on a computer, the computer executes the cloud-based coal mine edge control method as described in any embodiment of the second aspect or the third aspect of the present disclosure.

The embodiments of the present disclosure achieve the following beneficial effects:

Through the analysis of downhole operation data by cloud modules and edge control modules and the control of front-end equipment, the speed of data processing and the overall control of downhole operations are improved. Compared with traditional manual control, it has a stronger ability to respond to complex downhole operating environments and can greatly improve the efficiency of downhole operations.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of a coal mine edge control system according to an embodiment of the present disclosure;

FIG2 is a schematic diagram of the structure of an edge control module according to an embodiment of the present disclosure;

FIG3 is a schematic diagram of the structure of an edge control unit according to an embodiment of the present disclosure;

FIG4 is a schematic diagram of an IOP according to an embodiment of the present disclosure that is also used to process analog signals and/or digital signals;

FIG5 is a schematic diagram of a process flow of a downhole machine vision application according to an embodiment of the present disclosure;

FIG6 is a schematic diagram of a read and write process based on a windows system according to an embodiment of the present disclosure;

FIG7 is a schematic diagram of motion control according to an embodiment of the present disclosure;

FIG8 is a schematic diagram of implementing a northbound interaction function according to an embodiment of the present disclosure.

DETAILED DESCRIPTION

Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

FIG1 is a schematic diagram of the structure of a coal mine edge control system proposed in the present disclosure. As shown in FIG1 , the coal mine edge The control system includes: an edge control module 110 and a cloud module 120 .

The edge control module 110 is used to receive the operation data of the front-end device for analysis and processing to obtain processing data, and generate front-end control instructions based on the processing data and send them to the front-end device for execution.

The cloud module 120 is used to receive and process data, summarize the processed data, update the global data, and generate edge control instructions based on the global data, and send them to the edge control module 110 for execution.

It should be noted that the edge controller can be an edge programmable downhole controller, which is the physical interface between information technology (IT) and operation technology (OT). The combination of IT and OT is an important means to achieve downhole automation, so the edge controller plays an important role. The edge controller has a built-in programmable logic controller (PLC) and has advanced programming, communication, visualization and other functions. It can improve the interface capability and computing power of downhole equipment while ensuring control capabilities.

In the embodiments of the present disclosure, the front-end equipment may be field equipment, controllers, data acquisition devices, etc. for underground operations, or auxiliary equipment, supply equipment, etc. in the intermediate links, without any limitation. The front-end equipment may be distributed in the same working face or in different working faces, without any limitation.

In some embodiments, the front-end device is provided with sensors, which are used to collect operating information of the front-end device and environmental information underground, and summarize and generate operation data.

It should be noted that, due to the complexity of underground operations, the wiring cost of wired communication is extremely high and is easily damaged. Therefore, in the embodiment of the present disclosure, the sensor is provided with a wireless signal sending device, and the edge control module 110 is provided with a wireless signal receiving device matching the wireless signal sending device. In this way, wireless communication can be achieved, the efficiency of data transmission can be improved, and the cost of data transmission can be reduced.

It should be noted that the edge control module 110 and the cloud module 120 are complex functional modules, which are not limited to the above functions or operations, and are not described one by one here. For example, the edge control module 110 can realize five major functions: communication bus function, edge preprocessing function, edge intelligence function, control function, and northbound interaction function.

Through the analysis of downhole operation data by cloud modules and edge control modules and the control of front-end equipment, the speed of data processing and the overall control of downhole operations are improved. Compared with traditional manual control, it has a stronger ability to respond to complex downhole operating environments and can greatly improve the efficiency of downhole operations.

It should be noted that the communication protocols of the edge controller unit include Modbus/TCP, Modbus/RTU, EtherCAT, ProfiNet and Ethernet/IP. For different devices, multi-protocol network configuration preparation is carried out on the internal software platform.

In the embodiment of the present disclosure, the edge control module 110 also includes a structure as shown in FIG2: an edge cloud unit 210, an edge gateway unit 220, and an edge controller unit 230, wherein the cloud platform is connected to the edge cloud unit 210, the edge cloud unit 210 is connected to the edge gateway unit 220, the edge gateway unit 220 is connected to the edge controller unit 230, and the edge controller unit Element 230 is connected to the front-end device.

