Body balance control method and device, mining machine and storage medium

Abstract

The invention relates to the field of mining machine control, in particular to a machine body balance control method and device, a mining machine and a storage medium. Current inclination condition information of a machine body is determined according to real-time inclination angle data collected by an inclination angle sensor arranged on the mining machine; the inclination condition information comprises a horizontal inclination angle of a machine body of the mining machine in a running state and a horizontal inclination angle of the machine body of the mining machine in a non-running state; and according to the current inclination condition information of the machine body and the current operation state information of the mining machine, the lifting heights of the first lifting oil cylinder and the two second lifting oil cylinders are controlled, so that the horizontal inclination angle of the machine body in the width direction and the horizontal inclination angle of the machine body in the length direction are controlled. The lifting height of each lifting oil cylinder for controlling balance of the machine body can be automatically controlled, so that the horizontal inclination angle of the machine body is within an expected range.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mining machine control, in particular to a machine body balance control method and device, a mining machine and a storage medium. BACKGROUND

[0002] The conventional open-pit mining machine needs to keep the machine body balanced by manual operation according to sensor data, but this method is slow in response and low in adjustment accuracy of the machine body balance, and it is difficult to ensure the balance of the machine body.

[0003] Therefore, a method for automatically adjusting the lifting height of the lifting cylinder for controlling the balance of the machine body to keep the horizontal inclination angle of the machine body within a desired range is urgently needed. SUMMARY

[0004] The embodiments of the present application provide a machine body balance control method and device, a mining machine and a storage medium, which are aimed at automatically controlling the lifting height of each lifting cylinder for controlling the balance of the machine body to keep the horizontal inclination angle of the machine body within a desired range.

[0005] In a first aspect, the embodiments of the present application provide a machine body balance control method, which is applied to a mining machine, the mining machine comprising a machine body, a first lifting cylinder and a second lifting cylinder connected to the machine body, the first lifting cylinder being connected to the front side of the machine body, and each of the two sides of the machine body near the tail thereof being connected to a second lifting cylinder, and the method comprising: determining the current inclination information of the machine body according to the real-time inclination angle data collected by the inclination angle sensor arranged on the mining machine; the inclination information comprising the horizontal inclination angle of the machine body of the mining machine in the running state and the horizontal inclination angle of the machine body of the mining machine in the non-running state; controlling the lifting height of the first lifting cylinder and the two second lifting cylinders according to the current inclination information of the machine body and the current running state information of the mining machine, to control the horizontal inclination angle of the machine body in the width direction and the horizontal inclination angle of the machine body in the length direction.

[0006] Optionally, the determination of the current inclination information of the machine body according to the real-time inclination angle data collected by the inclination angle sensor arranged on the mining machine comprises: determining whether the mining machine is in the running state or the non-running state; if the mining machine is in the running state, determining whether the height of one side of the machine body needs to be fixed according to the working environment of the mining machine; if the height of one side of the machine body needs to be fixed, controlling the lifting height of the first lifting cylinder and the second lifting cylinders respectively according to the current inclination information of the machine body, to sequentially control the horizontal inclination angle of the machine body in the width direction and the horizontal inclination angle of the machine body in the length direction.

[0007] Optionally, if one side of the machine body needs to be fixed in height, the lifting heights of the first lifting oil cylinder and the second lifting oil cylinder are controlled according to the current inclination information of the machine body, to sequentially control the horizontal inclination angle of the machine body in the width direction and the horizontal inclination angle of the machine body in the length direction, including: the lifting height of the second lifting oil cylinder connected to the other side of the machine body is controlled to adjust the horizontal inclination angle of the machine body in the width direction to a first target angle, while keeping the lifting height of the second lifting oil cylinder connected to the side of the machine body fixed in height unchanged; the lifting height of the first lifting oil cylinder connected to the front side of the machine body is controlled to adjust the horizontal inclination angle of the machine body in the length direction to a second target angle, after adjusting the horizontal inclination angle of the machine body in the width direction.

[0008] Optionally, further comprising: if the mining machine is not in a running state, it is determined whether the mining machine is in a scene transition state; the scene transition state includes a state of moving from one work site to another work site; if the mining machine is in the scene transition state, the lifting heights of the second lifting oil cylinders connected to the two sides of the machine body close to the tail are controlled to adjust the horizontal inclination angle of the machine body in the width direction to a third target angle, while keeping the lifting height of the first lifting oil cylinder unchanged.

[0009] Optionally, further comprising: if the mining machine is not in the scene transition state, the lifting heights of the first lifting oil cylinder and the two second lifting oil cylinders are controlled to make the width direction of the machine body and the length direction of the machine body both parallel to the horizontal plane.

[0010] Optionally, the mining machine comprises a first hydraulic pump and a second hydraulic pump, the first hydraulic pump is used to pump hydraulic oil to the first lifting oil cylinder, and the second hydraulic pump is used to pump hydraulic oil to the second lifting oil cylinder; the lifting heights of the first lifting oil cylinder and the two second lifting oil cylinders are controlled according to the current inclination information of the machine body and the current running state information of the mining machine, to control the horizontal inclination angle of the machine body in the width direction and the horizontal inclination angle of the machine body in the length direction, including: the target adjustment heights corresponding to the first lifting oil cylinder and the two second lifting oil cylinders are determined according to the current inclination information of the machine body and the current running state information of the mining machine; the target hydraulic oil amounts corresponding to the first lifting oil cylinder and the two second lifting oil cylinders are determined according to the target adjustment heights corresponding to the first lifting oil cylinder and the two second lifting oil cylinders; sending the determined target hydraulic oil amount pumped to the first lifting oil cylinder to the first hydraulic pump, so that the first hydraulic pump pumps hydraulic oil to the first lifting oil cylinder according to the target hydraulic oil amount; For each second lifting oil cylinder, the determined target hydraulic oil amount pumped to the second lifting oil cylinder is sent to the second hydraulic pump, so that the second hydraulic pump pumps hydraulic oil to the second lifting oil cylinder according to the target hydraulic oil amount.

