Method and device for adaptive correction of support control parameters

Abstract

The present application proposes a method and device for adaptively correcting the control parameters of a support, including: obtaining the first execution strategy adopted by the actuator of the support when performing the current action in the current execution stage; monitoring the rate of the actuator to obtain the rate of the actuator when performing the current action in the current execution stage; judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the rate; determining the second execution strategy adopted by the actuator when it runs in the next execution stage when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage; and correcting the parameters of the actuator when it runs according to the second execution strategy when the first execution strategy and the second execution strategy are different. Thus, during the operation of the actuator, the adaptive correction of the parameters can be completed only according to the execution strategy of the next stage, which is more efficient and more stable.

Description

Technical Field

[0001] The present application relates to the technical field of mine supports, and in particular to a method and device for adaptively correcting support control parameters. Background Art

[0002] When working in the fully mechanized mining face of a coal mine, support is required to ensure the stability of the working face production environment and the safety of the workers. As the operation progresses, the conditions of the working face production environment are constantly changing, which means that the parameters of the support also need to be continuously updated and corrected as the working face production environment conditions change. Therefore, it is crucial to find a method to adaptively correct the support control parameters during operation. Summary of the invention

[0003] The present application provides a method and device for adaptively correcting support control parameters, aiming to solve one of the technical problems in the related art at least to a certain extent.

[0004] In one aspect, an embodiment of the present application provides a method for adaptively correcting a support control parameter, the method comprising:

[0005] Acquire a first execution strategy adopted by the actuator of the support when executing the current action in the current execution phase;

[0006] Performing rate monitoring on the actuator to obtain the rate at which the actuator performs the current action in the current execution phase;

[0007] According to the rate, determining whether the operation of the actuator enters the next execution stage from the current execution stage;

[0008] In the case where it is determined that the operation of the execution structure enters the next execution stage from the current execution stage, determining a second execution strategy adopted by the execution mechanism when the execution mechanism operates in the next execution stage;

[0009] In the case where the first execution strategy is different from the second execution strategy, the parameters of the actuator during operation are modified according to the second execution strategy.

[0010] In some embodiments, judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the rate includes:

[0011] Determine a comparison result between the rate and the preset rate according to the magnitude of the rate and the preset rate;

[0012] According to the comparison result, it is determined whether the operation of the execution mechanism enters the next execution stage from the current execution stage.

[0013] In some embodiments, judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the comparison result includes:

[0014] If the rate is greater than the preset rate, determining that the operation of the actuator continues to remain in the current execution stage;

[0015] If the rate is less than or equal to the preset rate, the operation process with a rate less than the preset rate is accumulated and timed, and whether the operation of the actuator enters the next execution stage from the current execution stage is determined based on the accumulated timing.

[0016] In some embodiments, judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the accumulated timing time includes:

[0017] If the accumulated timing duration is greater than the preset duration, the execution mechanism is controlled to end the operation in the current execution phase and enter the next execution phase;

[0018] If the accumulated timing duration is less than or equal to the preset duration, the execution mechanism is controlled to continue to run in the current execution stage, and after the current execution stage is completed, the execution mechanism is controlled to enter the next execution stage.

[0019] In some embodiments, when it is determined that the execution of the execution structure enters the next execution stage from the current execution stage, determining the second execution strategy adopted by the execution mechanism when running in the next execution stage includes:

[0020] In case it is determined that the operation of the execution structure enters the next execution stage from the current execution stage, providing a plurality of candidate execution strategies supported by the next execution stage;

[0021] An execution strategy selected from the plurality of candidate execution strategies is used as a second execution strategy adopted by the execution mechanism when running in the next execution phase.

[0022] The method for adaptively correcting the control parameters of the support proposed in the present application obtains the first execution strategy adopted by the actuator of the support when performing the current action in the current execution stage; monitors the rate of the actuator to obtain the rate of the actuator when performing the current action in the current execution stage; determines whether the operation of the actuator enters the next execution stage from the current execution stage according to the rate; determines the second execution strategy adopted by the actuator when it runs in the next execution stage when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage; and corrects the parameters of the actuator when it runs according to the second execution strategy when the first execution strategy and the second execution strategy are different. Therefore, during the operation of the actuator, the adaptive correction of the parameters can be completed only according to the execution strategy of the next stage, which is more efficient and more stable.

