CN116163785A - Hydraulic support pushing control method and system based on incremental digital hydraulic cylinder - Google Patents

Hydraulic support pushing control method and system based on incremental digital hydraulic cylinder Download PDF

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Publication number
CN116163785A
CN116163785A CN202310070782.5A CN202310070782A CN116163785A CN 116163785 A CN116163785 A CN 116163785A CN 202310070782 A CN202310070782 A CN 202310070782A CN 116163785 A CN116163785 A CN 116163785A
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CN
China
Prior art keywords
hydraulic
hydraulic cylinder
offset
hydraulic support
incremental digital
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Pending
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CN202310070782.5A
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Chinese (zh)
Inventor
周如林
乔子石
张阳
王树胜
孟令宇
夏杰
李业龙
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Beijing Meike Tianma Automation Technology Co Ltd
Beijing Tianma Intelligent Control Technology Co Ltd
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Beijing Meike Tianma Automation Technology Co Ltd
Beijing Tianma Intelligent Control Technology Co Ltd
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Priority to CN202310070782.5A priority Critical patent/CN116163785A/en
Publication of CN116163785A publication Critical patent/CN116163785A/en
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH 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
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E21D23/26—Hydraulic or pneumatic control
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH 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
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E21D23/18—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms

Abstract

The present disclosure relates to a hydraulic support pushing control method and system based on an incremental digital hydraulic cylinder, by obtaining straightness of a fully mechanized mining face and a first offset of at least one hydraulic support, which are determined by a patrol device; converting the first offset of at least one hydraulic support into valve core displacement of an incremental digital hydraulic cylinder; and controlling at least one hydraulic support to move to a target position according to the displacement of the valve core. Therefore, the first offset is determined by means of the inspection device, the second offset of the single support moving is determined by means of the ranging sensor, the motor of the incremental digital hydraulic cylinder is directly controlled to adjust the position of the hydraulic support, the straightness of the fully-mechanized mining working face is further guaranteed, and the straightness of the working face is further guaranteed.

Description

Hydraulic support pushing control method and system based on incremental digital hydraulic cylinder
Technical Field
The disclosure relates to the technical field of electrohydraulic control, in particular to a hydraulic support pushing control method and system based on an incremental digital hydraulic cylinder.
Background
At present, the automation of coal exploitation requires that the fully-mechanized coal mining working face reaches three straight and one flat, namely, the hydraulic support, the scraper conveyor and the coal wall in the working face keep straight, and the middle groove of the scraper conveyor is straight. Therefore, the straightness of the fully-mechanized coal mining face is guaranteed, and the method has great significance for realizing coal mining automation. The coal exploitation automation comprises the intellectualization of the hydraulic support, and the intellectualization of the hydraulic support requires that the posture of the hydraulic support can be accurately positioned and adjusted.
In the related art, the posture adjustment of the hydraulic support is controlled through the switch type electrohydraulic reversing valve, but the switch type electrohydraulic reversing valve cannot adjust the valve port flow, so that the valve port flow is one of main reasons for limiting the accurate control of the posture of the hydraulic support, the existing switch type electrohydraulic reversing valve is poor in adaptability, generally only has two paths, and the corresponding hydraulic cylinder has only high and low speeds and cannot be matched with the flow requirements of more than ten control functions of the hydraulic support.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a hydraulic support pushing control method and system based on an incremental digital hydraulic cylinder.
According to a first aspect of embodiments of the present disclosure, there is provided a hydraulic support pushing control method based on an incremental digital hydraulic cylinder, including: acquiring straightness of a fully-mechanized mining face determined by the inspection device and a first offset of at least one hydraulic support; converting the first offset of the at least one hydraulic bracket into valve core displacement of the incremental digital hydraulic cylinder; and controlling the at least one hydraulic support to move to a target position according to the displacement of the valve core.
