CN111173550A - Electro-hydraulic support control method and device and electro-hydraulic support control equipment - Google Patents
Electro-hydraulic support control method and device and electro-hydraulic support control equipment Download PDFInfo
- Publication number
- CN111173550A CN111173550A CN202010088934.0A CN202010088934A CN111173550A CN 111173550 A CN111173550 A CN 111173550A CN 202010088934 A CN202010088934 A CN 202010088934A CN 111173550 A CN111173550 A CN 111173550A
- Authority
- CN
- China
- Prior art keywords
- electro
- hydraulic support
- support control
- actual
- control model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000002457 bidirectional effect Effects 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 9
- 230000000007 visual effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 230000036544 posture Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides an electro-hydraulic support control method, an electro-hydraulic support control device and electro-hydraulic support control equipment, wherein the electro-hydraulic support control method comprises the following steps: acquiring motion information of a steering engine in a joint of the electro-hydraulic support control model, and controlling a corresponding joint in a connected actual electro-hydraulic support to move correspondingly according to the motion information; and acquiring sensor data of joints in the actual electro-hydraulic support, and controlling steering engines of corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data. According to the electro-hydraulic support control method, the electro-hydraulic support control model which is reduced in equal proportion is used for controlling the actual electro-hydraulic support, the control process of the electro-hydraulic support is simpler and more visual, the torque feedback of the actual electro-hydraulic support control process is carried out through the steering engine, the feeling of the electro-hydraulic support is provided for a user, therefore, the misoperation can be reduced, and the damage of the electro-hydraulic support control model and the actual electro-hydraulic support is avoided.
Description
Technical Field
The invention relates to the field of mechanical control, in particular to an electro-hydraulic support control method and device, electro-hydraulic support control equipment and a readable storage medium.
Background
The current electro-hydraulic support is controlled by a special key type controller, the electro-hydraulic support needing to be operated is selected through operating keys or rocking bars, and the action of the electro-hydraulic support is controlled by sending an instruction in a wired or wireless communication mode. Because the number of the operation keys or the rocking bars is large, the operation is complex, and misoperation is easy to occur.
Disclosure of Invention
In view of the above problems, the invention provides an electro-hydraulic support control method, an electro-hydraulic support control device, electro-hydraulic support control equipment and a readable storage medium, so that the control process of an electro-hydraulic support is simpler and more intuitive, misoperation can be reduced, and damage to an electro-hydraulic support control model and an actual electro-hydraulic support is avoided.
In order to achieve the purpose, the invention adopts the following technical scheme:
an electro-hydraulic stent control method, comprising:
acquiring motion information of a steering engine in a joint of the electro-hydraulic support control model, and controlling a corresponding joint in a connected actual electro-hydraulic support to move correspondingly according to the motion information;
and acquiring sensor data of joints in the actual electro-hydraulic support, and controlling steering engines of corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data.
Preferably, the electrohydraulic support control method further includes:
acquiring sensor data of all joints in the actual electro-hydraulic support after the electro-hydraulic support control model is connected with the actual electro-hydraulic support;
and controlling all steering engines in the electro-hydraulic support control model to simulate the attitude of the actual electro-hydraulic support according to the data of all the joints.
Preferably, in the electrohydraulic support control method, the step of acquiring sensor data of joints in the actual electrohydraulic support and controlling the steering engines of the corresponding joints in the electrohydraulic support control model to perform torque feedback according to the sensor data includes:
generating a PWM control signal with preset frequency according to the sensor data, transmitting the PWM control signal to a corresponding steering engine, and performing start-stop control on the corresponding steering engine;
and when the hydraulic pressure of the actual electro-hydraulic support exceeds a preset threshold value according to the data of the sensor, locking the corresponding steering engine to stop moving.
Preferably, the electrohydraulic support control method further includes:
the method comprises the steps of obtaining an acceleration value of an acceleration sensor in an electro-hydraulic support control model, and disconnecting the control connection between the electro-hydraulic support control model and an actual electro-hydraulic support when the acceleration value is determined to exceed a preset value.
Preferably, the electrohydraulic support control method further includes:
and displaying the actual operation posture of the electro-hydraulic support and prompting the operation of each joint according to the acquired sensor data.
