CN114415624A - Simulation test system of electro-hydraulic controller - Google Patents
Simulation test system of electro-hydraulic controller Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a simulation test system of an electro-hydraulic controller. The system comprises: collecting equipment, real equipment, simulation equipment and test equipment; the acquisition equipment comprises first acquisition equipment used for acquiring first operation data of real equipment and second acquisition equipment used for acquiring second operation data of virtual equipment corresponding to the real equipment, and the virtual equipment and the second acquisition equipment are constructed by test equipment; the simulation equipment is used for controlling the operation of the real equipment and the virtual equipment and processing the operation data; the test equipment is constructed according to the first operation data and used for obtaining a test result of the simulation equipment according to the operation data. Therefore, the system can be combined with real equipment and virtual equipment to realize simulation test of the electro-hydraulic controller, cost is saved, test equipment can be constructed according to the first operation data of the real equipment, simulation test of real working conditions can be realized, and applicability and accuracy of the simulation test of the electro-hydraulic controller are improved.
Description
Technical Field
The invention relates to the technical field of electro-hydraulic controllers, in particular to a simulation test system of an electro-hydraulic controller.
Background
At present, the electro-hydraulic controller has the advantages of reducing the working strength of workers, improving the working efficiency and the like, and is widely applied. For example, the electro-hydraulic controller can be applied to a hydraulic support in coal mining. However, the types of equipment, working conditions and the like are more, and the types of the electro-hydraulic controllers are also more, so that the complexity and the cost of the simulation test of the electro-hydraulic controllers are higher.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above.
Therefore, one objective of the present invention is to provide a simulation test system for an electro-hydraulic controller, which includes a collection device, a real device, a simulation device for the electro-hydraulic controller, and a test device, wherein the actions, postures, and the like of the real device and each component included in the real device can be visually displayed through the real device, and the simulation test for the electro-hydraulic controller can be realized by combining the real device, the first collection device, the virtual device constructed by the test device, and the second collection device, which is helpful for saving the simulation test cost of the electro-hydraulic controller, and the test device can be constructed according to the first operation data of the real device, so that the simulation test for the real working condition can be realized, and the applicability and accuracy of the simulation test for the electro-hydraulic controller can be improved.
An embodiment of a first aspect of the present invention provides a simulation test system for an electro-hydraulic controller, including: collecting equipment, real equipment, simulation equipment of an electro-hydraulic controller and test equipment of the electro-hydraulic controller; the acquisition equipment comprises first acquisition equipment used for acquiring first operation data of the real equipment and second acquisition equipment used for acquiring second operation data of virtual equipment corresponding to the real equipment, the virtual equipment and the second acquisition equipment are constructed by the test equipment, and the first acquisition equipment and/or the second acquisition equipment comprise sensors; the simulation equipment is respectively connected with the real equipment, the acquisition equipment and the test equipment and is used for controlling the operation of the real equipment and the virtual equipment and processing the operation data, wherein the operation data comprises the first operation data and/or the second operation data; the test equipment is constructed according to the first operation data and is used for obtaining a test result of the simulation equipment according to the operation data.
The simulation test system of the electro-hydraulic controller comprises the acquisition equipment, the real equipment, the simulation equipment of the electro-hydraulic controller and the test equipment, the real equipment and the action, the posture and the like of each component contained in the real equipment can be visually displayed through the real equipment, the simulation test of the electro-hydraulic controller can be realized by combining the real equipment, the first acquisition equipment, the virtual equipment constructed by the test equipment and the second acquisition equipment, the simulation test cost of the electro-hydraulic controller can be saved, the test equipment can be constructed according to the first running data of the real equipment, the simulation test of a real working condition can be realized, and the applicability and the accuracy of the simulation test of the electro-hydraulic controller can be improved.
In addition, the simulation test system of the electro-hydraulic controller provided according to the above embodiment of the present invention may further have the following additional technical features:
in one embodiment of the present invention, further comprising: and the server is connected with the simulation equipment and is used for processing the operation data processed by the simulation equipment to obtain a simulation result of the simulation equipment.