The edge controller unit 230 is used to control the working state of the front-end device based on the front-end control instructions, and collect the operation data of the front-end device.

The edge gateway unit 220 is used to implement multi-network protocol interconnection between the edge controller unit 230 and the edge cloud unit 210, and to authorize or verify access rights of the edge controller unit 230 and/or the edge cloud unit 210.

The edge cloud unit 210 is used to process the operation data to generate processed data, filter out sensitive data from the processed data for storage, and upload the remaining processed data except the sensitive data to the cloud module 120 .

It should be noted that, when comparing edge control with traditional automation, for the security protection of sensitive data, although closed control security is theoretically the highest, in practice, because the cloud module 120 has a strong security protection mechanism, the security of sensitive data will be much better than the simple external connection and outbound transmission of traditional automation. In addition, the cloud module 120 also has the advantages of being more general, more powerful, more efficient and flexible, which can be used to weigh the risks and benefits of cloud computing. However, the cloud module 120 still has the risk of keeping confidential technology and confidential data confidential. In the disclosed embodiment, sensitive data can be stored by adopting the edge cloud unit 210 to achieve edge control and protection of sensitive data, thereby providing protection for the technical property safety and information security of the coal mine.

It should be noted that the edge cloud unit 210, the edge gateway unit 220 and the edge controller unit 230 are complex functional units that are not limited to the above functions or operations, and are not described one by one here. For example, using x86 as a general platform, research on mining edge control technology, realize the control, data and computing tasks of the edge layer, and complete the "load integration" application. Currently, the edge gateway unit 220 and the edge controller unit 230 in the edge controller unit 230 have the same infrastructure and both have the ability to communicate with field equipment. The edge controller unit 230 is a real-time control of the field equipment, and the edge gateway unit 220 performs data collection work from the lower-level equipment. The research uses a unified downhole Ethernet for communication so that the number of the two types of equipment and the connection with the field equipment can be determined on demand. Under the management support of the edge cloud unit 210, containerization technology is used to achieve flexible and robust deployment such as online hot standby, redundant switching and non-stop upgrades between edge devices. With the help of resource reuse and isolation technologies such as platform virtualization, the multi-task integration capability, stability and reliability are continuously enhanced, thereby greatly improving the utilization rate of the computing platform and the flexibility of function implementation.

At the same time, by summarizing and analyzing global data through the cloud module 120, the speed of data processing and the level of overall control can be improved, thereby improving the overall smoothness of underground operations. Compared with traditional manual control, it has stronger adaptability, which can greatly improve the efficiency of underground operations and improve the effect of edge control.

In the above embodiment, the edge controller unit 230 is installed with an application, and the edge controller unit 230 may also include a structure as shown in FIG. 3 : an application layer 310 , an intermediate layer 320 and a firmware layer 330 .

It should be noted that the edge controller unit 230 is an open platform, and developers can edit and develop applications based on the edge controller unit 230 according to the actual effects or functions that need to be achieved.

The firmware layer 330 is used to provide low-level drivers and/or network facilities and/or virtualization platforms for the front-end devices.

The middle layer 320 is used to provide a running environment for the application to facilitate rapid deployment.

The application layer 310 is used to provide a development environment for applications, and the development environment supports multiple programming languages.

It should be noted that the firmware layer 330 mainly provides low-level drivers and network facilities for the operating equipment or other edge nodes at the edge of the underground well in terms of hardware, including I/O interfaces, Ethernet interfaces, bus interfaces, etc. This layer supports multiple communication protocols, facilitates the collection, communication and processing of multiple data, and provides a virtualization platform that is independent of hardware; the middle layer 320 mainly provides a stable development environment for application functions and custom library modularization, including an algorithm function library, which provides convenience for developers during development and facilitates the rapid deployment of applications; the application layer 310 provides an open development environment for applications, including support for PLC virtualization programming or high-level programming language programming environment that complies with the IEC61131 standard, and supports cross-platform modular development. At the same time, this layer can also communicate with the cloud to complete typical underground control application deployment and network transmission services.