Preferably, the electrohydraulic support control method further includes:
and detecting the distance between the electro-hydraulic support control model and the actual electro-hydraulic support, stopping the control of the electro-hydraulic support control model on the actual electro-hydraulic support when the distance is determined to be lower than a preset distance value, and displaying whether to continue operation prompt.
Preferably, in the electrohydraulic support control method, the sensor data includes pressure sensor data, stroke sensor data, and tilt sensor data;
controlling a corresponding steering engine to perform torque force adjustment according to the data of the pressure sensor;
controlling a corresponding steering engine to adjust the rotating speed according to the data of the stroke sensor;
and controlling a corresponding steering engine to adjust the angle according to the data of the tilt angle sensor.
The invention also provides an electrohydraulic support control device, comprising:
the joint angle control module is used for acquiring the motion information of a steering engine in a joint of the electrohydraulic support control model and controlling the corresponding joint in the connected actual electrohydraulic support to correspondingly move according to the motion information;
and the steering engine torque feedback module is used for acquiring sensor data of joints in the actual electro-hydraulic support and controlling the steering engines of the corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data.
The invention also provides electro-hydraulic support control equipment which comprises an electro-hydraulic support control model, wherein the electro-hydraulic support control model is an actual electro-hydraulic support reduction model, a bidirectional steering engine is arranged at a joint part of the electro-hydraulic support control model, and the electro-hydraulic support control equipment acquires the movement information of the bidirectional steering engine and sends the movement information to a controller of the actual electro-hydraulic support.
The invention also provides a readable storage medium, which stores a computer program, and the computer program executes the electro-hydraulic support control method when running on a processor.
The invention provides an electro-hydraulic support control method, which comprises the following steps: acquiring motion information of a steering engine in a joint of the electro-hydraulic support control model, and controlling a corresponding joint in a connected actual electro-hydraulic support to move correspondingly according to the motion information; and acquiring sensor data of joints in the actual electro-hydraulic support, and controlling steering engines of corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data. According to the electro-hydraulic support control method, the electro-hydraulic support control model which is reduced in equal proportion is used for controlling the actual electro-hydraulic support, the control process of the electro-hydraulic support is simpler and more visual, the torque feedback of the actual electro-hydraulic support control process is carried out through the steering engine, the feeling of the electro-hydraulic support is provided for a user, therefore, the misoperation can be reduced, and the damage of the electro-hydraulic support control model and the actual electro-hydraulic support is avoided.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 is a flowchart of an electro-hydraulic support control method according to embodiment 1 of the present invention;
FIG. 2 is a flow chart of electro-hydraulic support feedback provided in embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of an electrohydraulic stent control model provided in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of an electro-hydraulic support control system provided in embodiment 1 of the present invention;
fig. 5 is a flowchart of an electro-hydraulic support control method according to embodiment 2 of the present invention;
fig. 6 is a flowchart of an electro-hydraulic support control method according to embodiment 3 of the present invention;
fig. 7 is a schematic structural diagram of an electrohydraulic support control device provided in embodiment 4 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Example 1
Fig. 1 is a flowchart of an electro-hydraulic support control method provided in embodiment 1 of the present invention, where the method includes the following steps:
step S11: and acquiring the motion information of a steering engine in the joint of the electro-hydraulic support control model, and controlling the corresponding joint in the connected actual electro-hydraulic support to move correspondingly according to the motion information.
In the embodiment of the invention, the electro-hydraulic support is used for forming a support structure for bearing pressure, for example, the support structure can be used as a structure for controlling the mine pressure of a coal face, and the mine pressure of the coal face acts on the electro-hydraulic support in an external load mode. The electro-hydraulic support control model is an actual scaled-down model of the electro-hydraulic support, and the size of the electro-hydraulic support control model can be customized by a user for convenience of operation, and is not limited here. The joint of the actual electrohydraulic support moves by means of a hydraulic system to provide the bearing capacity of the whole support, and a steering engine is arranged in the joint of the electrohydraulic control model and receives joint movement information input by a user by means of the steering engine, so that the corresponding joint in the actual electrohydraulic support is controlled to change the movement information.