According to a second aspect of embodiments of the present disclosure, there is provided a hydraulic stand displacement control system based on an incremental digital hydraulic cylinder, comprising: at least one hydraulic support and a patrol trolley; wherein, each hydraulic support includes: the system comprises a digital pushing system, an inclination angle sensor, a controller and a ranging sensor; the distance measuring sensor, the controller, the inclination angle sensor and the digital pushing system are all arranged on the at least one hydraulic support; the inspection trolley is used for detecting a first offset; the ranging sensor is used for measuring a second offset; the digital pushing system is used for pushing the at least one hydraulic support according to the first offset and the second offset; the controller is used for realizing the hydraulic support pushing control method based on the incremental digital hydraulic cylinder.
According to a third aspect of embodiments of the present disclosure, there is provided a hydraulic support pushing control device based on an incremental digital hydraulic cylinder, including: the acquisition module is used for acquiring the straightness of the fully-mechanized mining face and the first offset of at least one hydraulic support, which are determined by the inspection device; the conversion module is used for converting the first offset of the at least one hydraulic support into the valve core displacement of the incremental digital hydraulic cylinder; and the first control module is used for controlling the at least one hydraulic support to move to a target position according to the displacement of the valve core.
According to a fourth aspect of embodiments of the present disclosure, there is provided an electronic device, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the hydraulic bracket pushing control method based on the incremental digital hydraulic cylinder provided in the first aspect of the present disclosure.
According to a fifth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the hydraulic bracket pushing control method based on an incremental digital hydraulic cylinder provided in the first aspect of the present disclosure.
According to a sixth aspect of embodiments of the present disclosure, there is provided a computer program product, which when executed by a processor of an electronic device, enables the electronic device to perform the steps of the hydraulic bracket pushing control method based on an incremental digital hydraulic cylinder provided by the embodiments of the first aspect of the present disclosure as described above.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
the straightness of the fully mechanized mining face determined by the inspection device is obtained, and the first offset of at least one hydraulic support is obtained; converting the first offset of at least one hydraulic support into valve core displacement of an incremental digital hydraulic cylinder; and controlling at least one hydraulic support to move to a target position according to the displacement of the valve core. Therefore, the first offset is determined by means of the inspection device, the second offset of the single support moving is determined by means of the ranging sensor, the motor of the incremental digital hydraulic cylinder is directly controlled to adjust the position of the hydraulic support, the straightness of the fully-mechanized mining working face is further guaranteed, and the straightness of the working face is further guaranteed.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart illustrating a hydraulic bracket pushing control method based on an incremental digital hydraulic cylinder according to an exemplary embodiment;
FIG. 2 is a schematic diagram of a hydraulic stand displacement control system based on an incremental digital hydraulic cylinder, according to an exemplary embodiment;
FIG. 3 is a schematic view of the structure of a hydraulic bracket;
FIG. 4 illustrates a schematic diagram of a face hydraulic system based on an incremental digital hydraulic cylinder, according to an exemplary embodiment;
FIG. 5 is a schematic diagram of a reverse installation of a digital pusher system;
FIG. 6 is a schematic diagram of the structure of a forward installation of a digital pusher system;
FIG. 7 is a block diagram of a hydraulic stand displacement control device based on an incremental digital hydraulic cylinder, according to an example embodiment;
fig. 8 is a block diagram of an electronic device for implementing a method of an embodiment of the present disclosure, shown in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
Fig. 1 is a flowchart illustrating a hydraulic bracket pushing control method based on an incremental digital hydraulic cylinder according to an exemplary embodiment, where it is to be noted that the hydraulic bracket pushing control method based on an incremental digital hydraulic cylinder of the present embodiment is performed by a hydraulic bracket pushing control device based on an incremental digital hydraulic cylinder, and the hydraulic bracket pushing control device based on an incremental digital hydraulic cylinder may be implemented by software and/or hardware, and the hydraulic bracket pushing control device based on an incremental digital hydraulic cylinder may be configured in an electronic device, which may be, for example, a hydraulic bracket pushing control system based on an incremental digital hydraulic cylinder, or may be a controller in a hydraulic bracket pushing control system based on an incremental digital hydraulic cylinder. The following description will take an example in which an execution subject is an electronic device as a controller.
As shown in fig. 1, the hydraulic support pushing control method based on the incremental digital hydraulic cylinder comprises the following steps:
in step S101, the straightness of the fully-mechanized mining face determined by the inspection device and the first offset of at least one hydraulic support are obtained.
As a possible implementation manner, the electronic device may execute the process of step 101 by detecting the straightness of the working surface by using the inspection trolley, to obtain a first offset between at least one hydraulic support and the fully-mechanized mining working surface, where the inspection trolley communicates with the controller, and the controller obtains the first offset. Wherein the first offset represents the distance between the hydraulic support and the fully-mechanized coal mining face, and the distance is the amount of movement of each hydraulic support.
Alternatively, the trolley can realize straightness detection through a lasc (coal mine intelligent system) or a laser radar and vision and obtain a first offset.
In step S102, the first offset of the at least one hydraulic mount is converted into a spool displacement of the incremental digital hydraulic cylinder.
In the embodiment of the disclosure, after receiving the first offset, the controller converts the first offset into a digital signal, namely, the valve core displacement of the incremental digital hydraulic cylinder, and sends the valve core displacement of the incremental digital hydraulic cylinder to a motor of the incremental digital hydraulic cylinder.
The valve core displacement and the displacement of the hydraulic support are in a direct proportional relation, the proportional coefficient is k1, and the value of k1 is a known and determined quantity.
In step S103, at least one hydraulic mount is controlled to move to a target position according to the spool displacement.
As one possible implementation, the motor pulse of the incremental digital hydraulic cylinder is determined according to the valve core displacement; and controlling at least one hydraulic support to move to a target position according to the motor pulse.
In the embodiment of the disclosure, the controller calculates motor pulses and/or turns of the incremental digital hydraulic cylinder according to the valve core displacement, the controller sends the motor pulses and/or turns to the motor, and the motor rotates to move to a target position along with the hydraulic support according to the motor pulses and/or turns.
As one possible implementation manner, determining a second offset of the current position of the at least one hydraulic support after moving from the target position; if the offset is smaller than a preset value, controlling at least one hydraulic support to stop moving; and if the offset is smaller than the preset value, determining motor pulse of the incremental digital hydraulic cylinder according to the second offset, and controlling at least one hydraulic support to move to the target position.
In the embodiment of the disclosure, a second offset between the current position of at least one hydraulic support after moving and the target position is determined by a distance measuring sensor, if the ratio of the current position of at least one hydraulic support to the target position is between 0.95 and 1.05, the hydraulic support is indicated to reach the target position, the incremental digital hydraulic cylinder is controlled to stop, and the hydraulic support is not pushed any more; otherwise, the motor pulse and/or the number of turns of the incremental digital hydraulic cylinder are calculated according to the second offset, and the incremental digital hydraulic cylinder is controlled to move until the hydraulic support reaches the target position. From this, through the direct detection second offset of range sensor, eliminated the influence of round pin ear clearance between hydraulic support and the scraper conveyor to position control, the motor of direct control increment formula digital hydraulic cylinder adjusts the position of hydraulic support and then guarantees the straightness accuracy of fully mechanized coal face.
Optionally, the incremental digital hydraulic cylinder is controlled to stop when the system pressure of the incremental digital hydraulic cylinder is less than the safety pressure.
When the system pressure of the incremental digital hydraulic cylinder is larger than the safety pressure, the hydraulic support performs a pushing task, and when the system pressure of the incremental digital hydraulic cylinder is smaller than the safety pressure, the incremental digital hydraulic cylinder is controlled to stop, and the hydraulic support does not push any more.
In summary, the straightness of the fully-mechanized mining face and the first offset of at least one hydraulic support are determined by the inspection device; converting the first offset of at least one hydraulic support into valve core displacement of an incremental digital hydraulic cylinder; and controlling at least one hydraulic support to move to a target position according to the displacement of the valve core. Therefore, the first offset is determined by means of the inspection device, the second offset of the single support moving is determined by means of the ranging sensor, the motor of the incremental digital hydraulic cylinder is directly controlled to adjust the position of the hydraulic support, the straightness of the fully-mechanized mining working face is further guaranteed, and the straightness of the working face is further guaranteed.
Fig. 2 is a schematic diagram of a hydraulic bracket pushing control system based on an incremental digital hydraulic cylinder according to an exemplary embodiment.
As shown in fig. 2, the hydraulic bracket pushing control system based on the incremental digital hydraulic cylinder comprises: at least one hydraulic mount 210 and a patrol trolley 220;
as shown in fig. 3, fig. 3 is a schematic structural view of a hydraulic bracket, and the hydraulic bracket includes 210: digital pushing system 211, tilt sensor 212, controller 213, ranging sensor 214, hydraulic mount base 215, and side guard 216;
wherein, the distance measuring sensor 214, the controller 213, the inclination angle sensor 212 and the digital pushing system 211 are all arranged on at least one hydraulic bracket 210; the inspection trolley 220 is configured to detect a first offset; the ranging sensor 214 is used to measure a second offset; the inclination sensor 212 is used for detecting the angle of the hydraulic support 210; digital displacement system 211 is configured to effect displacement of at least one hydraulic mount 210 according to the first offset and the second offset; the controller 213 is configured to implement the hydraulic bracket pushing control method based on the incremental digital hydraulic cylinder according to the first aspect of the present disclosure.
Optionally, a first offset determined by the inspection trolley 220 is obtained; converting the first offset into valve core displacement of the incremental digital hydraulic cylinder; according to the displacement of the valve core, the motor pulse and/or the number of turns of the incremental digital hydraulic cylinder are determined, and the controller 213 sends the motor pulse and/or the number of turns of the incremental digital hydraulic cylinder to the motor in the digital pushing system 211, and the motor rotates to drive the valve core to move, so as to control the hydraulic support 210 to move.
The distance measuring sensor 214 detects a second offset between the current position and the target position of the hydraulic support 210 after moving, if the ratio of the current position to the target position is between 0.95 and 1.05, the hydraulic support is indicated to reach the target position, the incremental digital hydraulic cylinder is controlled to stop, and the hydraulic support is not pushed any more; otherwise, the motor pulse and/or the number of turns of the incremental digital hydraulic cylinder are calculated according to the second offset, and the incremental digital hydraulic cylinder is controlled to move until the hydraulic support reaches the target position.
Fig. 4 shows a schematic diagram of a working surface hydraulic system based on an incremental digital hydraulic cylinder according to an exemplary embodiment.
As shown in fig. 4, the working surface hydraulic system includes: a return line 410, a supply line 420, a high pressure filter 430, a return check valve 440, an electro-hydraulic reversing valve 450, a digital displacement system 211, a common hydraulic unit 460, a controller 213, an intelligent sensor unit 470, an intelligent meter unit 480, an intelligent control unit 490, and a hydraulic bracket 210.
Wherein, the liquid supply source P supplies liquid to the pressure source of the hydraulic support through the liquid supply pipeline 420, the liquid return source R returns liquid to the pressure source of the hydraulic support through the liquid return pipeline 410, the high-pressure filter 430 filters the liquid supply source to ensure the cleanliness of the liquid source of the digital pushing system 211, the liquid return check valve 440 is used for blocking the liquid return pressure, the controller 213 of the hydraulic support receives the information of the intelligent sensor unit 470, the intelligent instrument unit 480 and the intelligent control unit 490, and controls the pushing step of the hydraulic support 210.
Wherein digital pushing system 211 comprises: a relief valve 510, a pilot operated check valve 520, and an incremental digital hydraulic cylinder 530; the safety valve and the hydraulic control one-way valve can be positively connected with the incremental digital hydraulic cylinder; and/or the safety valve and the hydraulic control check valve can be reversely connected with the incremental digital hydraulic cylinder.