In the disclosed embodiment, the virtualization platform includes: a robotic platform (Robotic Platform, RBP), an input/output function platform (I/O Function Platform, IOP) and a multi-protocol platform (Multiple Protocol Platform, MPP). The robotic platform RBP, the input/output function platform IOP and the multi-protocol platform MPP communicate and interconnect with the front-end device through a network port converter.

At the same time, through multi-platform division of labor and cooperation, the efficiency and effectiveness of edge control can be improved. At the same time, the multi-protocol platform solves the interconnection problem between downhole bus protocols, and provides a reliable and representative hardware carrier for the application design and development of the edge control module 110.

Among them, RBP is used to control the visual robots distributed on the front-end equipment and realize underground visual perception based on the visual robots.

IOP is used for data transmission of analog signals and digital signals sent by front-end devices.

MPP is used to achieve interconnection between multiple communication protocols.

It should be noted that RBP, IOP and MPP are complex functional platforms that are not limited to the functions or operations described above, and are not described one by one here.

In one embodiment of the present disclosure, the IOP is also used to perform digital-to-analog conversion and invalid data filtering on analog signals and/or digital signals to obtain pre-processed analog signals and/or digital signals. For example, as shown in FIG4 , the IOP may be provided with a PLC module, which may pre-process analog signals and/or digital signals, wherein 1. DI in the PLC module indicates: digital signal input module; 2. DO in the PLC module indicates: digital signal output module; 3. AI in the PLC module indicates: analog signal input module; 4. AO in the PLC module indicates: analog signal output module.

Convert analog and/or digital signals to target state signals through IOP and filter out abnormal data and power, improving the efficiency of data processing and the accuracy of the final signal acquisition.

It should be noted that the edge control module 110 can also generate a front-end control instruction based on the edge control instruction and send it to the front-end device. In the embodiment of the present disclosure, the processing priority of the front-end control instruction generated based on the edge control instruction can be higher than the front-end control instruction generated by the edge control module 110 based on the processed data. In this way, it can be ensured that the instructions that change based on the global are executed first.

As a supplement to cloud-edge-end in cloud computing, the computing power of the edge control module 110 is limited, far inferior to the cluster computing capability of the cloud module 120, but it has functions such as edge data preprocessing and data localization computing, and is characterized by high efficiency and low latency.

However, in some scenarios, especially when the amount of data to be processed is large, the edge control module 110 may process data slowly and data processing may need to be queued, which may greatly affect the efficiency of downhole edge control.

In the embodiment of the present disclosure, in response to the size of the job data exceeding the processing volume threshold of the edge control module 110, the excess job data is uploaded to the cloud module 120 for analysis and processing to generate processing data.

It should be noted that the upload may include certain upload rules, which are not limited here. For example, the upload can be performed based on the confidentiality level of the data, and data with a low confidentiality level can be uploaded to the cloud module for processing; optionally, the upload can also be performed based on the computing power required for data processing, and data requiring a large computing power can be uploaded to the cloud module for processing.

The coal mine edge control system in the disclosed embodiment can also position itself as a reference design for the integration of hardware and software in the field of coal automation; it is developed based on the two basic design concepts of "universal open architecture" and "software defined", highlighting the characteristics of hardware and software collaborative optimization; it includes two basic components, "one hard and one soft", to realize the integrated application of various edge control tasks.

(1) A general-purpose computing hardware platform based on an x86 architecture processor is used as the execution carrier of the edge control software;

(2) A general-purpose operating system and platform virtualization solution with real-time performance, which is used as the operating basis of the edge control application layer 310.