[0011] Optionally, the mining machine further comprises a first electromagnetic valve, the first hydraulic pump is connected with the first electromagnetic valve, the first electromagnetic valve is connected with the first lifting oil cylinder, and the first electromagnetic valve is used to control the flow rate of the hydraulic oil pumped by the first hydraulic pump to the first lifting oil cylinder; sending the determined target hydraulic oil amount pumped to the first lifting oil cylinder to the first hydraulic pump, so that the first hydraulic pump pumps hydraulic oil to the first lifting oil cylinder according to the target hydraulic oil amount, comprises: According to the real-time inclination data collected by the inclination sensor, the first inclination angle change speed of the current machine body in the length direction thereof and the first to-be-adjusted inclination angle corresponding to the current machine body in the length direction thereof are calculated; If the first to-be-adjusted inclination angle is less than the first preset angle and the first inclination angle change speed is greater than the first threshold speed, a first flow control signal is sent to the first electromagnetic valve, so that the first electromagnetic valve reduces the flow rate of the hydraulic oil pumped by the first hydraulic pump to the first lifting oil cylinder until the first inclination angle change speed is the first threshold speed; The mining machine further comprises a second electromagnetic valve, the second hydraulic pump is connected with the second electromagnetic valve, the second electromagnetic valve is connected with the second lifting oil cylinder, and the second electromagnetic valve is used to control the flow rate of the hydraulic oil pumped by the second hydraulic pump to the second lifting oil cylinder; For each second lifting oil cylinder, the determined target hydraulic oil amount pumped to the second lifting oil cylinder is sent to the second hydraulic pump, so that the second hydraulic pump pumps hydraulic oil to the second lifting oil cylinder according to the target hydraulic oil amount. According to the real-time inclination data collected by the inclination sensor, the second inclination angle change speed of the current machine body in the width direction thereof and the second to-be-adjusted inclination angle corresponding to the current machine body in the width direction thereof are calculated; If the second to-be-adjusted inclination angle is less than the second preset angle and the second inclination angle change speed is greater than the second threshold speed, a second flow control signal is sent to the second electromagnetic valve, so that the second electromagnetic valve reduces the flow rate of the hydraulic oil pumped by the second hydraulic pump to the second lifting oil cylinder until the second inclination angle change speed is the second threshold speed.

[0012] In a second aspect, the embodiment of the present application provides a fuselage balance control device, which is applied to a mining machine, the mining machine comprising a fuselage, a first lifting oil cylinder and a second lifting oil cylinder connected to the fuselage, the first lifting oil cylinder being connected to a front side of the fuselage, and each of two side parts of the fuselage close to a tail part thereof being connected to a second lifting oil cylinder, the device comprising: a tilt condition information determination module configured to determine current tilt condition information of the fuselage according to real-time tilt angle data collected by a tilt angle sensor arranged on the mining machine, the tilt condition information comprising a horizontal tilt angle of the fuselage of the mining machine in a running state and a horizontal tilt angle of the fuselage of the mining machine in a non-running state; a tilt angle adjustment module configured to control lifting heights of the first lifting oil cylinder and the two second lifting oil cylinders according to the current tilt condition information of the fuselage and current running state information of the mining machine, so as to control a horizontal tilt angle of the fuselage in a width direction thereof and a horizontal tilt angle of the fuselage in a length direction thereof.

[0013] In a third aspect, the embodiment of the present application provides a mining machine, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus; the memory is configured to store a computer program; the processor is configured to execute the program stored on the memory, so as to realize steps of the fuselage balance control method provided in the first aspect of the present application.

[0014] In a fourth aspect, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize steps of the fuselage balance control method provided in the first aspect of the present application.

[0015] In the embodiment of the present application, the current tilt condition information of the fuselage can be determined according to the real-time tilt angle data collected by the tilt angle sensor, and the lifting heights of the first lifting oil cylinder and the two second lifting oil cylinders are automatically controlled according to the determined tilt condition information and the current running state information of the mining machine, so as to control the horizontal tilt angle of the fuselage in the width direction thereof and the horizontal tilt angle of the fuselage in the length direction thereof, and control the horizontal tilt angle of the fuselage in a desired range. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0017] Figure 1is a flowchart of a fuselage balance control method provided by an embodiment of the present application; Figure 2 is a structural diagram of a hydraulic system provided by an embodiment of the present application; Figure 3 is a structural diagram of a fuselage balance control device provided by an embodiment of the present application; Figure 4 is a structural diagram of a mining machine provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0019] The terms “first”, “second”, and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by “first”, “second”, etc. are generally a category and do not limit the number of objects, for example, the first object can be one or more. In addition, “and / or” in the specification and claims means at least one of the connected objects, and the character “ / ” generally represents an “or” relationship between the front and rear associated objects.

