Scram control method, scram control device and computer storage medium

Abstract

The invention provides a sudden stop control method, a sudden stop control device and a computer storage medium. The sudden stop control method is applied to computer equipment in a sudden stop control system. The method comprises the steps that firstly, a motion sensor in the sudden stop control system detects motion information of mechanical equipment according to a preset time interval, then corresponding motion states are determined according to the motion information, then the motion states of two adjacent times are compared, and the over-limit motion times are accumulated under the condition that the motion states of the two adjacent times are inconsistent. And when the over-limit motion times exceed the preset over-limit motion times, detecting the motion states of two adjacent times in the following timing duration, and if the motion states are not consistent, accumulating the accumulated triggering duration. And when the accumulated triggering duration is greater than the delayed triggering duration, triggering an emergency stop signal. By means of the method, the overrun vibration of the mechanical equipment can be captured in time, the sudden stop signal is sent out, and vibration instability is prevented. And meanwhile, setting of trigger delay is provided, so that mistaken touch during normal operation of equipment is avoided.

Description

Technical Field

[0001] The present application relates to the field of digital signal processing, and in particular to an emergency stop control method, an emergency stop control device and a computer storage medium. Background Art

[0002] During the debugging of the motion control program of mechanical equipment and the formal operation of the equipment, the controller may become unstable due to some unpredictable factors, which will not only cause harm to personnel and equipment, but also cause economic losses. Therefore, it is crucial to be able to detect the instability of the machine quickly and automatically. At present, the instability problem of traditional motion control can be alleviated by limit switches and damping buffers, but these methods are not suitable for instability caused by vibration. Vibration instability may cause a series of serious problems, including equipment overheating, loose connections, mechanical fatigue, and damage to resonant structures. Summary of the invention

[0003] In view of this, the purpose of this application is to provide an emergency stop control method, an emergency stop control device and a computer storage medium, which can timely capture the generation of excessive vibration and issue an emergency stop signal, while providing a trigger delay setting to avoid accidental touch during normal operation of the equipment.

[0004] According to a first aspect of the present application, an emergency stop control method is provided, which is applied to a computer device in an emergency stop control system, wherein the emergency stop control system further comprises a mechanical device and a motion sensor disposed on the mechanical device, wherein the motion sensor is connected to the computer device, and the method comprises:

[0005] Acquiring the motion information of the mechanical device detected by the motion sensor at a preset time interval; wherein the motion information includes the vibration amplitude;

[0006] Determining a motion state corresponding to the motion information based on the motion information and a preset motion information threshold range;

[0007] Comparing the motion states corresponding to two adjacent motion information, and when the motion states corresponding to the two adjacent motion information are inconsistent, accumulating the number of over-limit motions of the mechanical device, wherein the motion states corresponding to the two adjacent motion information include the motion state corresponding to the current motion information and the reference motion state corresponding to the previous motion information;

[0008] When the number of over-limit movements of the mechanical device is greater than the preset number of over-limit movements, detecting the movement states corresponding to two adjacent pieces of movement information within the next timing duration;

[0009] If the motion states corresponding to two consecutive pieces of motion information are inconsistent within the next timing duration, the accumulated triggering duration of the mechanical device is accumulated;

[0010] When the accumulated triggering time of the mechanical equipment is greater than the preset delayed triggering time, it is determined that the mechanical equipment has excessive vibration, and an emergency stop signal is sent to the mechanical equipment.

[0011] In a possible implementation manner of the first aspect, before the step of acquiring the motion information of the mechanical device detected by the motion sensor at a preset time interval, the method further includes:

[0012] Relevant parameters are configured for the computer device, wherein the relevant parameters include the motion information threshold range, the number of excessive motions, the timing duration, and the delay trigger duration.

[0013] In a possible implementation manner of the first aspect, after the step of comparing the motion states corresponding to two adjacent motion information and accumulating the number of over-limit motions of the mechanical device when the motion states corresponding to the two adjacent motion information are inconsistent, the method further includes:

[0014] Based on the motion state corresponding to the motion information, determining whether the motion state corresponding to the motion information is within a preset motion information threshold range;

[0015] If the motion state corresponding to the motion information is outside the preset motion information threshold range, the motion state corresponding to the motion information is used as a reference motion state for the next motion state corresponding to the motion information;

[0016] If the motion state corresponding to the motion information is within the preset motion information threshold range, then the step of detecting the motion state corresponding to two adjacent motion information within the next timing duration when the number of over-limit motions of the mechanical equipment is greater than the preset number of over-limit motions is entered.

[0017] In a possible implementation manner of the first aspect, when the number of over-limit movements of the mechanical device is greater than a preset number of over-limit movements, in the step of detecting the movement states corresponding to two adjacent pieces of movement information within a subsequent timing duration, the method includes:

[0018] If the number of over-limit movements of the mechanical device is greater than the preset number of over-limit movements, the timing duration is reset, and a preset cycle duration is subtracted from the timing duration to obtain the updated timing duration, wherein the preset cycle duration is related to the preset time interval;

[0019] If the number of over-limit movements of the mechanical device is less than or equal to the preset number of over-limit movements, the timing duration after this update is determined based on the relationship between the timing duration obtained in the last update and zero.