In the embodiment of the invention, the electro-hydraulic support control model can be connected to computer equipment, namely, a steering engine of the electro-hydraulic support control model can be connected to the computer equipment, the computer equipment acquires the motion information of the steering engine, an algorithm or an application program preset in the computer equipment converts the motion information into a control instruction for a hydraulic system of an actual electro-hydraulic support, and the control instruction is transmitted to the actual electro-hydraulic support, so that the actual electro-hydraulic support is controlled to rotate correspondingly. For example, an application program for converting an angle stroke may be provided in the computer device, and after the motion information of one of the joints is acquired, the motion information may be converted into a stroke of a corresponding hydraulic pipe in the actual electrohydraulic support, so as to control the hydraulic pipe to extend to the stroke, and complete the rotation of the corresponding joint in the actual electrohydraulic support.
Step S12: and acquiring sensor data of joints in the actual electro-hydraulic support, and controlling steering engines of corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data.
In the embodiment of the invention, the steering engine in the electro-hydraulic support control model is a bidirectional steering engine, after the actual electro-hydraulic support is stressed, the corresponding sensing data of the stressed joint can be converted into the control instruction of the corresponding steering engine, and the steering engine is controlled to perform torque feedback so as to prompt the stress condition of the actual electro-hydraulic support in the current operation of a user. Wherein the sensor data includes pressure sensor data, travel sensor data, and tilt sensor data; controlling a corresponding steering engine to perform torque force adjustment according to the data of the pressure sensor; controlling a corresponding steering engine to adjust the rotating speed according to the data of the stroke sensor; and controlling a corresponding steering engine to adjust the angle according to the data of the tilt angle sensor.
In the embodiment of the invention, the sensor data are converted into the control instruction of the steering engine, so that the process of adjusting the steering engine can be realized through an algorithm or an application program, for example, the application program can be arranged in computer equipment, the computer equipment not only collects the motion information of the steering engine in the liquid support control model to control the actual electro-hydraulic support, but also collects the sensor data of each joint in the actual electro-hydraulic support while controlling, inputs the sensor data into the application program to be converted into the control instruction of the steering engine, and transmits the control instruction to the steering engine so as to control the torque, the rotating speed, the angle and the like of the steering engine, and the torque feedback of the actual electro-hydraulic support is realized while the control is realized.
According to the electro-hydraulic support control method, the electro-hydraulic support control model which is reduced in equal proportion is used for controlling the actual electro-hydraulic support, the control process of the electro-hydraulic support is simpler and more visual, the torque feedback of the actual electro-hydraulic support control process is carried out through the steering engine, the feeling of the electro-hydraulic support is provided for a user, therefore, the misoperation can be reduced, and the damage of the electro-hydraulic support control model and the actual electro-hydraulic support is avoided.
Fig. 2 is a flowchart of feedback of an electro-hydraulic support according to embodiment 1 of the present invention, including the following steps:
step S21: and generating a PWM control signal with preset frequency according to the sensor data, transmitting the PWM control signal to the corresponding steering engine, and controlling starting and stopping of the corresponding steering engine.
In the embodiment of the invention, the torque of the steering engine is directly increased to increase the resistance when the steering engine is controlled to rotate, and the steering engine on the electro-hydraulic support control model can be in a state of false power failure through the preset frequency control signal, so that the steering engine is in a starting and stopping state of the preset frequency to generate the resistance, wherein the sensed resistance is related to the preset frequency, and the preset frequency can be controlled through an algorithm or an application program in computer equipment, without limitation.
Step S22: and when the hydraulic pressure of the actual electro-hydraulic support exceeds a preset threshold value according to the data of the sensor, locking the corresponding steering engine to stop moving.
In the embodiment of the invention, the computer equipment can also monitor the hydraulic pressure of each joint in the actual electro-hydraulic support through sensor data, and can immediately lock the steering engine of the corresponding joint after the hydraulic pressure of the joint exceeds a preset threshold value, for example, the steering engine can be stopped to move through a program, and the motion information acquisition of the steering engine can also be cut off, so that the control on the corresponding joint of the actual electro-hydraulic support is stopped, the corresponding joint of the actual electro-hydraulic support is locked, and the damage of the actual electro-hydraulic support caused by overvoltage is prevented.
Fig. 3 is a schematic structural diagram of an electrohydraulic stent control model provided in embodiment 1 of the present invention.