In an embodiment of the present invention, the test device is disposed on the server, and the server is further configured to send the first operation data to the test device.
In one embodiment of the present invention, the acquisition device further comprises: the device comprises a third acquisition device and a fourth acquisition device, wherein the third acquisition device is used for acquiring first image data of the real device, the fourth acquisition device is used for acquiring second image data of the virtual device, the fourth acquisition device is constructed by the test device, and the third acquisition device and/or the fourth acquisition device comprise a camera.
In one embodiment of the present invention, further comprising: and the positioning equipment is respectively connected with the third acquisition equipment and the fourth acquisition equipment, and is used for determining the first position of the real equipment according to the first image data and determining the second position of the virtual equipment according to the second image data.
In an embodiment of the present invention, the simulation device is connected to the positioning device, and the simulation device is further configured to control the virtual device to adjust from the second position to the first position.
In an embodiment of the present invention, the positioning device is further configured to extract a first position feature of the real device at the current time from the first image data at the current time, extract a second position feature of the virtual device at the next time from the second image data at the next time, and obtain the first position of the real device at the next time according to the first position feature and the second position feature.
In an embodiment of the present invention, the positioning device is further configured to obtain a position variation from a current time to a next time of the real device according to the first position feature and the second position feature, and obtain the first position of the real device at the next time according to the first position and the position variation of the current time of the real device.
In one embodiment of the present invention, further comprising: and the display equipment is connected with the acquisition equipment and is used for displaying the operating data.
In one embodiment of the invention, the real plant comprises a hydraulic support.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a simulation test system of an electro-hydraulic controller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a simulation test system of an electro-hydraulic controller according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a display device in a simulation test system of an electro-hydraulic controller according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a simulation test system of an electro-hydraulic controller according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The simulation test system of the electro-hydraulic controller according to the embodiment of the invention is described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a simulation test system of an electro-hydraulic controller according to an embodiment of the present invention.
As shown in fig. 1, a simulation test system 100 of an electrohydraulic controller according to an embodiment of the present invention includes a collection device 1, a real device 2, a simulation device 3 of the electrohydraulic controller, and a test device 4 of the electrohydraulic controller.
In the embodiment of the present invention, the acquisition device 1 includes a first acquisition device 11 configured to acquire first operation data of the real device 2, and a second acquisition device 12 configured to acquire second operation data of a virtual device 41 (not shown in the figure) corresponding to the real device 2, the virtual device 41 and the second acquisition device 12 are constructed by the test device 4, and the first acquisition device 11 and/or the second acquisition device 12 includes a sensor.
It should be noted that the category of the real device 2 is not limited too much, for example, the real device 2 may include a hydraulic support, and for example, the real device 2 may include a miniaturized hydraulic support model. The real device 2 can exhibit the motion, posture, and the like of the real device 2 and its respective components included therein. For example, taking the real device 2 as a hydraulic support as an example, the actions of lifting the column, pushing, moving the frame, stretching and retracting the side protection plate, etc. can be displayed through the hydraulic support. In one embodiment, the real plant 2 comprises a control system comprising motors, relays, etc.
In one embodiment, the virtual device 41 may be built with reference to the real device 2. For example, the shape, size, material, etc. of the virtual device 41 are consistent with those of the real device 2.
It should be noted that the category of the operation data is not limited too much, for example, taking the first operation data of the hydraulic bracket as an example, the first operation data includes, but is not limited to, the inclination angle, the column pressure, the displacement, the height, and the like of the hydraulic bracket. In one embodiment, the first collection device 11 and/or the second collection device 12 comprise a sensor module that integrates at least one of a tilt sensor, a pressure sensor, a displacement sensor, a height sensor, a proximity sensor. In one embodiment, the second acquisition device 12 may be constructed with reference to the first acquisition device 11. For example, the parameters of the category, number, location, etc. of the second capturing device 12 are all consistent with those of the first capturing device 11.