[0020] In a possible implementation of the first aspect, in the step of accumulating the accumulated triggering duration of the mechanical device if the motion states corresponding to two adjacent pieces of motion information within the next preset duration are inconsistent, the method includes:

[0021] Determine whether the updated timing duration is greater than the preset cycle duration;

[0022] If the updated timing duration is less than or equal to the preset cycle duration, the cumulative trigger duration of the mechanical device is reduced by the preset cycle duration to obtain an updated cumulative trigger duration, wherein the updated cumulative trigger duration is not less than zero;

[0023] If the updated timing duration is greater than the preset cycle duration, the cumulative trigger durations of the mechanical equipment are accumulated to obtain an updated cumulative trigger duration.

[0024] In a possible implementation manner of the first aspect, when the accumulated triggering time of the mechanical equipment is greater than the preset delayed triggering time, it is determined that the mechanical equipment has excessive vibration, and in the step of sending an emergency stop signal to the mechanical equipment, the method includes:

[0025] Comparing the accumulated trigger duration with the delayed trigger duration;

[0026] If the accumulated triggering duration is less than or equal to the delayed triggering duration, returning to the step of acquiring the motion information of the mechanical device detected by the motion sensor at preset time intervals;

[0027] If the accumulated triggering time is greater than the delayed triggering time, it is determined that the mechanical device has excessive vibration, and an emergency stop signal is sent to the mechanical device.

[0028] In a possible implementation manner of the first aspect, a plurality of sensors are provided on the mechanical equipment, and the method further includes:

[0029] Based on different motion information obtained by multiple different sensors, multiple corresponding different emergency stop signals are obtained;

[0030] The motion state of the mechanical equipment is controlled based on a plurality of different emergency stop signals.

[0031] In a possible implementation manner of the first aspect, the step of controlling the motion state of the mechanical equipment based on a plurality of different emergency stop signals includes:

[0032] Based on the logic operation of a plurality of different emergency stop signals, the mechanical device is controlled to move in a specific motion state.

[0033] According to a second aspect of the present application, an emergency stop control device is provided, which is applied to a computer device in an emergency stop control system, wherein the emergency stop control system further comprises a mechanical device and a motion sensor disposed on the mechanical device, wherein the motion sensor is connected to the computer device, and the device comprises:

[0034] An information acquisition module, used to acquire the motion information of the mechanical device detected by the motion sensor at a preset time interval; wherein the motion information includes a vibration amplitude;

[0035] A determination module, configured to determine a motion state corresponding to the motion information based on the motion information and a preset motion information threshold range;

[0036] A first accumulation module is used to compare the motion states corresponding to two adjacent motion information, and when the motion states corresponding to the two adjacent motion information are inconsistent, accumulate the number of over-limit motions of the mechanical device, wherein the motion states corresponding to the two adjacent motion information include the motion state corresponding to the current motion information and the reference motion state corresponding to the previous motion information;

[0037] A detection module, configured to detect the motion states corresponding to two adjacent pieces of motion information within a subsequent timing period when the number of over-limit motions of the mechanical device is greater than a preset number of over-limit motions;

[0038] A second accumulation module is used to accumulate the accumulated triggering time of the mechanical device when the motion states corresponding to two consecutive pieces of motion information are inconsistent within the next timing time;

[0039] The emergency stop control module is used to determine that the mechanical equipment has excessive vibration when the accumulated triggering time of the mechanical equipment is greater than the preset delayed triggering time, and to send an emergency stop signal to the mechanical equipment.

[0040] According to a third aspect of the present application, a computer storage medium is provided, wherein the computer storage medium stores an executable program, and when the executable program is executed by a processor, the aforementioned emergency stop control method is implemented.

[0041] Based on any of the above aspects, an emergency stop control method, an emergency stop control device and a computer storage medium are provided in the embodiments of the present application. Through the above method, the over-limit vibration of mechanical equipment can be captured in time and an emergency stop signal can be issued to avoid vibration instability. At the same time, a trigger delay setting is provided to avoid accidental triggering during normal operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A schematic diagram of an application scenario of the emergency stop control system provided in this embodiment;

[0044] Figure 2 A schematic flow chart of the steps of an emergency stop control method provided in this embodiment;

[0045] Figure 3 for Figure 2 The corresponding algorithm flow chart;

[0046] Figure 4 A schematic flow chart of the steps of applying an emergency stop control method provided in this embodiment to multiple sensors;

[0047] Figure 5 The emergency stop control method provided for this embodiment is applied to the amplitude-frequency image of acceleration detection of mechanical equipment;

[0048] Figure 6 The emergency stop control method provided in this embodiment is applied to the amplitude-frequency image of the specific frequency and amplitude vibration detection of the mechanical equipment;

[0049] Figure 7 The emergency stop control method provided for this embodiment is applied to shield the amplitude-frequency image of the vibration detection of specific frequency and amplitude;

[0050] Figure 8 This is a schematic diagram of the functional modules of the emergency stop control device provided in this embodiment.

[0051] Icons: 10-emergency stop control system, 20-emergency stop control device, 100-computer equipment, 110-mechanical equipment, 120-motion sensor, 200-information acquisition module, 210-determination module, 220-first accumulation module, 230-detection module, 240-second accumulation module, 250-emergency stop control module. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0054] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0055] In the description of this application, it should be noted that the terms "upper", "lower", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0056] It should be noted that, in the absence of conflict, different features in the embodiments of the present application may be combined with each other.

[0057] In order to solve the technical problems mentioned in the aforementioned background technology, the inventor innovatively designed the following technical solution, and the specific implementation solution of the present application will be described in detail below with reference to the accompanying drawings.

[0058] See also Figure 1 , Figure 1 The schematic diagram of the interactive scene of the emergency stop control system 10 provided in this embodiment is as follows: The emergency stop control system 10 may include a computer device 100, a mechanical device 110, and a motion sensor 120 disposed on the mechanical device 110, wherein the motion sensor 120 is connected to the computer device 100.

[0059] In this embodiment, the motion sensor 120 can be connected to the computer device 100 by wireless communication (such as Bluetooth, WIFI, etc.). Exemplarily, the motion sensor 120 obtains the motion information of the mechanical device 110 and transmits it to the computer device 100, and the computer device 100 determines whether the mechanical device 110 is vibrating and unstable. If the emergency stop signal triggering condition preset by the computer device 100 is met, it can be determined that the mechanical device 110 is vibrating and unstable and send an emergency stop signal to it, so as to stop the operation of the mechanical device 110 in time, and effectively prevent the unsafe problems caused by the vibration instability of the mechanical device 110.

[0060] Understandably, Figure 1 The emergency stop control system 10 shown is only a feasible example. In other feasible embodiments, the emergency stop control system 10 may also include only Figure 1 One of the components shown or other components.

[0061] Combine the following Figure 1 The application scenario shown is an exemplary description of the emergency stop control method provided in the embodiment of the present application. Figure 2 and Figure 3 , Figure 2 A flowchart of an emergency stop control method provided in this embodiment, the method is applied to Figure 1 The computer device 100 in the emergency stop control system 10 shown, that is, the method is executed by the computer device 100 . Figure 3 This is an algorithm flow chart of an emergency stop control method provided in this embodiment.

[0062] In addition, in order to facilitate the correspondence between the step flow chart of the emergency stop control method and the algorithm flow chart, the present application uses specific parameters to represent the variables appearing in the emergency stop control method. Figure 3 Where x represents the motion information obtained by the motion sensor, Ba and Bf represent the preset motion information thresholds, where Ba represents the amplitude threshold, Bf represents the frequency threshold, s represents the motion state corresponding to the motion information, s_ represents the reference motion state, y represents the number of over-limit motions, dt represents the preset cycle duration, ET represents the timing duration, DS represents the cumulative trigger duration, Td represents the delayed trigger duration, and Estop represents the emergency stop signal.

[0063] The detailed steps of the emergency stop control method executed by the computer device 100 are described as follows:

[0064] Step S110, acquiring the motion information x of the mechanical device 110 detected by the motion sensor 120 at a preset time interval;

[0065] In this step, the computer device 100 obtains motion information x at preset time intervals, and the motion information x includes but is not limited to vibration amplitude, displacement, speed, acceleration, etc.

[0066] In this embodiment, the computer device 100 obtains motion information x by presetting a time interval, which may be a sampling period. It is worth noting that the specific duration of the time interval is not specifically limited here and needs to be set according to the operating characteristics of the mechanical device 110 and the required detection accuracy.

[0067] Step S120: determining the motion state s corresponding to the motion information x based on the motion information x and a preset motion information threshold range.

[0068] In this step, the motion information threshold range is pre-set by the system engineer on the computer device 100. The motion information threshold range is not specifically limited here. The motion information threshold range needs to be set for different operating information x based on the system engineer's design parameters and experience of the mechanical equipment.

[0069] In this embodiment, different motion information x may correspond to different motion states s. For example, when the motion information x detected by the motion sensor 120 is within the motion information threshold range, the motion state s corresponding to the motion information x is 0.

[0070] When the motion information x detected by the motion sensor is outside the motion information threshold range, that is, the motion information x is greater than the maximum amplitude threshold Ba or the motion information x is less than the minimum amplitude threshold -Ba. When the motion information x is greater than the maximum amplitude threshold Ba, the motion state s corresponding to the motion information x is 1, and when the motion information x is less than the minimum amplitude threshold -Ba, the motion state s corresponding to the motion information x is -1.

[0071] Step S130, comparing the motion states s corresponding to two adjacent motion information x, and when the motion states s corresponding to two adjacent motion information x are inconsistent, accumulating the number of over-limit motions y of the mechanical device.

[0072] In this step, the motion states s corresponding to two adjacent motion information x include the motion state s corresponding to the current motion information x and the reference motion state s_ corresponding to the previous motion information.

[0073] In this embodiment, the accumulation formula of the number of out-of-limit movements y of the mechanical equipment 110 can be: number of out-of-limit movements y+|movement state s-reference motion state s_|*|movement state s|*0.5-2*frequency threshold Bf*preset cycle duration dt. The updated number of out-of-limit movements is obtained through this accumulation formula, wherein the number of out-of-limit movements y is greater than or equal to 0 and less than or equal to 1.001.

[0074] For example, if the previous motion information x is greater than the maximum amplitude threshold Ba, the reference motion state s_ corresponding to the previous motion information x is 1, and if the current motion information x is within the motion information threshold range, the motion state s corresponding to the current motion information x is 0. Therefore, the updated number of excessive motion times y is calculated by the cumulative formula as the number of excessive motion times y-2*frequency threshold Bf*preset cycle duration dt.

[0075] For example, if the previous motion information x is greater than the maximum amplitude threshold Ba, the reference motion state s_ corresponding to the previous motion information x is 1, and if the current motion information x is less than the opposite number of the minimum amplitude threshold -Ba, the reference motion state s_ corresponding to the current motion information x is -1. Therefore, the updated number of over-limit motions y is calculated by the cumulative formula as the number of over-limit motions y+1-2*frequency threshold Bf*preset cycle duration dt, and the number of over-limit motions y is accumulated.

[0076] It is worth noting that the reason for reducing the number of over-limit movements y by 2*frequency threshold Bf*preset cycle duration dt in this embodiment is to avoid resetting the timing duration ET in each cycle. For example, in one cycle, the number of over-limit movements y reaches the preset number of over-limit movements y, and the timing duration ET is reset at this time. If no inconsistency of the motion state s is detected in the next few cycles, the number of over-limit movements y will continue to decrease until it decreases to 0, and there is no need to reset the timing duration ET.

[0077] In this embodiment, the inconsistency between the motion states s corresponding to two adjacent motion information x is compared to accumulate the number of over-limit motions y to prevent the mechanical device from being accidentally touched during normal operation. If the motion state s corresponding to the motion information x detected twice is always in a state greater than the maximum threshold Ba of the amplitude or always in a state less than the minimum threshold of the amplitude, it is possible that an accidental touch has occurred rather than an over-limit vibration. Therefore, only when the motion state s is detected to be reversed can it be determined that the mechanical device 110 may have an over-limit vibration.

[0078] In addition, the cumulative formula and the value of the number of over-limit movements provided in this embodiment are an example that the inventor has found feasible after actual testing, but the cumulative formula and the value range of the number of over-limit movements obtained from different mechanical equipment tested in actual situations may be different, and are not specifically limited here.

[0079] Step S140, when the number of over-limit movements y of the mechanical device is greater than the preset number of over-limit movements, detecting the movement state s corresponding to two adjacent pieces of movement information x within the next timing duration ET.

[0080] In this embodiment, the preset number of over-limit movements is 1. The preset number of over-limit movements is not specifically limited here, and the value of the preset number of over-limit movements needs to be set according to the design parameters and experience of the system engineer for the mechanical equipment.

[0081] Step S150 , if the motion states s corresponding to two adjacent pieces of motion information x within the next timing duration ET are inconsistent, the accumulated triggering duration DS of the mechanical device 110 is accumulated.

[0082] In this embodiment, when the number of over-limit movements y of the mechanical equipment 110 is greater than the preset number of over-limit movements, it indicates that the mechanical equipment may have over-limit vibration, but an emergency stop signal will not be issued immediately at this time. A delayed trigger mechanism will be set to avoid accidental triggering of the mechanical equipment during normal operation.

[0083] Specifically, a timing duration ET is set. If the motion states s corresponding to two adjacent pieces of motion information x detected within the timing duration ET are inconsistent, the cumulative trigger duration DS will be accumulated. If the motion states s are detected to be inconsistent for multiple consecutive times, the cumulative trigger duration DS will continue to accumulate. Finally, it is determined whether the mechanical equipment 110 has excessive vibration based on the cumulative trigger duration DS.

[0084] Step S160 , when the accumulated triggering time DS of the mechanical device 110 is greater than the preset delayed triggering time Td, it is determined that the mechanical device 110 has excessive vibration, and an emergency stop signal Estop is sent to the mechanical device 110 .

[0085] In this embodiment, when the cumulative trigger time DS of the mechanical equipment is greater than the preset delayed trigger time Td, it means that the mechanical equipment 110 may have been subjected to vibration beyond the normal working range. In this case, it is judged that the mechanical equipment 110 has excessive vibration, and an emergency stop signal Estop is issued to quickly stop the operation of the mechanical equipment.

[0086] It is worth noting that the setting of the delay trigger time Td is not specifically limited here. Usually, the setting of the delay trigger time Td needs to take into account the safe operation and maintenance requirements of the mechanical equipment.

[0087] For further information, see Figure 3 Before step S110, the method further includes:

[0088] The computer device 100 is configured with relevant parameters, wherein the relevant parameters include the motion information threshold range, the number of excessive motions y, the timing duration ET and the delay trigger duration Td.

[0089] In this embodiment, the computer device 100 is initialized, wherein the initialization process includes but is not limited to declaring parameters and assigning values ​​to the parameters, for example, declaring the timing duration parameter as ET and assigning a value of 0 or declaring the over-limit exercise number parameter as y and assigning a value of 0.

[0090] Further, please see again Figure 3 After step S130, the method includes:

[0091] Based on the motion state s corresponding to the motion information x, it is determined whether the motion state s corresponding to the motion information x is within a preset motion information threshold range.

[0092] If the motion state s corresponding to the motion information x is outside the preset motion information threshold range, the motion state s corresponding to the motion information x is used as the reference motion state s_ for the motion state corresponding to the next motion information.

[0093] If the motion state s corresponding to the motion information x is within the preset motion information threshold range, the process proceeds to step S140.

[0094] In this embodiment, the number of excess motion times y is accumulated by comparing the motion states s corresponding to two adjacent motion information x. Therefore, it is necessary to retain the motion state s corresponding to the current motion information x as the reference motion state s_ for the motion state s corresponding to the next motion information x, and compare the motion state s corresponding to the next motion information x with the reference motion state s_. If they are inconsistent, the number of excess motion times is accumulated, and if they are consistent, it is not accumulated.

[0095] In addition, when the motion state s corresponding to the motion information x is within the preset motion information threshold range, it means that the mechanical equipment does not have excessive vibration, and then proceed to the next step.

[0096] Further, please see again Figure 3 , step S140 can also be implemented in the following way.

[0097] If the number of over-limit movements y of the mechanical equipment 110 is greater than the preset number of over-limit movements, the timing duration ET is reset, and the timing duration ET is subtracted from a preset cycle duration dt to obtain the updated timing duration ET, wherein the preset cycle duration dt is related to the preset time interval.

[0098] In this embodiment, the timing duration ET may be a vibration cycle, that is, the inverse of the frequency threshold Bf. The timing duration ET after this update is obtained by subtracting a preset cycle duration dt from the timing duration ET, wherein the minimum timing duration ET is zero and the maximum is infinity.

[0099] It is worth mentioning that Figure 3 The function clip(value, lower, upper) means that if the input value is between lower and upper, then value is output; if value is less than lower, then lower is output; if value is greater than upper, then upper is output. The preset cycle time dt is related to the preset time interval, and the preset cycle time dt can be a sampling period. The specific duration of the sampling period is not specifically limited here, and needs to be set according to the operating characteristics of the mechanical device 110 and the required detection accuracy.

[0100] If the number of over-limit movements y of the mechanical device 110 is less than or equal to the preset number of over-limit movements, the timing duration after this update is determined based on the relationship between the timing duration ET obtained in the last update minus a preset cycle duration dt and zero.

[0101] In this embodiment, if the time duration ET obtained by the last update minus a preset cycle duration dt is greater than zero, the time duration ET after this update is the value obtained by subtracting a preset cycle duration dt from the time duration ET obtained by the last update. If the time duration ET obtained by the last update minus a preset cycle duration dt is less than or equal to zero, the time duration ET after this update is zero.

[0102] Further, please see again Figure 3 , step S150 can also be implemented in the following way.

[0103] Determine whether the updated timing duration ET is greater than the preset cycle duration dt.

[0104] If the updated timing duration ET is less than or equal to the preset cycle duration dt, the cumulative trigger duration DS of the mechanical device 110 is reduced by the preset cycle duration dt to obtain the updated cumulative trigger duration DS, wherein the updated cumulative trigger duration DS is not less than zero.

[0105] In this embodiment, if the updated timing duration ET is less than or equal to the preset cycle duration dt, it means that the timing duration ET has ended, indicating that the motion information x detected by the motion sensor 120 in this cycle does not exceed the motion information threshold range, then the cumulative trigger duration DS of the mechanical equipment 110 is reduced by the duration of this cycle, that is, the preset cycle duration dt.

[0106] It is worth noting that the cumulative trigger duration DS is greater than or equal to zero. If the cumulative trigger duration DS is greater than zero after being reduced by the preset cycle duration dt, the updated cumulative trigger duration DS is the cumulative trigger duration DS reduced by the preset cycle duration dt. If the cumulative trigger duration DS is less than or equal to zero after being reduced by the preset cycle duration dt, the updated cumulative trigger duration DS is zero.

[0107] If the updated timing duration ET is greater than the preset cycle duration dt, the duration of the cumulative trigger duration DS of the mechanical device 110 is accumulated to obtain the updated cumulative trigger duration DS.

[0108] In this embodiment, if the updated timing duration ET is greater than the preset cycle duration dt, it means that the timing duration ET has not yet ended, indicating that the motion information x detected by the motion sensor 120 in this cycle still exceeds the motion information threshold range, and the cumulative trigger duration DS of the mechanical device 110 is accumulated.

[0109] Further, please see again Figure 3 , step S160 can also be implemented in the following way.

[0110] The accumulated trigger duration DS is compared with the delayed trigger duration Td.

[0111] If the accumulated triggering duration DS is less than or equal to the delayed triggering duration Td, the process proceeds to step S110.

[0112] In this embodiment, if the accumulated trigger duration DS is less than or equal to the delayed trigger duration Td, it means that the delayed trigger duration Td has not been reached, and it is necessary to continue to detect whether the motion states s corresponding to two adjacent motion information x are consistent.

[0113] If the accumulated triggering time DS is greater than the delayed triggering time Td, it is determined that the mechanical device 110 has excessive vibration, and an emergency stop signal Estop is sent to the mechanical device 110 .

[0114] Based on the above-mentioned emergency stop control method, this embodiment sets a plurality of sensors on the mechanical equipment and configures different detection parameters, so as to realize multiple functions.

[0115] See also Figure 4 , Figure 4 The emergency stop control method provided in this embodiment may include the following steps when multiple sensors are set on the mechanical equipment:

[0116] Step S210, obtaining a plurality of corresponding different emergency stop signals based on different motion information obtained by a plurality of different sensors.

[0117] Step S220, controlling the motion state of the mechanical equipment based on a plurality of different emergency stop signals.

[0118] Furthermore, step S220 may also be implemented in the following manner.

[0119] The mechanical equipment is controlled to move in a specific motion state based on the logic operation of multiple different emergency stop signals.

[0120] In this embodiment, the logical operation includes three logical operators: AND (&), OR (||), and NOT (!). AND operation is when both input values ​​are true, the result is true, OR operation is when only one of the two input values ​​is true, the result is true. NOT operation is when the input value is false, the result is true, when the input value is true, the result is false.

[0121] For example, in one implementation of this embodiment, the emergency stop control method can be applied to acceleration detection of mechanical equipment in an emergency stop control system. The simulation environment of the emergency stop control system is: assuming that the mechanical equipment in the emergency stop control system vibrates sinusoidally, the acceleration is proportional to the amplitude and inversely proportional to the square of the frequency.

[0122] By superimposing the sensor detection area through OR operation, the trigger area (including the resonance point of the emergency stop control system) is added to the detection area, and the low-frequency area (normal operation of mechanical equipment) is excluded from the detection area. For example, the detection points of the trigger area are set to (Bf1, Ba1), (Bf2, Ba2), (Bf3, Ba3) and (Bf4, Ba4). The area formed by the OR operation of the detection points is the trigger area. The trigger area = (Bf1, Ba1)||(Bf2, Ba2)||(Bf3, Ba3)||(Bf4, Ba4), and its amplitude-frequency image is as follows: Figure 5 shown.

[0123] It is worth noting that (Bf1, Ba1) represents a region where the frequency of motion information is greater than Bf1 and the amplitude is greater than Ba1.

[0124] In this embodiment, when the motion information detected by the sensor is in the trigger zone, it means that the acceleration of the mechanical device is too large in this case, and an emergency stop signal is sent to the mechanical device.

[0125] Illustratively, in another implementation of this embodiment, the emergency stop control method may be applied to vibration detection of specific frequencies and amplitudes of mechanical equipment in an emergency stop control system.

[0126] For example, the detection points are set to (Bf1, Ba1), (Bf2, Ba2) and (Bf3, Ba3), and the specific frequency and amplitude are detected by AND-NOT operation. For example, the detection points of the trigger zone are set to (Bf1, Ba1), (Bf2, Ba2) and (Bf3, Ba3), and the trigger zone = (Bf1, Ba1) &&! (Bf2, Ba2) &&! (Bf3, Ba3), and its amplitude-frequency image is as follows: Figure 6 As shown, the area enclosed by the detection points is the detection area of ​​specific frequency and amplitude.

[0127] For example, in another implementation of this embodiment, the emergency stop control method can be applied to the emergency stop control system to shield the mechanical equipment from vibration detection of specific frequency and amplitude. The simulation environment of the emergency stop control system is: assuming that the frequency amplitude of the emergency stop control system subjected to external disturbance is known.

[0128] Through the AND-NOT operation, the known frequency and amplitude are shielded. For example, the detection points are set to (Bf1, Ba1), (Bf2, Ba2), (Bf3, Ba3) and (Bf4, Ba4), and the trigger area = (Bf4, Ba4) &&! [(Bf1, Ba1) &&! (Bf2, Ba2) &&! (Bf3, Ba3)], and its amplitude-frequency image is as follows: Figure 7 As shown, the area enclosed by the detection points is the area for shielding known frequency and amplitude, and the area for known frequency and amplitude is the power frequency interference area.

[0129] Based on the same inventive concept, see Figure 8 , Figure 8 A schematic diagram of the functional modules of an emergency stop control device 20 provided in this embodiment. This embodiment can divide the functional modules of the emergency stop control device 20 according to the above-mentioned method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods for actual implementation. For example, in the case of dividing each functional module according to each function, Figure 8 The emergency stop control device 20 shown is only a schematic diagram of the device. The emergency stop control device 20 may include a module and a transmitter. The functions of each functional module of the emergency stop control device are described in detail below.

[0130] The information acquisition module 200 is used to acquire the motion information of the mechanical device 110 detected by the motion sensor 120 at a preset time interval; wherein the motion information includes the vibration amplitude.

[0131] In this embodiment, the information acquisition module 200 can be used to execute Figure 2 As shown in step S110, for a detailed description of the information acquisition module 200, please refer to the description of step S110.

[0132] The determination module 210 is configured to determine the motion state corresponding to the motion information based on the motion information and a preset motion information threshold range.

[0133] In this embodiment, the determination module 210 can be used to perform Figure 2 As shown in step S120, for a detailed description of the determination module, please refer to the description of step S120.

[0134] The first accumulation module 220 is used to compare the motion states corresponding to two adjacent motion information, and when the motion states corresponding to the two adjacent motion information are inconsistent, accumulate the number of over-limit motion times of the mechanical equipment 110, wherein the motion states corresponding to the two adjacent motion information include the motion state corresponding to the current motion information and the reference motion state corresponding to the previous motion information.

[0135] In this embodiment, the first accumulation module 220 can be used to perform Figure 2 As shown in step S130 , for a detailed description of the first accumulating module 220 , please refer to the description of step S130 .

[0136] The detection module 230 is used to detect the motion states corresponding to two adjacent motion information within the next timing duration when the number of over-limit motions of the mechanical device 110 is greater than a preset number of over-limit motions.

[0137] In this embodiment, the detection module 230 can be used to perform Figure 2 As shown in step S140, for a detailed description of the detection module 230, please refer to the description of step S140.

[0138] The second accumulation module 240 is used to accumulate the accumulated triggering duration of the mechanical device 110 when the motion states corresponding to two adjacent pieces of motion information are inconsistent within the next timing duration.

[0139] In this embodiment, the second accumulation module 240 can be used to perform Figure 2 As shown in step S150, for the detailed description of the second accumulation module, please refer to the description of step S150.

[0140] The emergency stop control module 250 is used to determine that the mechanical device 110 has excessive vibration when the accumulated triggering time of the mechanical device 110 is greater than a preset delay triggering time, and to send an emergency stop signal to the mechanical device 110 .

[0141] In this embodiment, the emergency stop control module 250 can be used to execute Figure 2 As shown in step S160, for a detailed description of the emergency stop control module, please refer to the description of step S160.

[0142] Furthermore, an embodiment of the present application also provides a computer storage medium storing an executable program, and when the executable program is executed, it can be used to implement the emergency stop control method provided by the above method embodiment.

[0143] Of course, the computer storage medium containing an executable program provided in an embodiment of the present application, whose executable program is not limited to the above method operations, can also execute related operations in the emergency stop control method provided in any embodiment of the present application.

[0144] In summary, the present application provides an emergency stop control method, an emergency stop control device and a computer storage medium, and the emergency stop control method is applied to a computer device in an emergency stop control system. First, the motion sensor in the emergency stop control system detects the motion information of the mechanical equipment at a preset time interval, and then determines the corresponding motion state based on the motion information, and then compares the motion states of two adjacent motions, and accumulates the number of over-limit motions when the two adjacent motion states are inconsistent. When the number of over-limit motions exceeds the preset number of over-limit motions, the motion states of two adjacent motions in the next timing duration are detected, and if they are inconsistent, the cumulative trigger duration is accumulated. When the cumulative trigger duration is greater than the delayed trigger duration, the emergency stop signal is triggered. Through the above method, the over-limit vibration of the mechanical equipment can be captured in time and an emergency stop signal can be issued to prevent the occurrence of vibration instability. At the same time, a trigger delay setting is provided to avoid accidental touches during normal operation of the equipment.

[0145] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the present application for which protection is claimed, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in a claim. Certain measures are recorded in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0147] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An emergency stop control method, characterized in that: A computer device used in an emergency stop control system, wherein the emergency stop control system further comprises a mechanical device and a motion sensor disposed on the mechanical device, wherein the motion sensor is connected to the computer device, and the method comprises: Acquiring the motion information of the mechanical device detected by the motion sensor at a preset time interval; wherein the motion information includes the vibration amplitude; Determining a motion state corresponding to the motion information based on the motion information and a preset motion information threshold range; Comparing the motion states corresponding to two adjacent motion information, and when the motion states corresponding to the two adjacent motion information are inconsistent, accumulating the number of over-limit motions of the mechanical device, wherein the motion states corresponding to the two adjacent motion information include the motion state corresponding to the current motion information and the reference motion state corresponding to the previous motion information; When the number of over-limit movements of the mechanical device is greater than the preset number of over-limit movements, detecting the movement states corresponding to two adjacent pieces of movement information within the next timing duration; If the motion states corresponding to two consecutive pieces of motion information are inconsistent within the next timing duration, the accumulated triggering duration of the mechanical device is accumulated; When the accumulated triggering time of the mechanical equipment is greater than the preset delayed triggering time, it is determined that the mechanical equipment has excessive vibration, and an emergency stop signal is sent to the mechanical equipment.

2. The emergency stop control method according to claim 1, characterized in that: Before the step of acquiring the motion information of the mechanical device detected by the motion sensor at a preset time interval, the method further includes: The computer device is configured with relevant parameters, wherein the relevant parameters include the motion information threshold range, the number of excessive motions, the timing duration, and the delay trigger duration.

3. The emergency stop control method according to claim 1, characterized in that: After the step of comparing the motion states corresponding to two adjacent pieces of motion information and accumulating the number of over-limit motions of the mechanical device when the motion states corresponding to the two adjacent pieces of motion information are inconsistent, the method further includes: Based on the motion state corresponding to the motion information, determining whether the motion state corresponding to the motion information is within a preset motion information threshold range; If the motion state corresponding to the motion information is outside the preset motion information threshold range, taking the motion state corresponding to the motion information as a reference motion state for the next motion state corresponding to the motion information; If the motion state corresponding to the motion information is within the preset motion information threshold range, then the step of detecting the motion state corresponding to two adjacent motion information within the next timing duration when the number of over-limit motions of the mechanical equipment is greater than the preset number of over-limit motions is entered.

4. The emergency stop control method according to claim 1, characterized in that: When the number of over-limit movements of the mechanical device is greater than a preset number of over-limit movements, in the step of detecting the movement states corresponding to two adjacent pieces of movement information within a subsequent timing duration, the method includes: If the number of over-limit movements of the mechanical device is greater than the preset number of over-limit movements, the timing duration is reset, and a preset cycle duration is subtracted from the timing duration to obtain the timing duration after this update, wherein the preset cycle duration is related to the preset time interval; If the number of over-limit movements of the mechanical device is less than or equal to the preset number of over-limit movements, the timing duration after this update is determined based on the relationship between the timing duration obtained in the last update and zero.

5. The emergency stop control method according to claim 4, characterized in that: In the step of accumulating the accumulated triggering duration of the mechanical device if the motion states corresponding to two adjacent pieces of motion information within the next preset duration are inconsistent, the method comprises: Determine whether the updated timing duration is greater than the preset cycle duration; If the updated timing duration is less than or equal to the preset cycle duration, the cumulative trigger duration of the mechanical device is reduced by the preset cycle duration to obtain an updated cumulative trigger duration, wherein the updated cumulative trigger duration is not less than zero; If the updated timing duration is greater than the preset cycle duration, the cumulative trigger durations of the mechanical equipment are accumulated to obtain an updated cumulative trigger duration.

6. The emergency stop control method according to claim 1, characterized in that: When the accumulated triggering time of the mechanical device is greater than the preset delay triggering time, it is determined that the mechanical device has excessive vibration, and in the step of sending an emergency stop signal to the mechanical device, the method includes: Comparing the accumulated trigger duration with the delayed trigger duration; If the accumulated triggering duration is less than or equal to the delayed triggering duration, returning to the step of acquiring the motion information of the mechanical device detected by the motion sensor at preset time intervals; If the accumulated triggering time is greater than the delayed triggering time, it is determined that the mechanical device has excessive vibration, and an emergency stop signal is sent to the mechanical device.

7. The emergency stop control method according to any one of claims 1 to 6, characterized in that: The mechanical equipment is provided with a plurality of sensors, and the method further comprises: Based on different motion information obtained by multiple different sensors, multiple corresponding different emergency stop signals are obtained; The motion state of the mechanical equipment is controlled based on a plurality of different emergency stop signals.

8. The emergency stop control method according to claim 7, characterized in that: The step of controlling the motion state of the mechanical device based on a plurality of different emergency stop signals comprises: Based on the logic operation of a plurality of different emergency stop signals, the mechanical device is controlled to move in a specific motion state.

9. An emergency stop control device, characterized in that: A computer device used in an emergency stop control system, the emergency stop control system further comprising a mechanical device and a motion sensor disposed on the mechanical device, wherein the motion sensor is connected to the computer device, and the device comprises: An information acquisition module, used to acquire the motion information of the mechanical device detected by the motion sensor at a preset time interval; wherein the motion information includes a vibration amplitude; A determination module, configured to determine a motion state corresponding to the motion information based on the motion information and a preset motion information threshold range; A first accumulation module is used to compare the motion states corresponding to two adjacent motion information, and when the motion states corresponding to the two adjacent motion information are inconsistent, accumulate the number of over-limit motions of the mechanical device, wherein the motion states corresponding to the two adjacent motion information include the motion state corresponding to the current motion information and the reference motion state corresponding to the previous motion information; A detection module, configured to detect the motion states corresponding to two adjacent pieces of motion information within a subsequent timing period when the number of over-limit motions of the mechanical device is greater than a preset number of over-limit motions; A second accumulation module is used to accumulate the accumulated triggering time of the mechanical device when the motion states corresponding to two consecutive pieces of motion information are inconsistent within the next timing time; The emergency stop control module is used to determine that the mechanical equipment has excessive vibration when the accumulated triggering time of the mechanical equipment is greater than the preset delayed triggering time, and to send an emergency stop signal to the mechanical equipment.

10. A computer storage medium, characterized in that: An executable program is stored, and when the executable program is executed by a processor, the emergency stop control method described in claims 1-8 is implemented.

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