The electro-hydraulic support control model 300 may further include a display module 320. This electric liquid support control model 300 is provided with the steering wheel including joint 310 in this joint 310, and this steering wheel is two-way steering wheel, can be connected to in the computer equipment. The display module 320 further comprises a display screen 321, a control switch 322 and a fingerprint verification module 323, wherein the display screen 321 is used for displaying operation prompts and working states of the electro-hydraulic support, the control switch 322 is used for starting the electro-hydraulic support control model 300, and the fingerprint verification module 323 is used for verifying a user of the electro-hydraulic support control model 300. The control switch 322 may be a key, which can turn on the electro-hydraulic support control module 300 by long pressing, turn off the display module 320 by short pressing, and be provided with a plurality of reset keys for immediate power off in emergency.
Fig. 4 is a schematic structural diagram of an electro-hydraulic support control system provided in embodiment 1 of the present invention.
The electro-hydraulic support control system 400 comprises an electro-hydraulic support control model 410, an electro-hydraulic support controller 420, a sensor acquisition unit 430 and a sensor 440, wherein the electro-hydraulic support controller 420 is located on an actual electro-hydraulic support, and is connected with the electro-hydraulic support control model 410 through wireless communication, and the wireless communication comprises Wifi communication, bluetooth communication, ZigBee communication, LORA/LORAWAN communication, 433M communication and the like, and is not limited here. The electro-hydraulic mount controller 420 is used to control the hydraulic system of the actual electro-hydraulic mount to control the movement information of the joint. The sensor 440 is used for collecting pressure data, inclination angle data, hydraulic stroke data and the like of each joint on the actual electro-hydraulic support.
Example 2
Fig. 5 is a flowchart of an electro-hydraulic support control method according to embodiment 2 of the present invention, where the method includes the following steps:
step S51: and acquiring sensor data of all joints in the actual electro-hydraulic support after the electro-hydraulic support control model is connected with the actual electro-hydraulic support.
In the embodiment of the invention, after the electrohydraulic support control model is connected with the actual electrohydraulic support for the first time or again, the sensor data of each joint can be immediately acquired from the sensors of the actual electrohydraulic support, and the sensor data comprises pressure data, inclination angle data, hydraulic stroke data and the like.
Step S52: and controlling all steering engines in the electro-hydraulic support control model to simulate the attitude of the actual electro-hydraulic support according to the data of all the joints.
In the embodiment of the invention, after the sensor data of each joint of the actual electro-hydraulic support is acquired, all the steering engines in the electro-hydraulic support control model are controlled according to the sensor data to simulate the attitude of the actual electro-hydraulic support, and the initial to-be-operated mode is entered, so that the misoperation of a user is avoided. The electro-hydraulic support control model can be connected with a plurality of actual electro-hydraulic supports for control at the same time, but the premise is that the postures of the plurality of actual electro-hydraulic supports are consistent, and the electro-hydraulic support control model is applied to the same scene.
Step S53: and acquiring the motion information of a steering engine in the joint of the electro-hydraulic support control model, and controlling the corresponding joint in the connected actual electro-hydraulic support to move correspondingly according to the motion information.
This step is identical to step S11 described above, and will not be described herein again.
Step S54: and acquiring sensor data of joints in the actual electro-hydraulic support, and controlling steering engines of corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data.
This step is identical to step S12 described above, and will not be described herein again.
Example 3
Fig. 6 is a flowchart of an electro-hydraulic support control method according to embodiment 3 of the present invention, where the method includes the following steps:
step S61: and acquiring the motion information of a steering engine in the joint of the electro-hydraulic support control model, and controlling the corresponding joint in the connected actual electro-hydraulic support to move correspondingly according to the motion information.
This step is identical to step S11 described above, and will not be described herein again.
Step S62: and acquiring sensor data of joints in the actual electro-hydraulic support, and controlling steering engines of corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data.
This step is identical to step S12 described above, and will not be described herein again.
Step S63: the method comprises the steps of obtaining an acceleration value of an acceleration sensor in an electro-hydraulic support control model, and disconnecting the control connection between the electro-hydraulic support control model and an actual electro-hydraulic support when the acceleration value is determined to exceed a preset value.