In the embodiment of the present invention, the simulation device 3 is connected to the real device 2, the collection device 1, and the test device 4, respectively, and is configured to control operations of the real device 2 and the virtual device 41, and process operation data, where the operation data includes first operation data and/or second operation data. It should be noted that the simulation device is used to simulate an electro-hydraulic controller, including a hydraulic pump, a solenoid valve, and the like.
In one embodiment, the simulation device 3 may receive a control instruction from a user, and adjust the flow rate of the solenoid valve in the simulation device 3 according to the control instruction to control the operation of the real device 2 and the virtual device 41.
In one embodiment, the simulation device 3 includes at least one of a processor module, a sensor output module, a solenoid valve identification module, a serial communication module, a CAN (Controller Area Network) communication module, a functional interface configuration module, and a fault simulation module. The processor module is connected with the acquisition equipment 1 and used for processing the operation data. The sensor output module is connected with the sensor of the simulation device 3 and is used for outputting data of the sensor of the simulation device 3. The solenoid valve identification module is used for identifying the output of the solenoid valve in the simulation device 3. The serial port communication module is connected with the test equipment 4 and is used for realizing communication between the simulation equipment 3 and the test equipment 4. The CAN communication module is connected with another simulation device 3 and used for realizing communication between the simulation devices 3. The functional interface configuration module is used for configuring the multifunctional interface of the simulation device 3. The fault simulation module is used for realizing fault simulation of the simulation equipment 3.
In the embodiment of the present invention, the test device 4 is constructed according to the first operation data, and is configured to obtain the test result of the simulation device 3 according to the operation data.
To sum up, the simulation test system of the electro-hydraulic controller in the embodiment of the invention comprises the acquisition device, the real device, the simulation device of the electro-hydraulic controller and the test device, the real device and the actions, postures and the like of all parts contained in the real device can be visually displayed through the real device, the simulation test of the electro-hydraulic controller can be realized by combining the real device, the first acquisition device, the virtual device constructed by the test device and the second acquisition device, the simulation test cost of the electro-hydraulic controller can be saved, the test device can be constructed according to the first operation data of the real device, the simulation test of a real working condition can be realized, and the applicability and the accuracy of the simulation test of the electro-hydraulic controller can be improved.
On the basis of any of the above embodiments, as shown in fig. 2, the simulation testing system 100 of the electrohydraulic controller further includes a server 5, where the server 5 is connected to the simulation device 3, and is configured to process the operation data processed by the simulation device 3 to obtain a simulation result of the simulation device 3.
In one embodiment, the test device 4 is provided on a server 5, and the server 5 is further configured to transmit the first operating data to the test device 4 in order to build the test device 4 from the first operating data. For example, the server 5 may download the first operating data to the test device 4.
In an embodiment, the server 5 is also used for configuring the simulation functions of the simulation device 3 and for configuring the test functions of the test device 4.
On the basis of any of the above embodiments, as shown in fig. 2, the acquisition device 1 further includes a third acquisition device 13 configured to acquire the first image data of the real device 2, and a fourth acquisition device 14 configured to acquire the second image data of the virtual device 41, where the fourth acquisition device 14 is constructed by the test device 4, and the third acquisition device 13 and/or the fourth acquisition device 14 includes a camera.
It should be noted that the type of the image data is not limited too much, and for example, the image data includes a picture, video data, a plane image, a stereoscopic image, and the like. In one embodiment, the third acquisition device 13 and/or the fourth acquisition device 14 comprise a 2D camera, a 3D camera, or the like. In one embodiment, the fourth acquisition device 14 may be constructed with reference to the third acquisition device 13. For example, the type, number, position, viewing angle, and field of view of the fourth capturing device 14 are all consistent with those of the third capturing device 13.
On the basis of any of the above embodiments, as shown in fig. 2, the simulation testing system 100 of the electro-hydraulic controller further includes a positioning device 6, the positioning device 6 is connected to the third collecting device 13 and the fourth collecting device 14, respectively, and the positioning device 6 is configured to determine the first position of the real device 2 according to the first image data and determine the second position of the virtual device 41 according to the second image data.