[0020] The fuselage balance control method, device, mining machine and medium provided by the embodiments of the present application will be described in detail below with reference to the drawings, through specific embodiments and their application scenarios.

[0021] Those skilled in the art can understand that the fuselage balance control method provided by the embodiments of the present application can be executed by a single or distributed processor of a mining machine, and the processor can be a single processor or multiple processors. In the case of multiple processors, the multiple processors can be electrically connected or communicatively connected, and work together as different modules to execute the fuselage balance control method provided by the embodiments of the present application.

[0022] Figure 1 is a flowchart of a fuselage balance control method provided by an embodiment of the present application, as Figure 1 shown, the first aspect of the present application provides a fuselage balance control method applied to a mining machine, the mining machine comprising a fuselage, a first lifting cylinder and a second lifting cylinder connected to the fuselage, the first lifting cylinder being connected to the front side of the fuselage, and each side of the fuselage near the tail portion being connected to a second lifting cylinder, the method comprising the following steps: S110, determining the current inclination information of the machine body according to real-time inclination data collected by the inclination sensor arranged on the mining machine.

[0023] The inclination information includes a horizontal inclination angle of the machine body of the mining machine in the running state and a horizontal inclination angle of the machine body of the mining machine in the non-running state.

[0024] It should be noted that the horizontal inclination angle of the machine body can include a horizontal inclination angle of the machine body in the length direction and a horizontal inclination angle of the machine body in the width direction.

[0025] Here, the real-time inclination data collected by the inclination sensor arranged on the mining machine is analyzed to determine the horizontal inclination angle of the machine body of the mining machine in the running state and the non-running state for independent monitoring.

[0026] In addition, when the mining machine is in the running state, the horizontal inclination angle of the machine body is detected in real time, and when the corresponding horizontal inclination angle of the machine body is greater than a preset threshold, the alarm system issues an alarm or automatically stops adjusting the horizontal inclination angle of the machine body, effectively preventing equipment overturning accidents caused by ground subsidence, belt slip, operation errors, etc., and ensuring the safety of equipment and personnel. At the same time, when the mining machine is in the non-running state, the horizontal inclination angle of the machine body is detected in real time, and it can be judged whether the equipment is parked on a stable plane. If the machine body inclination increases due to ground subsidence or other reasons, the alarm system can give an early warning to prompt personnel to check and adjust to avoid slow inclination or even rollover of the equipment when unattended, or accidents caused by unstable foundation when starting.

[0027] S120, controlling the lifting height of the first lifting cylinder and the two second lifting cylinders according to the current inclination information of the machine body and the current running state information of the mining machine, to control the horizontal inclination angle of the machine body in the width direction and the horizontal inclination angle of the machine body in the length direction.

[0028] Here, the current running state information of the mining machine can include the running state and the non-running state.

[0029] In this step, according to the current inclination information of the machine body and the current running state information of the mining machine, it can be determined that in the current state of the mining machine, the control of the balance of the machine body in the current state is realized by controlling the lifting height of the first lifting cylinder and the two second lifting cylinders.

[0030] For example, when the current running state information of the mining machine is the non-running state, such as stop, preparation for operation, and maintenance, the height of the first lifting oil cylinder and the two second lifting oil cylinders can be controlled to adjust the body to the horizontal state with the horizontal plane, so that the mining machine can be stably parked and a foundation platform is provided for the next start operation.

[0031] For example, when the current running state information of the mining machine is the running state, the body of the mining machine will continuously tilt due to the uneven ground where the mining machine is placed, the change of the load of the mining machine, and the vibration of the mining machine. Therefore, the height of the first lifting oil cylinder and the two second lifting oil cylinders can be controlled according to the current tilt information of the body to compensate the tilt of the body in real time.

[0032] By using the above method, the current tilt information of the body can be determined according to the real-time tilt data collected by the tilt sensor, and the height of the first lifting oil cylinder and the two second lifting oil cylinders can be automatically controlled on the basis of the current running state information of the mining machine to control the horizontal tilt angle of the body in the width direction and the horizontal tilt angle of the body in the length direction, so that the horizontal tilt angle of the body is controlled within the desired range.

[0033] In some possible embodiments, the current tilt information of the body can be determined according to the real-time tilt data collected by the tilt sensor arranged on the mining machine, which can include the following steps: S210, determining whether the mining machine is in the running state or the non-running state.

[0034] Here, the running state information of the mining machine can be determined by human, or can be determined by whether the main components in the mining machine, especially the cutting part, are running.

[0035] S220, if the mining machine is in the running state, determining whether the height of one side of the body needs to be fixed according to the working condition environment of the mining machine.

[0036] Here, the determination of the working condition environment of the mining machine can be based on the position of the working face to be operated relative to the mining machine to determine whether the height of one side of the body needs to be fixed. For example, if the working face to be operated is located on the right side of the mining machine, it is determined that the height of the right side of the body needs to be fixed.

[0037] In addition, if the working condition environment of the mining machine is that one side of the site where the mining machine is located needs to be kept stable or is limited by space and cannot be adjusted (for example, one side of the mining machine is close to a wall or an obstacle), the operator can select to lock the height of the left side or the right side of the mining machine according to the site condition.

[0038] S230, if the height of one side of the fuselage needs to be fixed, the lifting heights of the first lifting oil cylinder and the second lifting oil cylinder are controlled respectively according to the current tilting information of the fuselage, so as to complete the sequential control of the horizontal tilting angle of the fuselage in the width direction and the horizontal tilting angle of the fuselage in the length direction.

[0039] After it is determined by the working condition environment that the height of one side of the fuselage needs to be fixed, the lifting heights of the first lifting oil cylinder and the second lifting oil cylinder are controlled respectively, and the horizontal tilting angle of the fuselage in the width direction and the horizontal tilting angle of the fuselage in the length direction are sequentially controlled, so as to ensure the rapid adjustment of the horizontal tilting angle of the fuselage after the height of one side of the fuselage is locked.

[0040] By the above method, after it is determined that the mining machine is in a running state, it is determined whether the height of one side of the fuselage needs to be fixed according to the working condition environment of the mining machine, and after it is determined that the height of one side of the fuselage needs to be fixed, the lifting heights of the first lifting oil cylinder and the second lifting oil cylinder are controlled to rapidly adjust the horizontal tilting angle of the fuselage, so that the fuselage after the horizontal tilting angle adjustment can adapt to the working condition environment of the mining machine.

[0041] In some possible embodiments, if the height of one side of the fuselage needs to be fixed, the lifting heights of the first lifting oil cylinder and the second lifting oil cylinder are controlled respectively according to the current tilting information of the fuselage, so as to complete the sequential control of the horizontal tilting angle of the fuselage in the width direction and the horizontal tilting angle of the fuselage in the length direction, which can include the following steps: S310, the lifting height of the second lifting oil cylinder connected to the other side of the fuselage is controlled while keeping the lifting height of the second lifting oil cylinder connected to the side of the fuselage whose height needs to be fixed unchanged, so that the horizontal tilting angle of the fuselage in the width direction is adjusted to a first target angle.

[0042] Taking the left side of the fuselage as an example, the lifting height of the second lifting oil cylinder connected to the right side of the fuselage is controlled while keeping the lifting height of the second lifting oil cylinder connected to the left side of the fuselage unchanged, so that the horizontal tilting angle of the fuselage in the width direction is adjusted to a first target angle.

[0043] By step S310, the complex multi-dimensional posture adjustment problem of the fuselage can be decomposed into two relatively independent one-dimensional control problems. First, the horizontal problem of the fuselage in the transverse direction (width direction) is solved, and a stable foundation is laid for the longitudinal adjustment of the fuselage.

[0044] S320, control the lifting height of the first lifting oil cylinder connected to the front side of the fuselage, so that the fuselage whose horizontal inclination angle in the width direction has been adjusted has a second target angle in the length direction.

[0045] Because the lateral angle of the fuselage has been adjusted before the horizontal inclination angle of the fuselage is adjusted in this step, the adjustment of the horizontal inclination angle of the fuselage in the length direction can be easily realized without destroying the horizontal inclination angle of the fuselage in the width direction.

[0046] By decoupling the horizontal inclination angle of the fuselage in the width direction and the length direction in steps, the above method effectively reduces the oscillation and overshoot in the adjustment process, so that the fuselage can smoothly and accurately reach the target horizontal state.

[0047] In some possible implementations, the fuselage balance control method further includes: S410, if the mining machine is not in the running state, determine whether the mining machine is in the transfer state; the transfer state includes the state of moving from one work site to another work site.

[0048] S420, if the mining machine is in the transfer state, control the lifting height of the second lifting oil cylinder connected to the two side portions of the fuselage close to the tail portion of the fuselage while keeping the lifting height of the first lifting oil cylinder unchanged, so that the horizontal inclination angle of the fuselage in the width direction is adjusted to a third target angle.

[0049] Here, after determining that the mining machine is in the transfer state, the lifting height of the first lifting oil cylinder is kept unchanged to lock the height of the front portion of the fuselage as a stable reference, and then the lifting height of the second lifting oil cylinder connected to the two side portions of the fuselage close to the tail portion of the fuselage is controlled, that is, the height of the left and right sides of the tail portion of the fuselage is adjusted, so that the whole fuselage rotates around the longitudinal axis to form a lateral inclination posture, that is, the horizontal inclination angle of the fuselage in the width direction is adjusted to the third target angle.

[0050] By the above method, the mining machine can be moved from one work site to another work site, and the mining machine after the transfer can actively adapt to the environment of the new work site, thereby improving the operation efficiency of the mining machine.

[0051] In some possible implementations, the fuselage balance control method further includes: if the mining machine is not in the transfer state, control the lifting height of the first lifting oil cylinder and the two second lifting oil cylinders respectively, so that the width direction of the fuselage and the length direction of the fuselage are both parallel to the horizontal plane.

[0052] By the above method, the lifting heights of the first lifting oil cylinder and the two second lifting oil cylinders can be controlled respectively when the mining machine is not in the turning state, so that the machine body is parallel to the horizontal plane in both width and length directions, and an extremely stable and accurate reference platform is created for the operation of the mining machine.

[0053] In some possible implementation embodiments, the mining machine comprises a first hydraulic pump and a second hydraulic pump, the first hydraulic pump being configured to pump hydraulic oil to the first lifting oil cylinder, and the second hydraulic pump being configured to pump hydraulic oil to the second lifting oil cylinders.

[0054] According to the current inclination information of the machine body and the current running state information of the mining machine, the lifting heights of the first lifting oil cylinder and the two second lifting oil cylinders are controlled to control the horizontal inclination angle of the machine body in the width direction and the horizontal inclination angle in the length direction, which can comprise the following steps: S510, according to the current inclination information of the machine body and the current running state information of the mining machine, determining the target adjustment height corresponding to each of the first lifting oil cylinder and the two second lifting oil cylinders.

[0055] In this step, according to the current inclination information of the machine body and the current running state information of the mining machine, a more objective and accurate decision can be made for the adjustment of each of the first lifting oil cylinder and the two second lifting oil cylinders, instead of relying on the manual judgment and operation of the operator on a single lifting oil cylinder, so as to avoid errors caused by artificial observation and operation on each lifting oil cylinder.

[0056] S520, according to the target adjustment height corresponding to each of the first lifting oil cylinder and the two second lifting oil cylinders, determining the target hydraulic oil volume corresponding to the pumping of the first lifting oil cylinder and the two second lifting oil cylinders.

[0057] In this step, by converting the target adjustment height corresponding to each of the first lifting oil cylinder and the two second lifting oil cylinders into the accurate target hydraulic oil volume, the final target of all lifting oil cylinders can be calculated based on the inclination information at the same time, directly from the starting point to the end point, avoiding error accumulation; at the same time, the target hydraulic oil volume is used as the control reference, which is the most fundamental control variable of the hydraulic system, and very fine position control can be realized, thereby obtaining high adjustment precision.

[0058] S530, sending the determined target hydraulic oil volume pumped to the first lifting oil cylinder to the first hydraulic pump, so that the first hydraulic pump pumps hydraulic oil to the first lifting oil cylinder according to the target hydraulic oil volume.

[0059] S540, for each second lifting oil cylinder, send the determined target hydraulic oil amount pumped to the second lifting oil cylinder to the second hydraulic pump, so that the second hydraulic pump pumps hydraulic oil to the second lifting oil cylinder according to the target hydraulic oil amount.

[0060] Through steps S530 and S540, all lifting oil cylinders can be moved to the target height at the same time, the total leveling time is shortened to close to the time required for single lifting oil cylinder action, and the efficiency is doubled.

[0061] By using the above method, automatic and accurate control of each hydraulic oil cylinder from "perception" to "execution" can be realized, and through the strategy of centralized calculation and parallel driving, the speed, accuracy and coordination of the leveling process are significantly improved, so that efficient, stable and reliable body attitude control is realized.

[0062] In some possible embodiments, the mining machine further comprises a first electromagnetic valve, the first hydraulic pump is connected with the first electromagnetic valve, the first electromagnetic valve is connected with the first lifting oil cylinder, and the first electromagnetic valve is used to control the flow rate of the hydraulic oil pumped by the first hydraulic pump to the first lifting oil cylinder.

[0063] The hydraulic system composed of the first hydraulic pump 1, the first electromagnetic valve 2 and the first lifting oil cylinder 3, see Figure 2 , wherein the first hydraulic pump 1 and the first electromagnetic valve 2 are connected, the first electromagnetic valve 2 is connected with the first lifting oil cylinder 3, the first lifting oil cylinder 3 is also connected with the hydraulic oil tank 4, and the hydraulic oil tank 4 is also connected with the first hydraulic pump 1; the first electromagnetic valve 2 is also connected with the PLC control module 5 provided on the mining machine, and the inclination sensor 6 is connected with the PLC control module 5.

[0064] The step of sending the determined target hydraulic oil amount pumped to the first lifting oil cylinder to the first hydraulic pump, so that the first hydraulic pump pumps hydraulic oil to the first lifting oil cylinder according to the target hydraulic oil amount, can include the following steps: S610, according to the real-time inclination data collected by the inclination sensor, calculating the first inclination angle change speed of the current body in the length direction and the first to-be-adjusted inclination angle corresponding to the current body in the length direction.

[0065] S620, if the first to-be-adjusted inclination angle is less than the first preset angle, and the first inclination angle change speed is greater than the first threshold speed, send the first flow control signal to the first electromagnetic valve, so that the first electromagnetic valve reduces the flow rate of the hydraulic oil pumped by the first hydraulic pump to the first lifting oil cylinder until the first inclination angle change speed is the first threshold speed.

[0066] With the above method, the fuselage with the second to-be-adjusted inclination angle less than the second preset angle is regarded as the fuselage close to completing the adjustment, in order to prevent the situation of "passing through" the target position (overshoot), by comparing the second inclination angle change speed with the second threshold speed, and when the second inclination angle change speed is greater than the second threshold speed, the flow speed of the hydraulic oil pumped by the second hydraulic pump to the second lifting oil cylinder is reduced through the second electromagnetic valve until the second inclination angle change speed is the second threshold speed, so as to prevent the situation of "passing through" the target position of the fuselage, thereby achieving rapid, smooth and one-time accurate leveling of the fuselage.

[0067] Further, the mining machine further comprises a second electromagnetic valve, the second hydraulic pump is connected with the second electromagnetic valve, the second electromagnetic valve is connected with the second lifting oil cylinder, and the second electromagnetic valve is used for controlling the flow speed of the hydraulic oil pumped by the second hydraulic pump to the second lifting oil cylinder.

[0068] For each second lifting oil cylinder, sending the determined target hydraulic oil amount pumped to the second lifting oil cylinder to the second hydraulic pump so that the second hydraulic pump pumps the hydraulic oil to the second lifting oil cylinder according to the target hydraulic oil amount can include the following steps: S710, according to the real-time inclination angle data collected by the inclination angle sensor, calculating the second inclination angle change speed of the current fuselage in the width direction thereof and the second to-be-adjusted inclination angle corresponding to the current fuselage in the width direction thereof; S720, if the second to-be-adjusted inclination angle is less than the second preset angle and the second inclination angle change speed is greater than the second threshold speed, a second flow control signal is sent to the second electromagnetic valve to reduce the flow speed of the hydraulic oil pumped by the second hydraulic pump to the second lifting oil cylinder until the second inclination angle change speed is the second threshold speed.

[0069] With the above method, the fuselage with the second to-be-adjusted inclination angle less than the second preset angle is regarded as the fuselage close to completing the adjustment, in order to prevent the situation of "passing through" the target position (overshoot), by comparing the second inclination angle change speed with the second threshold speed, and when the second inclination angle change speed is greater than the second threshold speed, the flow speed of the hydraulic oil pumped by the second hydraulic pump to the second lifting oil cylinder is reduced through the second electromagnetic valve until the second inclination angle change speed is the second threshold speed, so as to prevent the situation of "passing through" the target position of the fuselage, thereby achieving rapid, smooth and one-time accurate leveling of the fuselage.

[0070] Please refer to Figure 3Fig. 1 is a structural schematic diagram of a fuselage balance control device provided by an embodiment of the present application, and a second aspect of the embodiment of the present application provides a fuselage balance control device applied to a mining machine. The mining machine comprises a fuselage, a first lifting oil cylinder and a second lifting oil cylinder connected to the fuselage. The first lifting oil cylinder is connected to the front side of the fuselage. Each of the two sides of the fuselage close to the tail thereof is connected to a second lifting oil cylinder. The device comprises: a tilt condition information determination module 810 configured to determine the current tilt condition information of the fuselage according to real-time tilt angle data collected by a tilt angle sensor arranged on the mining machine. The tilt condition information comprises a horizontal tilt angle of the fuselage of the mining machine in a running state and a horizontal tilt angle of the fuselage of the mining machine in a non-running state. a tilt angle adjustment module 820 configured to control the lifting heights of the first lifting oil cylinder and the two second lifting oil cylinders according to the current tilt condition information of the fuselage and current running state information of the mining machine, so as to control the horizontal tilt angle of the fuselage in the width direction thereof and the horizontal tilt angle of the fuselage in the length direction thereof.

[0071] Optionally, the tilt condition information determination module 810 comprises: a first judgment unit configured to judge whether the mining machine is in a running state or a non-running state. a second judgment unit configured to, if the mining machine is in the running state, judge whether the height of one side of the fuselage needs to be fixed according to the working condition environment in which the mining machine is located. a first control unit configured to, if the height of one side of the fuselage needs to be fixed, control the lifting heights of the first lifting oil cylinder and the second lifting oil cylinders respectively according to the current tilt condition information of the fuselage, so as to complete the sequential control of the horizontal tilt angle of the fuselage in the width direction thereof and the horizontal tilt angle of the fuselage in the length direction thereof.

[0072] Optionally, the first control unit comprises: a first tilt angle control subunit configured to, in the case of keeping the lifting height of the second lifting oil cylinder connected to the side of the fuselage which needs to be fixed unchanged, control the lifting height of the second lifting oil cylinder connected to the other side of the fuselage, so as to adjust the horizontal tilt angle of the fuselage in the width direction thereof to a first target angle. a second tilt angle control subunit configured to control the lifting height of the first lifting oil cylinder connected to the front side of the fuselage, so as to adjust the horizontal tilt angle of the fuselage in the length direction thereof to a second target angle after the adjustment of the horizontal tilt angle in the width direction thereof.

[0073] Optionally, the device further comprises: The third judgment unit is used to determine whether the mining machine is in a relocation state if the mining machine is not in operation; the relocation state includes the state of moving from one work site to another. The second control unit is used to control the lifting height of the second lifting cylinder, which is connected to the two sides of the machine body near its tail, while keeping the lifting height of the first lifting cylinder unchanged, so that the horizontal tilt angle of the machine body in its width direction is adjusted to the third target angle when the mining machine is in a transfer state.

[0074] Optionally, the device further includes: The third control unit is used to control the lifting height of the first lifting cylinder and the two second lifting cylinders respectively when the mining machine is not in a transfer state, so that the width direction and the length direction of the machine body are parallel to the horizontal plane.

[0075] Optionally, the mining machine includes a first hydraulic pump and a second hydraulic pump, the first hydraulic pump being used to pump hydraulic oil to the first lifting cylinder, and the second hydraulic pump being used to pump hydraulic oil to the second lifting cylinder. The tilt angle adjustment module 820 includes: The target adjustment height determination unit is used to determine the target adjustment height of the first lifting cylinder and the two second lifting cylinders based on the current tilt information of the machine body and the current operating status information of the mining machine. The target hydraulic oil volume determination unit is used to determine the target hydraulic oil volume to be pumped to the first lifting cylinder and the two second lifting cylinders according to the target adjustment heights corresponding to the first lifting cylinder and the two second lifting cylinders respectively. The first hydraulic pump control unit is used to send the determined target hydraulic oil quantity to be pumped to the first lifting cylinder to the first hydraulic pump, so that the first hydraulic pump pumps hydraulic oil to the first lifting cylinder according to the target hydraulic oil quantity. The second hydraulic pump control unit is used to send the determined target hydraulic oil quantity to be pumped to the second lifting cylinder to the second hydraulic pump for each second lifting cylinder, so that the second hydraulic pump pumps hydraulic oil to the second lifting cylinder according to the target hydraulic oil quantity.

[0076] Optionally, the mining machine also includes a first solenoid valve, a first hydraulic pump connected to the first solenoid valve, and the first solenoid valve connected to the first lifting cylinder. The first solenoid valve is used to control the flow rate of hydraulic oil pumped by the first hydraulic pump to the first lifting cylinder. The first hydraulic pump control unit includes: The first calculation subunit is used to calculate the rate of change of the first tilt angle of the fuselage in its length direction and the first tilt angle to be adjusted of the fuselage in its length direction based on the real-time tilt angle data collected by the tilt sensor. The first solenoid valve control subunit is used to send a first flow control signal to the first solenoid valve if the first tilt angle to be adjusted is less than the first preset angle and the rate of change of the first tilt angle is greater than the first threshold speed, so that the first solenoid valve reduces the flow rate of the hydraulic oil pumped by the first hydraulic pump to the first lifting cylinder until the rate of change of the first tilt angle is the first threshold speed. The mining machine also includes a second solenoid valve, a second hydraulic pump connected to the second solenoid valve, and a second lifting cylinder connected to the second solenoid valve. The second solenoid valve is used to control the flow rate of hydraulic oil pumped by the second hydraulic pump to the second lifting cylinder. The second hydraulic pump control unit includes: The second calculation subunit is used to calculate the current rate of change of the second tilt angle of the fuselage in its width direction and the second tilt angle to be adjusted corresponding to the current fuselage in its width direction based on the real-time tilt angle data collected by the tilt sensor. The second solenoid valve control subunit is used to send a second flow control signal to the second solenoid valve if the second tilt angle to be adjusted is less than the second preset angle and the rate of change of the second tilt angle is greater than the second threshold rate, so that the second solenoid valve reduces the flow rate of the hydraulic oil pumped by the second hydraulic pump to the second lifting cylinder until the rate of change of the second tilt angle is the second threshold rate.

[0077] The fuselage balance control device provided in the second aspect of this application can realize the various processes implemented in the above method embodiments and achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0078] Please see Figure 4 This is a schematic diagram of the structure of a mining machine provided in an embodiment of this application. A third aspect of this application provides a mining machine 400, including a processor 410 and a memory 420. The memory 420 stores machine-executable instructions that can be executed by the processor 410. The processor 410 can execute the machine-executable instructions to implement the above-mentioned body balance control method.

[0079] A fourth aspect of this application provides a computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to implement the aforementioned fuselage balance control method.

[0080] In one embodiment of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the fuselage balance control method according to the above embodiments.

[0081] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0083] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0084] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0085] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0086] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0087] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0088] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A fuselage balance control method, characterized in that, Applied to a mining machine, the mining machine includes a body, a first lifting cylinder and a second lifting cylinder connected to the body, the first lifting cylinder being connected to the front side of the body, and a second lifting cylinder being connected to each of the two sides of the body near its rear. The method includes: Based on the real-time tilt data collected by the tilt sensor installed on the mining machine, the current tilt information of the machine body is determined; the tilt information includes the horizontal tilt angle of the mining machine body when it is in operation, and the horizontal tilt angle of the mining machine body when it is not in operation. Based on the current tilt information of the machine body and the current operating status information of the mining machine, the lifting height of the first lifting cylinder and the two second lifting cylinders is controlled to control the horizontal tilt angle of the machine body in its width direction and the horizontal tilt angle in its length direction.

2. The fuselage balance control method according to claim 1, characterized in that, The step of determining the current tilt status of the mining machine based on real-time tilt data collected by tilt sensors mounted on the machine includes: Determine whether the mining machine is in an operating state or an inactive state; If the mining machine is in operation, determine whether it is necessary to fix the height of one side of the machine body based on the working environment of the mining machine; If it is necessary to fix the height of one side of the machine body, the lifting height of the first lifting cylinder and the second lifting cylinder are controlled respectively according to the current tilt information of the machine body, so as to complete the sequential control of the horizontal tilt angle of the machine body in its width direction and the horizontal tilt angle of the machine body in its length direction.

3. The fuselage balance control method according to claim 2, characterized in that, If it is necessary to fix the height of one side of the machine body, the lifting height of the first lifting cylinder and the second lifting cylinder are controlled respectively according to the current tilt information of the machine body, so as to complete the sequential control of the horizontal tilt angle of the machine body in its width direction and the horizontal tilt angle of the machine body in its length direction, including: While keeping the lifting height of the second lifting cylinder connected to one side of the fuselage that needs to be fixed at a fixed height unchanged, the lifting height of the second lifting cylinder connected to the other side of the fuselage is controlled so that the horizontal tilt angle of the fuselage in its width direction is adjusted to the first target angle. The lifting height of the first lifting cylinder connected to the front side of the fuselage is controlled so that the horizontal tilt angle of the fuselage in the length direction, after the horizontal tilt angle in the width direction has been adjusted, is adjusted to the second target angle.

4. The fuselage balance control method according to claim 2, characterized in that, Also includes: If the mining machine is not in operation, then determine whether the mining machine is in a relocation state; The relocation status includes the status of moving from one work location to another work location; If the mining machine is in a relocation state, while keeping the lifting height of the first lifting cylinder unchanged, the lifting height of the second lifting cylinders connected to the two sides of the machine body near its tail is controlled so that the horizontal tilt angle of the machine body in its width direction is adjusted to the third target angle.

5. The fuselage balance control method according to claim 4, characterized in that, Also includes: If the mining machine is not in a relocation state, the lifting height of the first lifting cylinder and the two second lifting cylinders are controlled respectively so that the width direction and the length direction of the machine body are parallel to the horizontal plane.

6. The fuselage balance control method according to claim 1, characterized in that, The mining machine includes a first hydraulic pump and a second hydraulic pump. The first hydraulic pump is used to pump hydraulic oil to the first lifting cylinder, and the second hydraulic pump is used to pump hydraulic oil to the second lifting cylinder. The step of controlling the lifting height of the first lifting cylinder and the two second lifting cylinders based on the current tilt information of the machine body and the current operating status information of the mining machine, in order to control the horizontal tilt angle of the machine body in its width direction and the horizontal tilt angle in its length direction, includes: Based on the current tilt information of the machine body and the current operating status information of the mining machine, the target adjustment height corresponding to the first lifting cylinder and the two second lifting cylinders is determined. Based on the target adjustment height corresponding to the first lifting cylinder and the two second lifting cylinders respectively, determine the target hydraulic oil volume to be pumped to the first lifting cylinder and the two second lifting cylinders. The determined target hydraulic oil volume to be pumped to the first lifting cylinder is sent to the first hydraulic pump, so that the first hydraulic pump pumps hydraulic oil to the first lifting cylinder according to the target hydraulic oil volume. For each of the second lifting cylinders, the determined target hydraulic oil quantity to be pumped to the second lifting cylinder is sent to the second hydraulic pump, so that the second hydraulic pump pumps hydraulic oil to the second lifting cylinder according to the target hydraulic oil quantity.

7. The fuselage balance control method according to claim 6, characterized in that, The mining machine also includes a first solenoid valve, the first hydraulic pump is connected to the first solenoid valve, the first solenoid valve is connected to the first lifting cylinder, and the first solenoid valve is used to control the flow rate of hydraulic oil pumped by the first hydraulic pump to the first lifting cylinder. The step of sending the determined target hydraulic oil quantity to be pumped to the first lifting cylinder to the first hydraulic pump, so that the first hydraulic pump pumps hydraulic oil to the first lifting cylinder according to the target hydraulic oil quantity, includes: Based on the real-time tilt angle data collected by the tilt sensor, the current rate of change of the first tilt angle of the fuselage in its length direction and the current first tilt angle to be adjusted of the fuselage in its length direction are calculated. If the first tilt angle to be adjusted is less than the first preset angle and the rate of change of the first tilt angle is greater than the first threshold rate, then a first flow control signal is sent to the first solenoid valve so that the first solenoid valve reduces the flow rate of the hydraulic oil pumped by the first hydraulic pump to the first lifting cylinder until the rate of change of the first tilt angle is the first threshold rate. The mining machine also includes a second solenoid valve, the second hydraulic pump is connected to the second solenoid valve, the second solenoid valve is connected to the second lifting cylinder, and the second solenoid valve is used to control the flow rate of hydraulic oil pumped by the second hydraulic pump to the second lifting cylinder. For each of the second lifting cylinders, the determined target hydraulic oil quantity to be pumped into the second lifting cylinder is sent to the second hydraulic pump, so that the second hydraulic pump pumps hydraulic oil into the second lifting cylinder according to the target hydraulic oil quantity, including: Based on the real-time tilt angle data collected by the tilt sensor, calculate the current rate of change of the second tilt angle of the fuselage in its width direction, and the current second tilt angle to be adjusted of the fuselage in its width direction. If the second tilt angle to be adjusted is less than the second preset angle and the rate of change of the second tilt angle is greater than the second threshold rate, then a second flow control signal is sent to the second solenoid valve so that the second solenoid valve reduces the flow rate of the hydraulic oil pumped by the second hydraulic pump to the second lifting cylinder until the rate of change of the second tilt angle is the second threshold rate.

8. A fuselage balance control device, characterized in that, Applied to a mining machine, the mining machine includes a body, a first lifting cylinder and a second lifting cylinder connected to the body, the first lifting cylinder being connected to the front side of the body, and a second lifting cylinder being connected to each of the two sides of the body near its rear. The device includes: The tilt information determination module is used to determine the current tilt information of the machine body based on the real-time tilt data collected by the tilt sensor installed on the mining machine; the tilt information includes the horizontal tilt angle of the mining machine body when it is in operation and the horizontal tilt angle of the mining machine body when it is not in operation. The tilt angle adjustment module is used to control the lifting height of the first lifting cylinder and the two second lifting cylinders based on the current tilt information of the machine body and the current operating status information of the mining machine, so as to control the horizontal tilt angle of the machine body in its width direction and the horizontal tilt angle in its length direction.

9. A mining machine, characterized in that, The mining machine includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When a processor executes a program stored in a memory, it implements the steps of the fuselage balance control method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the fuselage balance control method as described in any one of claims 1-7.

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