In the embodiment of the invention, in the scene of performing on-site operation on the electro-hydraulic support, the electro-hydraulic support control model and the computer equipment are generally connected to the actual electro-hydraulic support through a wireless network for control, so that an acceleration sensor can be arranged in the electro-hydraulic support control model and used for detecting misoperation of sudden falling or sudden change of the electro-hydraulic support control model. For example, an application program can be arranged in the computer equipment, the application program acquires the acceleration value of the acceleration sensor in real time, the acceleration value of the electro-hydraulic support control model changes suddenly, namely when the acceleration value exceeds a preset value, the electro-hydraulic support control model falls suddenly, and at the moment, the computer equipment is disconnected from the control connection with the actual electro-hydraulic support, so that misoperation of the electro-hydraulic support control model during falling is avoided.
Step S64: and displaying the actual operation posture of the electro-hydraulic support and prompting the operation of each joint according to the acquired sensor data.
In the embodiment of the invention, the electrohydraulic support control model may further be provided with a display module, and the display module may display the operation posture of the electrohydraulic support and prompt the operation of each joint according to the sensor data after acquiring the sensor data of the actual electrohydraulic support, for example, may display the current hydraulic pressure value of each joint, and the like, which is not limited herein.
Step S65: and detecting the distance between the electro-hydraulic support control model and the actual electro-hydraulic support, stopping the control of the electro-hydraulic support control model on the actual electro-hydraulic support when the distance is determined to be lower than a preset distance value, and displaying whether to continue operation prompt.
In the embodiment of the invention, an ultra-wideband communication chip can be arranged in the electro-hydraulic support control model, the positioning and detection distance between the electro-hydraulic support control model and the actual electro-hydraulic support are realized through a UWB positioning technology (UWB, ultra-wideband), when the distance between the actual electro-hydraulic support and the electro-hydraulic support control model is detected to be lower than a preset distance value, the current control on the actual electro-hydraulic support can be stopped, the actual electro-hydraulic support is prevented from hurting a user in the movement process, and the prompt of too short distance and the option of continuous operation can be performed through a display screen, so that the user can continue to operate.
Example 4
Fig. 7 is a schematic structural diagram of an electrohydraulic support control device provided in embodiment 4 of the present invention.
This electrohydraulic support control device 700 includes:
the joint angle control module 710 is used for acquiring motion information of a steering engine in a joint of the electrohydraulic support control model and controlling a corresponding joint in a connected actual electrohydraulic support to move correspondingly according to the motion information;
and the steering engine torque feedback module 720 is used for acquiring sensor data of joints in the actual electro-hydraulic support and controlling the steering engines of the corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data.
In the embodiment of the present invention, for more detailed description of functions of the modules, reference may be made to contents of corresponding parts in the foregoing embodiment, which are not described herein again.
The invention further provides electro-hydraulic support control equipment which comprises an electro-hydraulic support control model, wherein the electro-hydraulic support control model is an actual electro-hydraulic support reduction model, a bidirectional steering engine is arranged at a joint part of the electro-hydraulic support control model, and the electro-hydraulic support control equipment acquires movement information of the bidirectional steering engine and sends the movement information to a controller of the actual electro-hydraulic support so that the actual electro-hydraulic support can execute the steps of the embodiment.
In addition, the invention also provides electro-hydraulic support control equipment which comprises an electro-hydraulic support control model, a memory and a processor, wherein the electro-hydraulic support control model is an actual electro-hydraulic support equal-scale reduction model, a joint part of the electro-hydraulic support control model is provided with a bidirectional steering engine, the bidirectional steering engine is connected to the processor, the memory can be used for storing a computer program, and the processor enables the electro-hydraulic support control equipment to execute the method or the functions of each module in the electro-hydraulic support control device by operating the computer program.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phone book, etc.) created according to the use of the electro-hydraulic stand control device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The embodiment also provides a readable storage medium for storing a computer program used in the electro-hydraulic support control device.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An electro-hydraulic support control method, comprising:
acquiring motion information of a steering engine in a joint of the electro-hydraulic support control model, and controlling a corresponding joint in a connected actual electro-hydraulic support to move correspondingly according to the motion information;
and acquiring sensor data of joints in the actual electro-hydraulic support, and controlling steering engines of corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data.