In one embodiment, the positioning device 6 is provided on the server 5.
In an embodiment, the positioning device 6 is configured to identify the real device 2 from the first image data and to determine the first position of the real device 2 based on the area in the first image data where the real device 2 is located. It should be noted that, for determining the relevant content of the second position of the virtual device 41 according to the second image data, reference may be made to the above-mentioned embodiment, and details are not repeated here.
In an embodiment, as shown in fig. 2, the simulation device 3 is connected to the positioning device 6, and the simulation device 3 is further configured to control the virtual device 41 to adjust from the second position to the first position, that is, the second position of the virtual device 41 can be adjusted according to the first position of the real device, so that the position synchronization between the virtual device and the real device is realized, and the simulation test of the electro-hydraulic controller is facilitated.
Therefore, the simulation test system of the electro-hydraulic controller in the scheme can obtain the positions of the real equipment and the virtual equipment through the camera and the positioning equipment, and is beneficial to reducing the number of the sensors.
On the basis of any of the above embodiments, the positioning device 6 is further configured to extract a first position feature of the real device 2 at the current time from the first image data at the current time, extract a second position feature of the virtual device 41 at the next time from the second image data at the next time, and obtain the first position of the real device 2 at the next time according to the first position feature and the second position feature.
It should be noted that the category of the position feature is not limited too much, for example, the first position feature of the real device 2 is taken as an example, and the first position feature includes, but is not limited to, the edge position of the real device 2 and each component included therein, the color and the position of the target point, and the like. Wherein the target point may comprise the center of gravity.
In one embodiment, the positioning device 6 may obtain the second image data at the current time, obtain a position change amount of the virtual device 41 from the current time to the next time, and obtain the second image data at the next time according to the second image data at the current time and the position change amount. It should be noted that the type of the position variation is not limited too much, for example, the position variation includes, but is not limited to, displacement, rotation direction, rotation angle, translation direction, translation distance, and the like.
In one embodiment, the positioning device 6 may obtain the position change amount of the virtual device 41 from the current time to the next time according to a plurality of historical second image data before the current time, and according to the plurality of historical second image data and the second image data of the current time. For example, the positioning device 6 may obtain the amount of position change of the virtual device 41 according to any two adjacent second image data, and use the average value of each amount of position change as the amount of position change of the virtual device 41 from the current time to the next time.
In an embodiment, the positioning device 6 is further configured to obtain a position variation from the current time to a next time of the real device 2 according to the first position feature and the second position feature, and obtain a first position of the real device at the next time according to the first position of the real device 2 at the current time and the position variation.
Therefore, the simulation test system of the electro-hydraulic controller in the scheme can obtain the position of the real equipment at the next moment through the camera and the positioning equipment, the number of the sensors is favorably reduced, the calculated amount in the feature extraction process of the second image data acquired by the virtual camera (namely, the fourth acquisition equipment) is low, and the position determination speed of the real equipment at the next moment can be obviously improved.
On the basis of any of the above embodiments, as shown in fig. 2, the simulation testing system 100 of the electrohydraulic controller further includes a display device 7, and the display device 7 is connected with the collecting device 1 and is used for displaying the operation data.
In one embodiment, the presentation device 7 may comprise a display screen, a display panel, or the like.
In one embodiment, display device 7 includes a device display module 71, a sensor indicator light 72, and a solenoid indicator light 73. The device exhibition module 71 is configured to exhibit the actions, postures and the like of the real device 2 and/or the virtual device 41 and the components contained therein. As shown in fig. 3, the sensor indicator lamps 72 include a shift stroke indicator lamp 721, a column pressure indicator lamp 722, and a proximity sensor indicator lamp 723, and each sensor indicator lamp 72 includes a plurality of indicator lamps, and changes in sensor values may be indicated by color gradation of the indicator lamps, a change in the number of the indicator lamps to be turned on, and the like. The electromagnetic valve indicator lamp 73 includes a plurality of indicator lamps, each indicator lamp is used for indicating the output state of the corresponding electromagnetic valve port, for example, the corresponding electromagnetic valve port can be indicated to have two-way output by adopting a double-color lamp lighting mode, the corresponding electromagnetic valve port can be indicated to have one-way output by adopting a single-color lamp lighting mode, and the corresponding electromagnetic valve port can be indicated to be closed by adopting an indicator lamp extinguishing mode.
Therefore, the simulation test system of the electro-hydraulic controller in the scheme can visually display the operation data of the real equipment and/or the virtual equipment through the display equipment, and is convenient for workers to know the operation data in time.
On the basis of any of the above embodiments, as shown in fig. 4, the simulation test system 100 of the electro-hydraulic controller includes a collecting device 1, a real device 2, a simulation device 3, a testing device 4 (not shown in the figure), a server 5, a positioning device 6, and a display device 7. Wherein the test device 4 is arranged in the server 5. The simulation device 3 comprises an electro-hydraulic controller simulation module 31, an electromagnetic valve identification module 32, a functional interface configuration module 33, a sensor output module 34, a fault simulation module 35, a serial communication module 36 and a CAN communication module 37. The electrohydraulic controller simulation module 31 is configured to simulate an electrohydraulic controller.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A simulation test system of an electro-hydraulic controller is characterized by comprising:
collecting equipment, real equipment, simulation equipment of an electro-hydraulic controller and test equipment of the electro-hydraulic controller; wherein the content of the first and second substances,
the acquisition equipment comprises first acquisition equipment used for acquiring first operation data of the real equipment and second acquisition equipment used for acquiring second operation data of virtual equipment corresponding to the real equipment, the virtual equipment and the second acquisition equipment are constructed by the test equipment, and the first acquisition equipment and/or the second acquisition equipment comprise sensors;
the simulation equipment is respectively connected with the real equipment, the acquisition equipment and the test equipment and is used for controlling the operation of the real equipment and the virtual equipment and processing the operation data, wherein the operation data comprises the first operation data and/or the second operation data;
the test equipment is constructed according to the first operation data and is used for obtaining a test result of the simulation equipment according to the operation data.
2. The system of claim 1, further comprising: and the server is connected with the simulation equipment and is used for processing the operation data processed by the simulation equipment to obtain a simulation result of the simulation equipment.
3. The system of claim 2, wherein the test equipment is disposed on the server, the server further configured to send the first operational data to the test equipment.
4. The system of claim 1, wherein the acquisition device further comprises: the device comprises a third acquisition device and a fourth acquisition device, wherein the third acquisition device is used for acquiring first image data of the real device, the fourth acquisition device is used for acquiring second image data of the virtual device, the fourth acquisition device is constructed by the test device, and the third acquisition device and/or the fourth acquisition device comprise a camera.
5. The system of claim 4, further comprising: and the positioning equipment is respectively connected with the third acquisition equipment and the fourth acquisition equipment, and is used for determining the first position of the real equipment according to the first image data and determining the second position of the virtual equipment according to the second image data.
6. The system of claim 5, wherein the emulation device is coupled to the positioning device, the emulation device further configured to control the virtual device to adjust from the second position to the first position.
7. The system of claim 5, wherein the positioning device is further configured to extract a first position feature of the real device at a current time from the first image data at the current time, extract a second position feature of the virtual device at a next time from the second image data at the next time, and obtain the first position of the real device at the next time according to the first position feature and the second position feature.
8. The system according to claim 7, wherein the positioning device is further configured to obtain a position variation of the real device from a current time to a next time according to the first position feature and the second position feature, and obtain the first position of the real device at the next time according to the first position of the real device at the current time and the position variation.
9. The system of any one of claims 1-8, further comprising: and the display equipment is connected with the acquisition equipment and is used for displaying the operating data.
10. The system of any one of claims 1-8, wherein the real plant comprises a hydraulic support.
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