[0023] Another aspect of the present application provides a device for adaptively correcting a control parameter of a support, the device comprising:

[0024] An acquisition module, used for acquiring a first execution strategy adopted by the actuator of the support when executing a current action in a current execution phase;

[0025] A monitoring module, used for monitoring the speed of the actuator to obtain the speed of the actuator when executing the current action in the current execution stage;

[0026] A judging module, used for judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the rate;

[0027] a determination module, which, when determining that the operation of the execution structure enters the next execution stage from the current execution stage, determines a second execution strategy adopted by the execution mechanism when the execution mechanism runs in the next execution stage;

[0028] A correction module is used to correct the parameters of the actuator during operation according to the second execution strategy when the first execution strategy is different from the second execution strategy.

[0029] In some embodiments, the determination module includes:

[0030] A determination unit, configured to determine a comparison result between the rate and the preset rate according to the magnitude of the rate and the preset rate;

[0031] A judging unit is used to judge whether the operation of the execution mechanism enters the next execution stage from the current execution stage according to the comparison result.

[0032] In some embodiments, the determining unit includes:

[0033] a determination subunit, configured to determine that the operation of the actuator continues to remain at the current execution stage when the rate is greater than the preset rate;

[0034] The timing subunit is used to accumulate the timing of the operation process whose rate is less than the preset rate when the rate is less than or equal to the preset rate, and to determine whether the operation of the actuator enters the next execution stage from the current execution stage according to the accumulated timing duration.

[0035] In some embodiments, the timing subunit is specifically used for:

[0036] If the accumulated timing duration is greater than the preset duration, the execution mechanism is controlled to end the operation in the current execution phase and enter the next execution phase;

[0037] If the accumulated timing duration is less than or equal to the preset duration, the execution mechanism is controlled to continue to run in the current execution stage, and after the current execution stage is completed, the execution mechanism is controlled to enter the next execution stage.

[0038] In some embodiments, the determining module includes:

[0039] a providing unit, configured to provide a plurality of candidate execution strategies supported by the next execution stage when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage;

[0040] A confirmation unit is used to confirm an execution strategy selected from the multiple candidate execution strategies as a second execution strategy adopted by the execution mechanism when running in the next execution stage.

[0041] The device for adaptively correcting the control parameters of the support proposed in the present application obtains the first execution strategy adopted by the actuator of the support when performing the current action in the current execution stage; monitors the rate of the actuator to obtain the rate of the actuator when performing the current action in the current execution stage; determines whether the operation of the actuator enters the next execution stage from the current execution stage according to the rate; determines the second execution strategy adopted by the actuator when it runs in the next execution stage when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage; and corrects the parameters of the actuator when it runs according to the second execution strategy when the first execution strategy and the second execution strategy are different. Therefore, during the operation of the actuator, the adaptive correction of the parameters can be completed only according to the execution strategy of the next stage, which is more efficient and more stable.

[0042] On the other hand, an embodiment of the present application proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for adaptively correcting a control parameter of a bracket as described above is implemented.

[0043] Another aspect of the present application is a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the method for adaptively correcting the control parameters of the support in the embodiment of the present application.

[0044] Another aspect of the present application is a computer program product, which, when executed by an instruction processor in the computer program product, implements the method for adaptively correcting the support control parameters in the embodiment of the present application.

[0045] Other effects of the above optional manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present application.