2. The electro-hydraulic support control method of claim 1, further comprising:
acquiring sensor data of all joints in the actual electro-hydraulic support after the electro-hydraulic support control model is connected with the actual electro-hydraulic support;
and controlling all steering engines in the electro-hydraulic support control model to simulate the attitude of the actual electro-hydraulic support according to the data of all the joints.
3. The electro-hydraulic support control method according to claim 1, wherein the step of acquiring sensor data of joints in the actual electro-hydraulic support and controlling steering engines of corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data comprises the following steps:
generating a PWM control signal with preset frequency according to the sensor data, transmitting the PWM control signal to a corresponding steering engine, and performing start-stop control on the corresponding steering engine;
and when the hydraulic pressure of the actual electro-hydraulic support exceeds a preset threshold value according to the data of the sensor, locking the corresponding steering engine to stop moving.
4. The electro-hydraulic support control method of claim 1, further comprising:
the method comprises the steps of obtaining an acceleration value of an acceleration sensor in an electro-hydraulic support control model, and disconnecting the control connection between the electro-hydraulic support control model and an actual electro-hydraulic support when the acceleration value is determined to exceed a preset value.
5. The electro-hydraulic support control method of claim 1, further comprising:
and displaying the actual operation posture of the electro-hydraulic support and prompting the operation of each joint according to the acquired sensor data.
6. The electro-hydraulic support control method of claim 1, further comprising:
and detecting the distance between the electro-hydraulic support control model and the actual electro-hydraulic support, stopping the control of the electro-hydraulic support control model on the actual electro-hydraulic support when the distance is determined to be lower than a preset distance value, and displaying whether to continue operation prompt.
7. The electro-hydraulic mount control method of any one of claims 1-6, wherein the sensor data includes pressure sensor data, travel sensor data, and tilt sensor data;
controlling a corresponding steering engine to perform torque force adjustment according to the data of the pressure sensor;
controlling a corresponding steering engine to adjust the rotating speed according to the data of the stroke sensor;
and controlling a corresponding steering engine to adjust the angle according to the data of the tilt angle sensor.
8. An electro-hydraulic support control device, comprising:
the joint angle control module is used for acquiring the motion information of a steering engine in a joint of the electrohydraulic support control model and controlling the corresponding joint in the connected actual electrohydraulic support to correspondingly move according to the motion information;
and the steering engine torque feedback module is used for acquiring sensor data of joints in the actual electro-hydraulic support and controlling the steering engines of the corresponding joints in the electro-hydraulic support control model to perform torque feedback according to the sensor data.
9. The electro-hydraulic support control equipment is characterized by comprising an electro-hydraulic support control model, wherein the electro-hydraulic support control model is an actual electro-hydraulic support reduction model, a bidirectional steering engine is arranged at a joint part of the electro-hydraulic support control model, and the electro-hydraulic support control equipment acquires movement information of the bidirectional steering engine and sends the movement information to a controller of the actual electro-hydraulic support.
10. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the electro-hydraulic support control method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010088934.0A CN111173550A (en) | 2020-02-12 | 2020-02-12 | Electro-hydraulic support control method and device and electro-hydraulic support control equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010088934.0A CN111173550A (en) | 2020-02-12 | 2020-02-12 | Electro-hydraulic support control method and device and electro-hydraulic support control equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111173550A true CN111173550A (en) | 2020-05-19 |
Family
ID=70624240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010088934.0A Pending CN111173550A (en) | 2020-02-12 | 2020-02-12 | Electro-hydraulic support control method and device and electro-hydraulic support control equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111173550A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753535A (en) * | 2014-01-08 | 2014-04-30 | 深圳市优必选科技有限公司 | Device and method for controlling single-bus modular digital actuator of robot |