Fig. 5 is a schematic diagram of the reverse installation structure of the digital pushing system, and fig. 6 is a schematic diagram of the forward installation structure of the digital pushing system.
The digital pushing system comprises two types of systems of forward installation and reverse installation of an incremental digital hydraulic cylinder, and the hydraulic unidirectional lock is used for locking a rod cavity in the forward installation of the hydraulic cylinder and is mainly used for a working surface with smaller working resistance of a thin coal seam; the digital pushing system with reversely installed hydraulic cylinder uses hydraulic unidirectional lock to lock the rodless cavity, and is mainly used for working face with larger working resistance of thick coal seam.
As shown in fig. 5 and 6, the incremental digital hydraulic cylinder 530 includes: a motor 531, a digital valve 532, a feedback unit 533 and a hydraulic cylinder 534.
Wherein, the motor 531 is used for controlling the reversing and opening of the digital valve 532 and further controlling the movement of the hydraulic cylinder 534; the feedback unit 533 is configured to feed back the displacement of the hydraulic cylinder 534 to the motor.
In the embodiment of the disclosure, through controlling the forward and reverse rotation angle of the motor, the left and right reversing and the proportional opening change of the digital valve are controlled, so that the extension and retraction of the hydraulic cylinder are accurately controlled, the displacement of the hydraulic cylinder is transmitted to the valve core through the feedback unit, and finally the valve core is closed; the motor is used for driving, so that the proportional control of the position of the hydraulic cylinder and the opening degree of the valve core of the hydraulic system is realized, and the digitization of the hydraulic system is facilitated.
In summary, the straightness of the fully-mechanized mining face and the first offset of at least one hydraulic support, which are determined by the inspection device, are obtained; converting the first offset of at least one hydraulic support into valve core displacement of an incremental digital hydraulic cylinder; and controlling at least one hydraulic support to move to a target position according to the displacement of the valve core. Therefore, the first offset is determined by means of the inspection device, the second offset of the single support moving is determined by means of the ranging sensor, the motor of the incremental digital hydraulic cylinder is directly controlled to adjust the position of the hydraulic support, the straightness of the fully-mechanized mining working face is further guaranteed, and the straightness of the working face is further guaranteed.
Fig. 7 is a block diagram illustrating a hydraulic bracket pushing control device based on an incremental digital hydraulic cylinder according to an exemplary embodiment. Referring to fig. 7, the apparatus 700 includes: an acquisition module 710, a conversion module 720, and a first control module 730.
The acquiring module 710 is configured to acquire the straightness of the fully-mechanized mining face and the first offset of the at least one hydraulic support, which are determined by the inspection device;
the conversion module 720 is configured to convert the first offset of the at least one hydraulic support into a spool displacement of the incremental digital hydraulic cylinder;
and the first control module 730 is configured to control the at least one hydraulic support to move to a target position according to the displacement of the valve spool.
As an implementation manner of the embodiment of the present disclosure, the first control module 730 is specifically configured to determine a motor pulse of the incremental digital hydraulic cylinder according to the spool displacement; and controlling the at least one hydraulic support to move to a target position according to the motor pulse.
As an implementation of an embodiment of the disclosure, the method further includes: the system comprises a determining module, a second control module and a third control module; the determining module is used for determining a second offset between the current position of the at least one hydraulic support after moving and the target position; the second control module is used for controlling the at least one hydraulic support to stop moving if the offset is smaller than a preset value; and the third control module is used for determining the motor pulse of the incremental digital hydraulic cylinder according to the second offset and controlling the at least one hydraulic support to move to the target position if the offset is smaller than a preset value.
As one implementation of the disclosed embodiments, the incremental digital hydraulic cylinder is controlled to stop when the system pressure of the incremental digital hydraulic cylinder is less than a safety pressure.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
According to the hydraulic support pushing control device based on the incremental digital hydraulic cylinder, straightness of a fully-mechanized mining face and first offset of at least one hydraulic support, which are determined by the inspection device, are obtained; converting the first offset of at least one hydraulic support into valve core displacement of an incremental digital hydraulic cylinder; and controlling at least one hydraulic support to move to a target position according to the displacement of the valve core. Therefore, the first offset is determined by means of the inspection device, the second offset of the single support moving is determined by means of the ranging sensor, the motor of the incremental digital hydraulic cylinder is directly controlled to adjust the position of the hydraulic support, the straightness of the fully-mechanized mining working face is further guaranteed, and the straightness of the working face is further guaranteed.
To achieve the above embodiments, the present disclosure also provides an electronic device and a readable storage medium and a computer program product.
Wherein, electronic equipment includes: a processor 820; a memory 810 for storing instructions executable by the processor 820; wherein the processor 820 is configured to perform the hydraulic bracket pushing control method based on the incremental digital hydraulic cylinder as set forth in the embodiment of the first aspect of the present disclosure.
As an example, fig. 8 is a block diagram of an electronic device for implementing a method of an embodiment of the disclosure, where, as shown in fig. 8, the electronic device 800 may include:
memory 810 and processor 820, bus 830 connecting the different components (including memory 810 and processor 820), memory 810 stores a computer program that when executed by processor 820 implements the hydraulic bracket pushing control method based on the incremental digital hydraulic cylinder set forth in the embodiment of the first aspect of the present disclosure as described above.
Bus 830 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 800 typically includes a variety of computer-readable media. Such media can be any available media that is accessible by electronic device 800 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 810 may also include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 840 and/or cache 850. Electronic device 800 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 860 may be used to read from and write to non-removable, non-volatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive"). Although not shown in fig. 8, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 830 through one or more data medium interfaces. Memory 810 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the various embodiments of the disclosure.
A program/utility 880 having a set (at least one) of program modules 870 may be stored, for example, in memory 810, such program modules 870 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 870 generally perform the functions and/or methods in the embodiments described in this disclosure.
The electronic device 800 may also communicate with one or more external devices 890 (e.g., keyboard, pointing device, display 891, etc.), one or more devices that enable a user to interact with the electronic device 800, and/or any device (e.g., network card, modem, etc.) that enables the electronic device 800 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 892. Also, electronic device 800 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 893. As shown in fig. 8, network adapter 893 communicates with other modules of electronic device 800 over bus 830. It should be appreciated that although not shown in fig. 8, other hardware and/or software modules may be used in connection with electronic device 800, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
Processor 820 executes various functional applications and data processing by executing programs stored in memory 810.
It should be noted that, the implementation process and the technical principle of the electronic device in this embodiment refer to the foregoing explanation of the hydraulic support pushing control method based on the incremental digital hydraulic cylinder in the embodiment of the disclosure, and will not be repeated here.
According to the electronic equipment provided by the embodiment of the disclosure, the straightness of the fully-mechanized mining face and the first offset of at least one hydraulic support are determined by the inspection device; converting the first offset of at least one hydraulic support into valve core displacement of an incremental digital hydraulic cylinder; and controlling at least one hydraulic support to move to a target position according to the displacement of the valve core. Therefore, the first offset is determined by means of the inspection device, the second offset of the single support moving is determined by means of the ranging sensor, the motor of the incremental digital hydraulic cylinder is directly controlled to adjust the position of the hydraulic support, the straightness of the fully-mechanized mining working face is further guaranteed, and the straightness of the working face is further guaranteed.
To achieve the above-mentioned embodiments, the present disclosure also proposes a computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the hydraulic-bracket-pushing control method based on an incremental digital hydraulic cylinder proposed by the embodiment of the first aspect of the present disclosure as described above.
To achieve the above-mentioned embodiments, the present disclosure further provides a computer program product, which when executed by a processor of an electronic device, enables the electronic device to perform the hydraulic bracket pushing control method based on the incremental digital hydraulic cylinder set forth in the embodiment of the first aspect of the present disclosure as described above.
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.
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 at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly specified otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Furthermore, each functional unit in the embodiments of the present disclosure may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. 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.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. The hydraulic support pushing control method based on the incremental digital hydraulic cylinder is characterized by comprising the following steps of:
acquiring straightness of a fully-mechanized mining face determined by the inspection device and a first offset of at least one hydraulic support;
converting the first offset of the at least one hydraulic bracket into valve core displacement of the incremental digital hydraulic cylinder;
and controlling the at least one hydraulic support to move to a target position according to the displacement of the valve core.
2. The method of claim 1, wherein controlling the movement of the at least one hydraulic mount to a target position based on the spool displacement comprises:
determining motor pulses of the incremental digital hydraulic cylinder according to the valve core displacement;
and controlling the at least one hydraulic support to move to a target position according to the motor pulse.
3. The method of claim 2, the method further comprising:
determining a second offset between the current position of the at least one hydraulic support after moving and the target position;
if the offset is smaller than a preset value, controlling the at least one hydraulic support to stop moving;
and if the offset is smaller than a preset value, determining motor pulse of the incremental digital hydraulic cylinder according to the second offset, and controlling the at least one hydraulic support to move to a target position.
4. The method of claim 1, wherein the incremental digital hydraulic cylinder is controlled to stop when the system pressure of the incremental digital hydraulic cylinder is less than a safety pressure.
5. Hydraulic support passes control system based on incremental digital hydraulic cylinder, its characterized in that includes: at least one hydraulic support and a patrol trolley;
wherein, each hydraulic support includes: the system comprises a digital pushing system, an inclination angle sensor, a controller and a ranging sensor;
the distance measuring sensor, the controller, the inclination angle sensor and the digital pushing system are all arranged on the at least one hydraulic support;
the inspection trolley is used for detecting a first offset;
the ranging sensor is used for measuring a second offset;
the inclination sensor is used for detecting the angle of the hydraulic support;
the digital pushing system is used for pushing the at least one hydraulic support according to the first offset and the second offset;
the controller is adapted to implement the method of any one of claims 1-4.
6. The system of claim 5, wherein the digital pusher system comprises: the hydraulic control system comprises a safety valve, a hydraulic control one-way valve and an incremental digital hydraulic cylinder;
the safety valve and the hydraulic control one-way valve can be positively connected with the incremental digital hydraulic cylinder;
and/or the number of the groups of groups,
the safety valve and the hydraulic control one-way valve can be reversely connected with the incremental digital hydraulic cylinder.
7. The system of claim 5, wherein the incremental digital hydraulic cylinder comprises: the device comprises a motor, a digital valve, a feedback unit and a hydraulic cylinder;
the motor is used for controlling the reversing and opening of the digital valve so as to control the movement of the hydraulic cylinder;
the feedback unit is used for feeding back the displacement of the hydraulic cylinder to the motor.
8. The utility model provides a hydraulic support passes controlling means based on incremental digital hydraulic cylinder which characterized in that includes:
the acquisition module is used for acquiring the straightness of the fully-mechanized mining face and the first offset of at least one hydraulic support, which are determined by the inspection device;
the conversion module is used for converting the first offset of the at least one hydraulic support into the valve core displacement of the incremental digital hydraulic cylinder;
and the first control module is used for controlling the at least one hydraulic support to move to a target position according to the displacement of the valve core.
9. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured for implementing the method of any of claims 1-4.
10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of any of claims 1-4.
CN202310070782.5A 2023-01-13 2023-01-13 Hydraulic support pushing control method and system based on incremental digital hydraulic cylinder Pending CN116163785A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310070782.5A CN116163785A (en) 2023-01-13 2023-01-13 Hydraulic support pushing control method and system based on incremental digital hydraulic cylinder

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310070782.5A CN116163785A (en) 2023-01-13 2023-01-13 Hydraulic support pushing control method and system based on incremental digital hydraulic cylinder

Publications (1)

Publication Number Publication Date
CN116163785A true CN116163785A (en) 2023-05-26

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Country Status (1)

Country Link
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