[0047] Figure 1 is a flow chart of a method for adaptively correcting a support control parameter according to an embodiment of the present application;

[0048] Figure 2 is a flow chart of a method for adaptively correcting a support control parameter according to another embodiment of the present application;

[0049] Figure 3 is a flow chart of a method for adaptively correcting a support control parameter according to another embodiment of the present application;

[0050] Figure 4 is a flow chart of a method for adaptively correcting a support control parameter according to another embodiment of the present application;

[0051] Figure 5 is a flow chart of a method for adaptively correcting a support control parameter according to another embodiment of the present application;

[0052] Figure 6 is a flow chart of a method for adaptively correcting a support control parameter when the current action is a support moving action according to an embodiment of the present application;

[0053] Figure 7 It is a flowchart of a method for adaptively correcting a control parameter of a bracket when the current action is a push-and-slide action according to an embodiment of the present application;

[0054] Figure 8is a schematic structural diagram of a device for adaptively correcting a support control parameter according to an embodiment of the present application;

[0055] Fig. 9 is a structural schematic diagram of a device for adaptively correcting support control parameters according to another embodiment of the present application;

[0056] Fig.10 It is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0057] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0058] The following describes the method, device, electronic device and storage medium for adaptive correction of support control parameters according to embodiments of the present application with reference to the accompanying drawings.

[0059] Figure 1 It is a flow chart of a method for adaptive correction of support control parameters according to an embodiment of the present application. It should be noted that the execution subject of the method for adaptive correction of support control parameters provided in this embodiment is a device for adaptive correction of support control parameters, and the device for adaptive correction of support control parameters can be implemented by software and / or hardware. The device for adaptive correction of support control parameters in this embodiment can be configured in an automatic control system of the support, wherein the automatic control system of the support can manage and control the support. The automatic control system of the support can be configured in an electronic device, and the electronic device in this embodiment can include but is not limited to devices such as terminal devices and servers, and this embodiment does not specifically limit the electronic device.

[0060] like Figure 1 As shown, the method for adaptively correcting the control parameters of the support includes:

[0061] Step 101 : obtaining a first execution strategy adopted by an actuator of a support when executing a current action in a current execution phase.

[0062] In one embodiment of the present application, the current action may represent various types of actions, such as a rack moving action, a sliding action, and the like.

[0063] In one embodiment of the present application, the above-mentioned actuator may be a device in the bracket that executes the current action or a device that supports the operation of the current action.

[0064] It is understandable that, for different current action types, the first execution strategy adopted by the execution structure of the support when running the current action in the current execution phase is different.

[0065] As an example, when the current action is a rack moving action, the first execution strategy adopted by the execution mechanism is a conventional rack moving strategy.

[0066] Among them, the conventional frame shifting strategy can be that the automatic control system drives the solenoid valve switch of the hydraulic support, continuously opens the solenoid valve, and the hydraulic supply system continuously supplies power hydraulic pressure, so that the actuator continuously performs the frame shifting action.

[0067] As an example, when the current action is a push-and-slide action, the first execution strategy adopted by the actuator is a conventional push-and-slide strategy.

[0068] Among them, the conventional push-and-slide strategy can be that the automatic control system drives the solenoid valve switch of the hydraulic support, continuously opens the solenoid valve, and the hydraulic supply system continuously supplies power hydraulic pressure, so that the actuator continuously performs the push-and-slide action.

[0069] Step 102 , monitoring the speed of the actuator to obtain the speed of the actuator when executing the current action in the current execution phase.

[0070] In one embodiment of the present application, a travel sensor installed on the actuator can be used to obtain the distance traveled by the actuator, and the speed of the actuator performing the current action in the current execution stage can be calculated based on the ratio of the distance to time.

[0071] In another embodiment of the present application, a speed sensor installed on the actuator can be used to directly obtain the speed of the actuator when performing the current action in the current execution stage.

[0072] Step 103, judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the speed, if so, executing step 104.

[0073] As an example, the speed can be compared with the preset speed to determine whether the operation of the actuator enters the next execution stage from the current execution stage. The description here will be described in detail in the following embodiments.

[0074] Step 104, determining a second execution strategy to be adopted by the execution mechanism when running in the next execution phase.

[0075] In one embodiment of the present application, after determining that the operation of the execution mechanism enters the next execution stage from the current execution stage, the execution strategy adopted by the execution mechanism when running the current action in the next execution stage is immediately updated to obtain an execution strategy suitable for the next execution stage, which is the second execution strategy.

[0076] It should be noted that the second execution strategy after update may be the same as or different from the first execution strategy.

[0077] Step 105, when the first execution strategy is different from the second execution strategy, the parameters of the actuator during operation are modified according to the second execution strategy.

[0078] In one embodiment of the present application, if the second execution strategy is the same as the first execution strategy, the parameters of the execution mechanism are not changed, and the operating state of the execution mechanism in the next execution stage is consistent with the operating state in the current execution stage.

[0079] In another embodiment of the present application, if the second execution strategy is different from the first execution strategy, the execution mechanism may modify the parameters according to the second execution strategy.

[0080] Specifically, when the second execution strategy is different from the first execution strategy, the execution mechanism immediately adopts the second execution strategy as the execution strategy for the next execution stage, and modifies the parameters of the execution mechanism during operation according to the second execution strategy to change the operating state of the execution mechanism.

[0081] The parameters may include: execution time, execution distance, etc.

[0082] The method for adaptively correcting the control parameters of the support proposed in the present application obtains the first execution strategy adopted by the actuator of the support when performing the current action in the current execution stage; monitors the rate of the actuator to obtain the rate of the actuator when performing the current action in the current execution stage; determines whether the operation of the actuator enters the next execution stage from the current execution stage according to the rate; determines the second execution strategy adopted by the actuator when it runs in the next execution stage when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage; and corrects the parameters of the actuator when it runs according to the second execution strategy when the first execution strategy and the second execution strategy are different. As a result, during the operation of the actuator, there is no need to interact with other systems, and the adaptive correction of the parameters can be completed according to the execution strategy of the next stage, which is more efficient and more stable.

[0083] Figure 2 It is a flowchart of a method for adaptively correcting support control parameters according to another embodiment of the present application.

[0084] like Figure 2 As shown, in step 103, a possible implementation method of judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the speed is:

[0085] Step 201, determining a comparison result between the rate and the preset rate according to the magnitude of the rate and the preset rate.

[0086] It should be noted that the preset rate is a critical value of the actuator operation rate that is set in advance.

[0087] In one embodiment of the present application, a comparison result between the speed of the actuator when executing the current action in the current execution phase and the preset speed may be: the speed is greater than, less than or equal to the preset speed.

[0088] Step 202: judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the comparison result.

[0089] Figure 3 It is a flowchart of a method for adaptively correcting support control parameters according to another embodiment of the present application.

[0090] like Figure 3 As shown, in step 202, a possible implementation method of judging whether the operation of the actuator enters the next execution stage from the current execution stage according to the comparison result is:

[0091] Step 301: If the rate is greater than the preset rate, it is determined that the operation of the actuator continues to remain in the current execution stage.

[0092] In one embodiment of the present application, when the rate is greater than a preset rate, it can be determined that the execution mechanism continues to operate in the current execution stage and does not enter the next execution stage. When the execution mechanism completes the operation in the current stage, it enters the next execution stage.

[0093] Step 302: If the rate is less than or equal to the preset rate, the operation process with a rate less than the preset rate is accumulated and timed, and it is determined whether the operation of the actuator enters the next execution stage from the current execution stage according to the accumulated time.

[0094] In one embodiment of the present application, whether the operation of the actuator enters the next execution stage from the current execution stage can be determined based on the accumulated timing of the operation process at a rate less than the preset rate and the preset time.

[0095] The preset duration is a critical value for the accumulated timing of the actuator during operation at a speed lower than the preset speed.

[0096] Figure 4 It is a flowchart of a method for adaptively correcting support control parameters according to another embodiment of the present application.

[0097] like Figure 4As shown, in step 302, a possible real-time method for determining whether the operation of the actuator enters the next execution stage from the current execution stage according to the accumulated timing duration is:

[0098] Step 401: If the accumulated timing duration is greater than the preset duration, the execution mechanism is controlled to end the operation in the current execution phase and enter the next execution phase.

[0099] In one embodiment of the present application, when the accumulated timing duration is greater than the preset duration, the automatic control system can control the actuator to end the operation in the current execution stage, change the execution strategy adopted by the actuator, and control the actuator to enter the next stage of operation.

[0100] Step 402: If the accumulated timing duration is less than or equal to the preset duration, the execution mechanism is controlled to continue to run in the current execution phase, and after the current execution phase is completed, the execution mechanism is controlled to enter the next execution phase.

[0101] In one embodiment of the present application, when the accumulated time is less than or equal to the preset time, the automatic control system controls the actuator to continue to operate in the current execution stage without changing the execution state. After the actuator completes the operation in the current execution stage, the actuator is controlled to enter the next execution stage.

[0102] Figure 5 It is a flowchart of a method for adaptively correcting support control parameters according to another embodiment of the present application.

[0103] like Figure 5 As shown, in step 104, a possible implementation method of determining the second execution strategy adopted by the execution mechanism when running in the next execution phase is:

[0104] Step 501 : when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage, a plurality of candidate execution strategies supported by the next execution stage are provided.

[0105] Among them, multiple candidate execution strategies are pre-set execution strategies that can support the execution agency to run in the next execution stage.

[0106] As an example, when the current action is a rack shift action, the plurality of candidate execution strategies may include a conventional rack shift strategy and an unconventional rack shift strategy, wherein the unconventional rack shift strategy may be a pulse rack shift strategy.

[0107] As another example, when the current action is a push-and-roll action, the plurality of candidate execution strategies may include a conventional push-and-roll strategy and an unconventional push-and-roll strategy, wherein the unconventional push-and-roll strategy may be a pulse push-and-roll strategy.

[0108] In step 502, an execution strategy selected from a plurality of candidate execution strategies is used as a second execution strategy adopted by the execution mechanism when running in the next execution phase.

[0109] In one embodiment of the present application, after the execution structure enters the next execution stage from the current execution stage, the strategy selection for the next execution stage can be triggered, that is, one of the multiple candidate strategies is selected as the second execution strategy adopted by the execution mechanism when it runs in the next execution stage.

[0110] Specifically, when the executing agency enters the next execution stage after completing the operation of the current execution stage, the second execution strategy adopted by the executing agency in the next execution stage is the same as the first execution strategy; when the executing agency ends the operation of the current execution stage prematurely and enters the next execution stage, the second execution strategy adopted by the executing agency in the next execution stage is different from the first execution strategy.

[0111] For example, when the current action is a rack moving action, the execution strategy adopted by the actuator during the current execution phase is a conventional rack moving strategy. After the actuator completes the operation of the current execution phase and enters the next execution phase, the second execution strategy adopted by the actuator in the next execution phase may be a conventional rack moving strategy. When the actuator ends the operation of the current execution phase ahead of schedule and enters the next execution phase, the second execution strategy adopted by the actuator in the next execution phase may be a pulsed rack moving strategy.

[0112] In order to more clearly describe the method for adaptively correcting the support control parameters of this embodiment, Figure 6 FIG. 1 is a flow chart showing a method for adaptively correcting the control parameters of a support when the current action is a support moving action. Figure 6 As shown:

[0113] Figure 6 It mainly includes three parts: A, B, and C. Part A represents the block diagram of the actuator when it is running in the current execution stage, part C represents the block diagram of the actuator when it is running in the next execution stage, and part B represents the block diagram for monitoring the rack moving rate.

[0114] in:

[0115] Step 601, the rack moving starts.

[0116] Step 602: The execution mechanism adopts the first execution strategy in the current execution phase.

[0117] Step 603: When the rate of the actuator to perform the rack moving action is greater than a preset rate, the actuator ends the operation in the current execution phase.

[0118] Step 604, monitoring the rate of the frame moving action of the actuator.

[0119] Step 605, determine whether the speed of the actuator when performing the rack moving action is less than or equal to the preset speed. If the speed is less than or equal to the preset speed, proceed to step 606; if the speed is greater than the preset speed, proceed to step 604.

[0120] Step 606: When the speed of the actuator in the rack moving operation is less than or equal to the preset speed, the operation process of the actuator is accumulated and timed.

[0121] Step 607, determine whether the accumulated time is greater than the preset time. If the accumulated time is greater than the preset time, proceed to step 608; if the accumulated time is less than or equal to the preset time, proceed to step 604.

[0122] Step 608: When the accumulated timing duration is greater than the preset duration, the current execution phase is terminated in advance.

[0123] Step 609: Continue to select the first execution strategy as the execution strategy adopted by the execution mechanism in the next execution phase.

[0124] Step 610: When the accumulated timing duration is greater than the preset duration and the current execution phase ends early and enters the next execution phase, the second execution strategy is selected as the execution strategy adopted by the execution mechanism.

[0125] Step 611, monitor whether the stroke of the actuator in the next execution phase is completed. If it is completed, proceed to step 613; if not, proceed to step 612.

[0126] Step 612, determine whether the execution time of the actuator in the next execution phase has ended. If it has ended, proceed to step 613; if it has not ended, continue to return to step 612.

[0127] Step 613, end the rack moving.

[0128] Figure 7 FIG. 1 is a flow chart showing a method for adaptively correcting the control parameters of a support when the current action is a push-and-slide action. Figure 7 As shown:

[0129] Figure 7 It mainly includes four parts: D, E, F, and G. Among them, part D represents the block diagram of the actuator when it is running in the current execution stage, part G represents the block diagram of the actuator when it is running in the next execution stage, part E represents the block diagram when the push-and-slide rate is monitored, and part F represents the block diagram when the actuator performs column pressure compensation when performing the push-and-slide action.

[0130] in:

[0131] Step 701, push-slide starts.

[0132] Step 702: The execution mechanism adopts the first execution strategy in the current execution phase.

[0133] Step 703: When the speed of the push-and-slide action of the actuator is greater than the preset speed, the actuator ends the operation in the current execution stage.

[0134] Step 704, monitoring the speed of the push-and-slide action of the actuator.

[0135] Step 705, determine whether the speed of the actuator when performing the push-and-slide action is less than or equal to the preset speed. If the speed is less than or equal to the preset speed, proceed to step 706; if the speed is greater than the preset speed, proceed to step 704.

[0136] Step 706: When the speed of the actuator in the push-and-slide operation is less than or equal to the preset speed, the operation process of the actuator is accumulated and timed.

[0137] Step 707, determine whether the accumulated time is greater than the preset time. If the accumulated time is greater than the preset time, proceed to step 708; if the accumulated time is less than or equal to the preset time, proceed to step 704.

[0138] Step 708: When the accumulated timing duration is greater than the preset duration, the current execution phase is terminated in advance.

[0139] Step 709: Continue to select the first execution strategy as the execution strategy adopted by the execution mechanism in the next execution phase.

[0140] Step 710: When the accumulated timing duration is greater than the preset duration and the current execution phase ends early and enters the next execution phase, the second execution strategy is selected as the execution strategy adopted by the execution mechanism.

[0141] Step 711, determine whether the column pressure of the actuator is sufficient in the next execution stage. If the pressure is insufficient, proceed to step 712.

[0142] Step 712, perform column pressure supplementation.

[0143] Step 713, monitoring whether the travel of the actuator in the next execution phase is completed. If completed, proceed to step 715; if not completed, proceed to step 714.

[0144] Step 714, determine whether the execution time of the actuator in the next execution phase has ended. If it has ended, proceed to step 715; if it has not ended, continue to return to step 714.

[0145] Step 715, push and slide the rack.

[0146] On the other hand, the present application proposes a device for adaptively correcting support control parameters. Figure 8 FIG. 1 is a schematic diagram of a structure of a device for adaptively correcting a support control parameter according to an embodiment of the present application. Figure 8 As shown, the device 80 includes: an acquisition module 81, a monitoring module 82, a judgment module 83, a determination module 84 and a correction module 85. Among them:

[0147] An acquisition module 81 is used to acquire a first execution strategy adopted by the actuator of the support when executing the current action in the current execution phase;

[0148] The monitoring module 82 is used to monitor the speed of the actuator to obtain the speed of the actuator when performing the current action in the current execution stage;

[0149] The judging module 83 is used to judge whether the operation of the actuator enters the next execution stage from the current execution stage according to the speed;

[0150] A determination module 84, when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage, determines a second execution strategy adopted by the execution mechanism when the execution mechanism runs in the next execution stage;

[0151] The correction module 85 corrects the parameters of the actuator during operation according to the second execution strategy when the first execution strategy is different from the second execution strategy.

[0152] Fig. 9 FIG. 1 is a schematic diagram of a structure of a device for adaptively correcting a support control parameter according to another embodiment of the present application. Fig. 9 As shown, the device 90 includes: an acquisition module 91, a monitoring module 92, a judgment module 93, a determination module 94 and a correction module 95. Among them: the judgment module 93 includes: a determination unit 931 and a judgment unit 932. The judgment unit 932 includes: a determination subunit 9321 and a timing subunit 9322. The determination module 94 includes: a providing unit 941 and a confirmation unit 942.

[0153] It should be noted that the detailed description of the acquisition module 91, the monitoring module 92, the judgment module 93, the determination module 94 and the correction module 95 can be found in the above Figure 8 The description of the acquisition module 81, the monitoring module 82, the judgment module 83, the determination module 84 and the correction module 85 will not be repeated here.

[0154] In one embodiment of the present application, the judgment module 93 includes:

[0155] The determining unit 931 is used to determine the comparison result between the rate and the preset rate according to the magnitude of the rate and the preset rate;

[0156] The judgment unit 932 is used to judge whether the operation of the execution mechanism enters the next execution stage from the current execution stage according to the comparison result.

[0157] In one embodiment of the present application, the determining unit 932 includes:

[0158] The determination subunit 9321 is used to determine that the operation of the actuator continues to remain in the current execution stage when the speed is greater than the preset speed;

[0159] The timing subunit 9322 is used to accumulate the timing of the operation process with a speed less than the preset speed when the speed is less than or equal to the preset speed, and determine whether the operation of the actuator enters the next execution stage from the current execution stage according to the accumulated timing duration.

[0160] In one embodiment of the present application, the timing subunit 9322 is specifically used for:

[0161] If the accumulated timing duration is greater than the preset duration, the control execution mechanism ends the operation in the current execution phase and enters the next execution phase;

[0162] If the accumulated timing duration is less than or equal to the preset duration, the control execution mechanism continues to run in the current execution stage, and after the current execution stage is completed, the control execution mechanism enters the next execution stage.

[0163] In one embodiment of the present application, the determination module 94 includes:

[0164] A providing unit 941 is used to provide a plurality of candidate execution strategies supported by the next execution stage when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage;

[0165] The confirmation unit 942 is used to confirm an execution strategy selected from multiple candidate execution strategies as a second execution strategy adopted by the execution mechanism when running in the next execution stage.

[0166] The device for adaptively correcting the control parameters of the support proposed in the present application obtains the first execution strategy adopted by the actuator of the support when performing the current action in the current execution stage; monitors the rate of the actuator to obtain the rate of the actuator when performing the current action in the current execution stage; determines whether the operation of the actuator enters the next execution stage from the current execution stage according to the rate; determines the second execution strategy adopted by the actuator when it runs in the next execution stage when it is determined that the operation of the execution structure enters the next execution stage from the current execution stage; and corrects the parameters of the actuator when it runs according to the second execution strategy when the first execution strategy and the second execution strategy are different. Therefore, during the operation of the actuator, there is no need to interact with other systems, and the adaptive correction of the parameters can be completed according to the execution strategy of the next stage, which is more efficient and more stable.

[0167] Fig.10 It is a structural block diagram of an electronic device according to an embodiment of the present application.

[0168] like Fig.10 As shown, the electronic device 1000 includes: a memory 1010, a processor 1020, and computer instructions stored in the memory 1010 and executable on the processor 1020.

[0169] When the processor 1020 executes the instructions, the energy-saving optimization control method for the hot air system of the wet electrostatic precipitator provided in the above embodiment is implemented.

[0170] Furthermore, the electronic device 1000 further includes:

[0171] The communication interface 1030 is used for communication between the memory 1010 and the processor 1020 .

[0172] The memory 1010 is used to store computer instructions that can be executed on the processor 1020 .

[0173] The memory 1010 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0174] Processor 1020 is used to implement the energy-saving optimization control method for the hot air system of the wet electrostatic precipitator of the above embodiment when executing the program.

[0175] If the memory 1010, the processor 1020 and the communication interface 1030 are implemented independently, the communication interface 1030, the memory 1010 and the processor 1020 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0176] Optionally, in a specific implementation, if the memory 1010, the processor 1020 and the communication interface 1030 are integrated on a chip, the memory 1010, the processor 1020 and the communication interface 1030 can communicate with each other through an internal interface.

[0177] The processor 1020 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0178] According to an embodiment of the present application, the present application also provides a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to enable a computer to execute the method for adaptively correcting the support control parameters disclosed in the embodiment of the present application.

[0179] The present application also proposes a computer program product, which, when an instruction processor in the computer program product executes, implements the control method of the coal mine fully mechanized caving working face of the embodiment of the present application.

[0180] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0181] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0182] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for adaptively correcting a support control parameter, characterized in that: The method comprises: Acquire a first execution strategy adopted by the actuator of the support when executing the current action in the current execution phase; Using a speed sensor installed on the actuator, obtaining the speed of the actuator when performing the current action in the current execution stage; According to the preset rate and the rate, determine whether the operation of the actuator enters the next execution stage from the current execution stage: if the rate is greater than the preset rate, determine that the operation of the actuator continues to remain in the current execution stage, and when the actuator completes the operation of the current execution stage, enter the next execution stage; if the rate is less than or equal to the preset rate, accumulate the timing of the operation process in which the rate is less than the preset rate, if the accumulated timing duration is greater than the preset duration, end the current execution stage in advance and enter the next execution stage, if the accumulated timing duration is less than or equal to the preset duration, control the actuator to continue to operate in the current execution stage, and after the current execution stage is completed, control the actuator to enter the next execution stage; In the case where it is determined that the operation of the execution structure enters the next execution stage from the current execution stage, a plurality of candidate execution strategies supported by the next execution stage are provided, and an execution strategy selected from the plurality of candidate execution strategies is used as a second execution strategy adopted by the execution mechanism when the execution mechanism runs in the next execution stage, wherein, when the execution mechanism enters the next execution stage after completing the operation of the current execution stage, the second execution strategy adopted by the execution mechanism in the next execution stage is the same as the first execution strategy; when the execution mechanism terminates the operation of the current execution stage in advance and enters the next execution stage, the second execution strategy adopted by the execution mechanism in the next execution stage is different from the first execution strategy; In the case where the first execution strategy is different from the second execution strategy, the parameters of the actuator during operation are modified according to the second execution strategy.

2. A device for adaptively correcting support control parameters, characterized in that: The device comprises: An acquisition module, used for acquiring a first execution strategy adopted by the actuator of the support when executing a current action in a current execution phase; A monitoring module, used for obtaining the speed of the actuator when the actuator performs the current action in the current execution stage by using a speed sensor installed on the actuator; A judgment module, used to judge whether the operation of the execution mechanism enters the next execution stage from the current execution stage according to the preset rate of the next execution stage and the rate: if the rate is greater than the preset rate, it is determined that the operation of the execution mechanism continues to remain in the current execution stage, and when the execution mechanism completes the operation of the current execution stage, it enters the next execution stage; if the rate is less than or equal to the preset rate, the operation process with the rate less than the preset rate is accumulated and timed, and if the accumulated timing duration is greater than the preset duration, the current execution stage is terminated in advance and the next execution stage is entered; if the accumulated timing duration is less than or equal to the preset duration, the execution mechanism is controlled to continue to operate in the current execution stage, and after the current execution stage is completed, the execution mechanism is controlled to enter the next execution stage; a determination module, which, when determining that the operation of the execution structure enters the next execution stage from the current execution stage, provides a plurality of candidate execution strategies supported by the next execution stage, and selects an execution strategy from the plurality of candidate execution strategies as a second execution strategy adopted by the execution mechanism when the execution mechanism runs in the next execution stage, wherein, when the execution mechanism enters the next execution stage after completing the operation of the current execution stage, the second execution strategy adopted by the execution mechanism in the next execution stage is the same as the first execution strategy; when the execution mechanism terminates the operation of the current execution stage in advance and enters the next execution stage, the second execution strategy adopted by the execution mechanism in the next execution stage is different from the first execution strategy; A correction module is used to correct the parameters of the actuator during operation according to the second execution strategy when the first execution strategy is different from the second execution strategy.

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