The software foundation required for edge control can be divided into two aspects: downhole automation, edge computing, and utility technology:

(1) Basic platform technology for underground automation: including real-time solutions and field equipment connection required for field control. Because the underground automation system is a physical + information system, it involves information interaction and control of physical processes with specific devices in the real world. The current trend is that the coal mine edge control system itself is equipped with a real-time operating system. The electronic information system ECI integrates real-time transformation based on the general operating system Linux, including the Xenomai open source solution based on the dual-system kernel architecture and the Preempt RT real-time patch solution of the unified system kernel, and the relevant hardware has been adapted and optimized. A large number of field devices will be involved in the underground automation production process. ECI also integrates the use of certain underground Ethernet and field bus solutions (such as the EtherCAT open source protocol stack and the open source CANopen protocol stack) to communicate reliably with field devices (actuators and measuring mechanisms) in real time; in addition, it also integrates self-developed and third-party soft PLC, ROS, motion control library and other application layer 310 modules and sample applications.

(2) Edge computing-related technologies: Referring to ECI, the coal mine edge control system needs to have support for field data upload protocols such as OPC UA and MQTT, so as to have upper-level (cloud) communication capabilities and basic modules such as real-time data collection, processing and analysis, to transfer, process and upload the real-time field data obtained by the controller, and to receive relevant process instruction information from the management level.

(3) Common platform technology: Platform-level virtualization support, including operating system-level hypervisor solutions and container-based lightweight virtualization solutions, which can achieve load consolidation, migration, and upgrade tasks on edge controllers and the cloud.

In one embodiment of the present disclosure, the algorithm library of the middle layer 320 of the coal mine edge control system includes a computer vision algorithm library for underground image processing, as shown in FIG5. In the existing application field of underground machine vision, machine vision only completes the image processing function and then controls the equipment through Ethernet. The coal mine edge control system proposed in the present invention is based on the integration of perception and control, and can meet the real-time application and technical integration requirements of edge control technology and cross-system functions, as shown in FIG6. The present invention is applicable to Windows and Linux systems, and adopts a shared memory mechanism to map different processes to the same physical space through their own address space and the correspondence between page tables, complete data reading and writing operations, and form a fast data sharing mode, thereby realizing mutual communication and operation between the two platforms.

In one embodiment of the present disclosure, in order to ensure that the coal mine edge control system of the present invention can complete the basic motion control function, the motor motion function control is designed based on PLC, and the EtherNet IP protocol in the underground communication bus design is used to use the CODESYS basic function library to perform logical control of the four basic motion modules of motor power (MC_Power), motor moving speed (MC_MoveVelocity), motor speed and direction (MOVE), and motor stop (MC_Stop) to complete the motor motion control, as shown in Figure 7.

In one embodiment of the present disclosure, as a functional design for the application layer 310 of the coal mine edge control system, the northbound interaction function is mainly for the network service and equipment management deployment of the information management system. This part of the present invention is mainly for the design of the application layer 310 network interface between the underground edge controller and the information management system, as shown in Figure 8. First, the field edge gateway (Edge Gateway, EG) application is performed, and it is used to complete the localized network communication function and equipment registration management of the present invention. At the same time, the external network solution of the present invention is designed based on the 4G network or 5G network, and the relevant tasks are deployed and issued.

To achieve the above-mentioned purpose, the embodiment of the present disclosure also proposes a cloud-based coal mine edge control method, which is suitable for the edge control end, including: receiving the operation data of the front-end device for analysis and processing to obtain processing data, and generating front-end control instructions based on the processing data, and sending them to the front-end device for execution.

In the disclosed embodiment, the method further includes: based on the front-end control instruction, controlling the working state of the front-end device, and collecting the operation data of the front-end device; realizing multi-network protocol interconnection between the edge controller unit and the edge cloud unit, and authorizing or verifying the access rights of the edge controller unit and/or the edge cloud unit; processing the operation data to generate the processed data, and screening out sensitive data from the processed data for storage, The remaining processed data except the sensitive data is uploaded to the cloud module.

In an embodiment of the present disclosure, the edge controller unit is installed with an application, and the edge controller unit includes: an application layer, an intermediate layer and a firmware layer; the firmware layer is used to provide low-level drivers and/or network facilities and/or virtualization platforms for the front-end device; the intermediate layer is used to provide a running environment for the application to facilitate rapid deployment; the application layer is used to provide a development environment for the application, and the development environment supports multiple programming languages.

In the embodiment of the present disclosure, the virtualization platform includes: the robot platform RBP, the input-output function platform IOP and the multi-protocol platform MPP. The robot platform RBP, the input-output function platform IOP and the multi-protocol platform MPP communicate and interconnect with the front-end device through a network port converter; the RBP is used to control the visual robots distributed on the front-end devices and realize downhole visual perception based on the visual robots; the IOP is used to transmit data of analog signals and digital signals sent by the front-end devices; the MPP is used to realize interconnection between multiple communication protocols.

In the disclosed embodiment, the IOP is further used to perform digital-to-analog conversion and invalid data filtering on the analog signal and/or the digital signal.

In the disclosed embodiment, the communication protocols of the edge controller unit include Modbus/TCP, Modbus/RTU, EtherCAT, ProfiNet and Ethernet/IP.

In the embodiment of the present disclosure, the method further includes: generating a front-end control instruction based on the edge control instruction, and issuing the front-end control instruction to the front-end device.

To achieve the above-mentioned purpose, the embodiment of the present disclosure also proposes a cloud-based coal mine edge control method, which is suitable for the cloud, including: receiving processed data, and updating global data based on the processed data, and generating edge control instructions based on the global data, and sending them to the edge control module for execution.

To achieve the above-mentioned purpose, the embodiments of the present disclosure also propose a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the cloud-based coal mine edge control method as described in any of the above embodiments is implemented.

To achieve the above objectives, the embodiments of the present disclosure also propose a non-temporary computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the cloud-based coal mine edge control method as described in any of the above embodiments is implemented.

To achieve the above objectives, the embodiments of the present disclosure also propose a computer program product, including a computer program, wherein the computer program, when executed by a processor, implements the cloud-based coal mine edge control method as described in any of the above embodiments.

To achieve the above object, the present disclosure also provides a computer program, wherein the computer program includes computer program code, and when the computer program code is run on a computer, the computer executes any of the above embodiments. The cloud-based coal mine edge control method described in the example.

It should be noted that the aforementioned explanations and descriptions of the coal mine edge control system embodiment also apply to the cloud-based coal mine edge control method, computer equipment, non-temporary computer-readable storage medium, computer program product and computer program of the embodiment of the present disclosure, and will not be repeated here.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are illustrative and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims (22)

A coal mine edge control system, comprising: a cloud module and an edge control module, wherein the cloud module is connected to the edge control module, and the edge control module is connected to a front-end device; The edge control module is used to receive the operation data of the front-end device for analysis and processing to obtain processing data, and generate front-end control instructions based on the processing data, and send them to the front-end device for execution; The cloud module is used to receive the processed data, and update the global data based on the processed data, and generate edge control instructions based on the global data, and send them to the edge control module for execution. The coal mine edge control system according to claim 1, wherein the edge control module further comprises: an edge cloud unit, an edge gateway unit and an edge controller unit, the cloud platform is connected to the edge cloud unit, the edge cloud unit is connected to the edge gateway unit, the edge gateway unit is connected to the edge controller unit, and the edge controller unit is connected to the front-end device; The edge controller unit is used to control the working state of the front-end device based on the front-end control instruction and collect the operation data of the front-end device; The edge gateway unit is used to implement multi-network protocol interconnection between the edge controller unit and the edge cloud unit, and to authorize or verify access rights of the edge controller unit and/or the edge cloud unit; The edge cloud unit is used to process the operation data to generate the processed data, filter out sensitive data from the processed data for storage, and upload the remaining processed data except the sensitive data to the cloud module. The coal mine edge control system according to claim 2, wherein the edge controller unit is installed with an application, and the edge controller unit comprises: an application layer, an intermediate layer and a firmware layer; The firmware layer is used to provide low-level drivers and/or network facilities and/or virtualization platforms for the front-end device; The middle layer is used to provide a running environment for the application to facilitate rapid deployment; The application layer is used to provide a development environment for the application, and the development environment supports multiple programming languages. The coal mine edge control system according to claim 3, wherein the virtualization platform comprises: The robot platform RBP, the input-output function platform IOP and the multi-protocol platform MPP are interconnected with the front-end device through a network port converter; The RBP is used to control the visual robot distributed on the front-end device and implement Now visual perception underground; The IOP is used to transmit data of analog signals and digital signals sent by the front-end device; The MPP is used to achieve interconnection and intercommunication between multiple communication protocols. The coal mine edge control system according to claim 4, wherein the IOP is further used for: Perform digital-to-analog conversion and invalid data filtering on the analog signal and/or the digital signal. The coal mine edge control system according to any one of claims 1-5, wherein the communication protocol of the edge controller unit includes Modbus/TCP, Modbus/RTU, EtherCAT, ProfiNet and Ethernet/IP. The coal mine edge control system according to any one of claims 1 to 6, wherein the edge control module is further used for: Based on the edge control instruction, a front-end control instruction is generated and sent to the front-end device. The coal mine edge control system according to any one of claims 1 to 7, wherein the system is also used for: In response to the size of the operation data exceeding the processing volume threshold of the edge control module, the excess operation data is uploaded to the cloud module for analysis and processing to generate processing data. According to any one of claims 1-8, the coal mine edge control system is provided with a sensor, and the sensor is used to collect the operation information of the front-end equipment and the environmental information underground, and summarize and generate the operation data. According to the coal mine edge control system of claim 9, the sensor is provided with a wireless signal sending device, and the edge control module is provided with a wireless signal receiving device matching the wireless signal sending device. A cloud-based coal mine edge control method, applicable to an edge control terminal, includes: The operation data of the front-end device is received and analyzed to obtain processing data, and a front-end control instruction is generated based on the processing data and sent to the front-end device for execution. The method according to claim 11, further comprising: Based on the front-end control instruction, the working state of the front-end device is controlled, and the working state of the front-end device is collected. Industry data; Implement multi-network protocol interconnection between edge controller units and edge cloud units, and authorize or verify access rights of the edge controller units and/or the edge cloud units; The operation data is processed to generate the processed data, sensitive data is screened out from the processed data for storage, and the remaining processed data except the sensitive data is uploaded to the cloud module. The method according to claim 12, wherein the edge controller unit is installed with an application, and the edge controller unit comprises: an application layer, an intermediate layer, and a firmware layer; The firmware layer is used to provide low-level drivers and/or network facilities and/or virtualization platforms for the front-end device; The middle layer is used to provide a running environment for the application to facilitate rapid deployment; The application layer is used to provide a development environment for the application, and the development environment supports multiple programming languages. The method according to claim 13, wherein the virtualization platform comprises: The robot platform RBP, the input-output function platform IOP and the multi-protocol platform MPP are interconnected with the front-end device through a network port converter; The RBP is used to control the visual robots distributed on the front-end equipment and realize underground visual perception based on the visual robots; The IOP is used to transmit data of analog signals and digital signals sent by the front-end device; The MPP is used to achieve interconnection and intercommunication between multiple communication protocols. The method of claim 14, wherein the IOP is further used to: Perform digital-to-analog conversion and invalid data filtering on the analog signal and/or the digital signal. The method according to any one of claims 11 to 15, wherein the communication protocol of the edge controller unit includes Modbus/TCP, Modbus/RTU, EtherCAT, ProfiNet and Ethernet/IP. The method according to any one of claims 11 to 16, further comprising: Based on the edge control instruction, a front-end control instruction is generated and sent to the front-end device. A cloud-based coal mine edge control method, applicable to the cloud, comprising: Receive processing data, and update global data based on the processing data. Generate edge control instructions based on the global data and send them to the edge control module for execution. An electronic device, comprising: one or more processors; A memory for storing one or more programs or instructions; The processor is used to execute the cloud-based coal mine edge control method as described in any one of claims 11-18 by calling the program or instruction stored in the memory. A computer-readable storage medium, wherein the computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute the cloud-based coal mine edge control method as described in any one of claims 11-18. A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the cloud-based coal mine edge control method according to any one of claims 11 to 18 is implemented. A computer program, wherein the computer program includes computer program code, and when the computer program code is run on a computer, the computer executes the cloud-based coal mine edge control method as described in any one of claims 11-18.