| DE102013019937A1 (en) * | 2013-11-28 | 2015-05-28 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, dieses vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr | Control device for controlling a cantilever arm |
| CN105404171A (en) * | 2015-09-24 | 2016-03-16 | 北京天地玛珂电液控制系统有限公司 | Simulation test system of hydraulic support electro-hydraulic control system |
| AU2016200782B1 (en) * | 2015-05-28 | 2016-05-05 | Commonwealth Scientific And Industrial Research Organisation | Improved mining machine and method |
| CN105737791A (en) * | 2014-12-12 | 2016-07-06 | 四川省科建煤炭产业技术研究院有限公司 | Position and orientation detection method of large-inclination-angle fully-mechanized coal mining face hydraulic support |
| CN106761877A (en) * | 2015-11-23 | 2017-05-31 | 璧典凯 | A kind of monitoring system of comprehensive mining hydraulic bracket |
| CN109866219A (en) * | 2017-12-01 | 2019-06-11 | 深圳市优必选科技有限公司 | A kind of shatter-resistant method, robot and the terminal device of robot |
| CN110693709A (en) * | 2019-11-21 | 2020-01-17 | 四川大学 | Temperature control system and method applied to moxibustion device |
| CN211474154U (en) * | 2020-02-12 | 2020-09-11 | 三一智矿科技有限公司 | Electrohydraulic support remote controller |
-
2020
- 2020-02-12 CN CN202010088934.0A patent/CN111173550A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013019937A1 (en) * | 2013-11-28 | 2015-05-28 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, dieses vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr | Control device for controlling a cantilever arm |
| CN103753535A (en) * | 2014-01-08 | 2014-04-30 | 深圳市优必选科技有限公司 | Device and method for controlling single-bus modular digital actuator of robot |
| CN105737791A (en) * | 2014-12-12 | 2016-07-06 | 四川省科建煤炭产业技术研究院有限公司 | Position and orientation detection method of large-inclination-angle fully-mechanized coal mining face hydraulic support |
| AU2016200782B1 (en) * | 2015-05-28 | 2016-05-05 | Commonwealth Scientific And Industrial Research Organisation | Improved mining machine and method |
| CN105404171A (en) * | 2015-09-24 | 2016-03-16 | 北京天地玛珂电液控制系统有限公司 | Simulation test system of hydraulic support electro-hydraulic control system |
| CN106761877A (en) * | 2015-11-23 | 2017-05-31 | 璧典凯 | A kind of monitoring system of comprehensive mining hydraulic bracket |
| CN109866219A (en) * | 2017-12-01 | 2019-06-11 | 深圳市优必选科技有限公司 | A kind of shatter-resistant method, robot and the terminal device of robot |
| CN110693709A (en) * | 2019-11-21 | 2020-01-17 | 四川大学 | Temperature control system and method applied to moxibustion device |
| CN211474154U (en) * | 2020-02-12 | 2020-09-11 | 三一智矿科技有限公司 | Electrohydraulic support remote controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10748390B2 (en) | Dynamic haptic generation based on detected video events | |
| CN106441076B (en) | Communication iron tower deforms automatic detection device and detection method | |
| CN103765339A (en) | Adaptive sensing for early booting of devices | |
| KR20170096100A (en) | Position control of a user input element associated with a haptic output device | |
| CN103069463A (en) | Radio remote control with position sensor system | |
| US20210111646A1 (en) | Modular electromagnetic drive for fitness applications | |
| CN102621903A (en) | Electronic device capable of remotely controlling aircraft and remote control method | |
| CN111633686A (en) | Robot safety protection method and device and robot | |
| CN111891274B (en) | Balance car control method and device and storage medium | |
| CN211474154U (en) | Electrohydraulic support remote controller | |
| CN111173550A (en) | Electro-hydraulic support control method and device and electro-hydraulic support control equipment | |
| CN113305839A (en) | Admittance control method and admittance control system of robot and robot | |
| CN108134374A (en) | For determination method, medium, the electronic equipment of the belt slippage reason of power shovel | |
| KR20180059852A (en) | Method and apparatus for determining the position of a virtual object in a virtual space | |
| KR20160088158A (en) | Apparatus and method for user authentication using a movement information | |
| US6307282B1 (en) | Smart switch | |
| JP6239434B2 (en) | Control method of motor drive device, motor control system and program | |
| CN107580719A (en) | For identifying the apparatus and method of stealing | |
| US20220201375A1 (en) | Self-powered sensor, and monitoring system including same | |
| JP6941529B2 (en) | Terminal device, output control method and output control program | |
| TWI484369B (en) | Sensing operation system and method thereof | |
| CA2452296A1 (en) | Vehicle security device having pre-warn features and related methods | |
| CN106527901B (en) | Information display method and device and terminal | |
| KR20150030836A (en) | Monitoring apparatus for transmission line and system using the same | |
| CN116959355A (en) | Display screen position control method, device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |