CN116006257A - Downhole device force sense interaction system - Google Patents
Downhole device force sense interaction system Download PDFInfo
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- CN116006257A CN116006257A CN202211726070.6A CN202211726070A CN116006257A CN 116006257 A CN116006257 A CN 116006257A CN 202211726070 A CN202211726070 A CN 202211726070A CN 116006257 A CN116006257 A CN 116006257A
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- 230000003993 interaction Effects 0.000 title claims abstract description 83
- 230000009471 action Effects 0.000 claims abstract description 16
- 238000004088 simulation Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 9
- 230000003238 somatosensory effect Effects 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 2
- 239000003245 coal Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The disclosure provides a downhole device force sense interaction system, which relates to the technical field of downhole equipment control, and comprises: the system comprises a force interaction module, a control module, a data acquisition module and a downhole target device; the force interaction module comprises at least one force interaction unit; the control module generates a force control instruction based on the action data and sends the force control instruction to the underground target device; the data acquisition module acquires operation data and sends the operation data to the control module; the control module generates a force feedback instruction based on the operation data and sends the force feedback instruction to the force interaction module; and the force interaction module is used for changing configuration parameters of the force interaction unit based on the force feedback instruction. The force interaction module is used for collecting action data of the target object and simulating operation data of an underground target device, so that the operation condition of the underground target device can be sensed when the target object is remotely controlled, and the accuracy and precision of the target object in control are improved.
Description
Technical Field
The disclosure relates to the technical field of downhole equipment control, in particular to a downhole device force sense interaction system.
Background
The remote control mode of automatic coal mining of the fully mechanized coal face at present is as follows: the data acquisition, uploading and receiving and the control command issuing are performed by the monitoring host through the equipment network interconnection, the remote ends of operators and the monitoring center body are provided, and the handles, rockers, keys and the like at the hand of the operators and the monitoring center body are operated to perform man-machine interaction with the monitoring host, so that the coal mining machine, the hydraulic support, the conveyor, the crusher and the reversed loader are remotely controlled, and few or even no people on the working face are realized. However, the current operating system mainly depends on experience of operators, and cannot be used for the operators to experience a real underground operation environment.
Disclosure of Invention
The present disclosure aims to solve, at least to some extent, one of the technical problems in the related art.
To this end, it is an object of the present disclosure to provide a downhole device force sensing interaction system.
To achieve the above object, embodiments of a first aspect of the present disclosure provide a downhole device force sense interaction system, comprising: the system comprises a force interaction module, a control module, a data acquisition module and an underground target device, wherein the force interaction module comprises at least one force interaction unit, the force interaction unit performs resistance simulation on a target object, acquires action data of the target object under the resistance simulation and sends the action data to the control module; the control module generates a force control instruction based on the action data and sends the force control instruction to the underground target device; the data acquisition module acquires operation data of the underground target device and sends the operation data to the control module; the control module is used for generating a force feedback instruction based on the operation data and sending the force feedback instruction to the force interaction module; and the force interaction module is used for changing configuration parameters of the force interaction unit based on the force feedback instruction so as to realize different resistance simulation.
According to one embodiment of the present disclosure, job data includes real-time job data and job scene data, generating a force feedback instruction based on the job data, including: determining obstacle information and work resistance information around the downhole target device based on the real-time work data and the work scene data; determining the current position, direction and magnitude of resistance born by the underground target device based on the barrier information and the operation resistance information; force feedback instructions are generated based on the location, direction, and magnitude of the resistance currently experienced by the downhole target device.
According to one embodiment of the present disclosure, based on a force feedback instruction, a change of a configuration parameter of a force interaction unit includes: and determining a target force interaction unit needing to change parameters based on the force feedback instruction, and adjusting configuration parameters of the target force interaction unit.
According to one embodiment of the present disclosure, the target force interaction unit is at least one of a force feedback operating device, a force feedback wearable apparatus, a force feedback seat, and a force feedback screen.
According to one embodiment of the present disclosure, adjusting the configuration parameters of the target force interaction unit includes: the target force interaction unit is a force feedback operation device, and based on a force feedback instruction, the mechanical impedance of the force feedback operation device in a target direction is changed, wherein the target direction corresponds to the direction of the blocking force borne by the underground target device.
According to one embodiment of the present disclosure, adjusting the configuration parameters of the target force interaction unit includes: the target force interaction unit is force feedback wearing equipment, and based on force feedback instructions, somatosensory parameters on the force feedback wearing equipment are changed.
According to one embodiment of the present disclosure, adjusting the configuration parameters of the target force interaction unit includes: the target force interaction unit is a force feedback seat, and the seat angle of the force feedback seat is adjusted based on the force feedback instruction.
According to one embodiment of the present disclosure, adjusting the configuration parameters of the target force interaction unit includes: the target force interaction unit is a force feedback screen, and the display content and the display angle of the force feedback screen are adjusted based on the force feedback instruction.
According to one embodiment of the present disclosure, the force feedback operating device is one of a force feedback handle, a force feedback rocker and a force feedback key.
According to one embodiment of the disclosure, the data acquisition module is provided with a wireless signal transmitting device, and the control module is provided with a wireless signal receiving device which cooperates with the wireless signal transmitting device.
The force interaction module is used for collecting action data of the target object and simulating operation data of an underground target device, so that the operation condition of the underground target device can be sensed when the target object is remotely controlled, and the accuracy and precision of the target object in control are improved.
Drawings
FIG. 1 is a schematic diagram of a downhole device force interaction system according to one embodiment of the present disclosure;
fig. 2 is a schematic diagram of an electronic device according to one embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present disclosure and are not to be construed as limiting the present disclosure.
Fig. 1 is a schematic structural diagram of a downhole device force sensing interaction system according to the present disclosure, as shown in fig. 1, the downhole device force sensing interaction system includes: the system comprises a force interaction module, a control module, a data acquisition module and a downhole target device.
The force interaction module comprises at least one force interaction unit, wherein the force interaction unit is used for simulating resistance of a target object, collecting action data of the target object under the resistance simulation, and sending the action data to the control module.
And the control module is used for generating a force control instruction based on the action data and sending the force control instruction to the underground target device, wherein the underground target device performs underground operation based on the force control instruction.
The data acquisition module is used for acquiring the operation data of the underground target device and sending the operation data to the control module.
And the control module is also used for generating a force feedback instruction based on the operation data and sending the force feedback instruction to the force interaction module.
And the force interaction module is also used for changing configuration parameters of the force interaction unit based on the force feedback instruction so as to realize different resistance simulation.
In the embodiment of the disclosure, the force interaction module is used for collecting the action data of the target object and simulating the operation data of the underground target device, so that the operation condition of the underground target device can be sensed when the target object is remotely controlled, and the accuracy and precision of the target object in control are improved.
It should be noted that the downhole target device in the embodiments of the present disclosure is a downhole operation device that needs to be remotely controlled, and the downhole operation device may be various, and is not limited herein, for example, the downhole operation device may be a point-and-control system, such as a hydraulic support, etc., the downhole operation device may also be a shearer control system, such as a shearer, etc., the downhole operation device may also be a three-stage control system, such as a transporter, a pulverizer, a reversed loader, etc., and the downhole operation device may also be a pump station control system, such as an emulsion pump, etc.
In the embodiment of the present disclosure, the force interaction unit may be various, and is not limited herein, and may be at least one of a force feedback operation device, a force feedback wearable apparatus, a force feedback seat, and a force feedback screen, for example. The resistance simulation is carried out through the force interaction unit, the target object can feel the corresponding resistance, and the resistance simulation not only comprises the resistance, but also comprises the resistance in different directions, the change rate of the resistance, and the like, so that the underground working environment can be better simulated.
In an embodiment of the disclosure, the control module may include a processor, and the processor may generate a force control command according to the motion data and send the control command to the downhole target device. It should be noted that the communication between the control module and the downhole target device may be performed through a wired connection or may be performed through a wireless connection, which is not limited in any way.
In the embodiments of the present disclosure, the data acquisition module may be various, and is not limited in any way herein. For example, the image acquisition device may be used for image acquisition, and the sensor may be used for data acquisition. The data acquisition module can acquire real-time operation data and operation scene data of the underground target device during underground real-time operation. Accordingly, the control module can determine obstacle information and operation resistance information around the underground target device based on the real-time operation data and the operation scene data, then determine the position, the direction and the size of the resistance currently born by the underground target device based on the obstacle information and the operation resistance information, and generate a force feedback instruction based on the position, the direction and the size of the resistance currently born by the underground target device.
It should be noted that, since the force interaction units may be plural, not all the force interaction units are needed to participate in each parameter transformation, when the parameter adjustment is performed on the force interaction units, it is first required to determine the target force interaction units needing to change the parameters, and adjust the configuration parameters of the target force interaction units. It should be noted that the target force interaction unit is at least one of a force feedback operation device, a force feedback wearable device, a force feedback seat, and a force feedback screen.
In one possible implementation of the disclosure, the target force interaction unit may be a force feedback operation device, and based on the force feedback instruction, change a mechanical impedance of the force feedback operation device in a target direction, where the target direction corresponds to a direction of a resistance force borne by the downhole target device.
The adjusted mechanical impedance is used to change according to a change in resistance received by the downhole target device when the target object is operated, for example, when the resistance direction changes, the direction of the adjusted mechanical impedance increases when the resistance direction becomes larger. The force feedback operating device is one of a force feedback handle, a force feedback rocker and a force feedback key.
In one possible implementation of the present disclosure, the target force interaction unit may further be a force feedback wearable device, and based on the force feedback instruction, change a somatosensory parameter on the force feedback wearable device.
It should be noted that the somatosensory parameters may be various, and for example, may include pressure parameters, temperature parameters, vibration parameters, and the like. In actual operation, when the real-time operation data and the operation scene data of the underground target device are changed, the target object can be notified or reminded by changing the motion sensing parameter.
In one possible implementation of the present disclosure, the target force interaction unit may also be a force feedback seat, the seat angle of which is adjusted based on the force feedback instruction.
In one possible implementation of the present disclosure, the target force interaction unit may further be a force feedback screen, and based on the force feedback instruction, adjust a display content and a display angle of the force feedback screen.
The data acquisition module is provided with a wireless signal transmitting device, and the control module is provided with a wireless signal receiving device which works in cooperation with the wireless signal transmitting device. Therefore, the wireless communication of the data acquisition module and the control module can be realized, the cost of underground data transmission is reduced, and the efficiency of data transmission is increased.
After the configuration parameters of the target force interaction unit are changed, the target force interaction unit can also collect action data generated by the target object based on the changed parameters, the action data are sent to the control module, and the control module generates control instructions based on the action data and sends the control instructions to the underground target device. Through the cyclic interaction, the operation of the operated target object can be maximally attached to the actual working environment of the underground target device, so that the effectiveness of the operation and the safety of underground operation are improved.
In order to implement the above embodiments, the embodiments of the present disclosure further provide an electronic device 200, as shown in fig. 2, where the electronic device 200 includes: the processor 201 and the memory 202 communicatively coupled to the processor, the memory 202 storing instructions executable by the at least one processor, the instructions being executable by the at least one processor 201 to cooperate to implement a downhole device force interaction system as an embodiment of the first aspect of the present disclosure.
To achieve the above embodiments, the embodiments of the present disclosure further provide a non-transitory computer readable storage medium storing computer instructions for causing a computer to cooperate to implement a downhole device force interaction system as the embodiments of the first aspect of the present disclosure.
To achieve the above embodiments, the embodiments of the present disclosure also propose a computer program product comprising a computer program which, when executed by a processor, cooperates to implement a downhole device force interaction system as the embodiments of the first aspect of the present disclosure.
In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present disclosure.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present disclosure. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Although embodiments of the present disclosure have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the present disclosure, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the present disclosure.
Claims (10)
1. A downhole device force sense interaction system, comprising
The system comprises a force interaction module, a control module, a data acquisition module and a downhole target device, wherein,
the force interaction module comprises at least one force interaction unit, the force interaction unit performs resistance simulation on a target object, acquires action data of the target object under the resistance simulation, and sends the action data to the control module;
the control module generates a force control instruction based on the action data and sends the force control instruction to the downhole target device;
the data acquisition module acquires the operation data of the underground target device and sends the operation data to the control module;
the control module generates a force feedback instruction based on the operation data and sends the force feedback instruction to the force interaction module;
and the force interaction module is used for changing configuration parameters of the force interaction unit based on the force feedback instruction so as to realize different resistance simulation.
2. The system of claim 1, wherein the job data comprises real-time job data and job scenario data, the generating force feedback instructions based on the job data comprising:
determining obstacle information and work resistance information around the downhole target device based on the real-time work data and the work scenario data;
determining the position, direction and magnitude of the resistance currently experienced by the downhole target device based on the obstacle information and the operational resistance information;
the force feedback command is generated based on the location, direction, and magnitude of the resistance currently experienced by the downhole target device.
3. The system of claim 2, wherein the altering of the configuration parameters of the force interaction unit based on the force feedback command comprises:
and determining a target force interaction unit needing to change parameters based on the force feedback instruction, and adjusting configuration parameters of the target force interaction unit.
4. The system of any of claims 1-3, wherein the target force interaction unit is at least one of a force feedback operator, a force feedback wearable device, a force feedback seat, and a force feedback screen.
5. The system of claim 4, wherein the adjusting the configuration parameters of the target force interaction unit comprises:
the target force interaction unit is a force feedback operation device, and based on the force feedback instruction, the mechanical impedance of the force feedback operation device in a target direction is changed, and the target direction corresponds to the direction of the blocking force borne by the underground target device.
6. The system of claim 4, wherein the adjusting the configuration parameters of the target force interaction unit comprises:
the target force interaction unit is force feedback wearing equipment, and based on the force feedback instruction, the somatosensory parameters on the force feedback wearing equipment are changed.
7. The system of claim 4, wherein the adjusting the configuration parameters of the target force interaction unit comprises:
the target force interaction unit is a force feedback seat, and the seat angle of the force feedback seat is adjusted based on the force feedback instruction.
8. The system of claim 4, wherein the adjusting the configuration parameters of the target force interaction unit comprises:
the target force interaction unit is a force feedback screen, and based on the force feedback instruction, the display content and the display angle of the force feedback screen are adjusted.
9. The system of claim 4, wherein the force feedback operating device is at least one of a force feedback handle, a force feedback rocker, and a force feedback key.
10. The system of claim 1, wherein the data acquisition module is provided with a wireless signal transmitting device and the control module is provided with a wireless signal receiving device cooperating with the wireless signal transmitting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211726070.6A CN116006257A (en) | 2022-12-30 | 2022-12-30 | Downhole device force sense interaction system |
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| CN202211726070.6A CN116006257A (en) | 2022-12-30 | 2022-12-30 | Downhole device force sense interaction system |
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| CN116006257A true CN116006257A (en) | 2023-04-25 |
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| CN202211726070.6A Pending CN116006257A (en) | 2022-12-30 | 2022-12-30 | Downhole device force sense interaction system |
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