A method, apparatus, mining machine and storage medium for fuselage balance control

Abstract

This invention relates to the field of mining machine control, specifically to a method, apparatus, mining machine, and storage medium for controlling machine balance. Based on real-time tilt data collected by tilt sensors mounted on the mining machine, the current tilt status of the machine is determined. This tilt status information includes the horizontal tilt angle of the mining machine when it is in operation and the horizontal tilt angle of the mining machine when it is not in operation. Based on the current tilt status information and the current operating status information of the mining machine, the lifting height of a first lifting cylinder and two second lifting cylinders is controlled to control the horizontal tilt angle of the machine in its width direction and its length direction. The lifting height of each lifting cylinder used for controlling machine balance can be automatically controlled to keep the horizontal tilt angle of the machine within a desired range.

Description

Technical Field

[0001] This invention relates to the field of mining machine control, and specifically to a method, apparatus, mining machine, and storage medium for controlling machine balance. Background Technology

[0002] Traditional open-pit mining machines require manual operation based on sensor data to maintain the machine's balance. However, this method is slow to respond and has low precision in adjusting the machine's balance, making it difficult to guarantee the machine's balance.

[0003] Therefore, a method for automatically adjusting the lifting height of the lifting cylinder used to control the balance of the fuselage so that the horizontal tilt angle of the fuselage is within the desired range is urgently needed. Summary of the Invention

[0004] This invention provides a method, apparatus, mining machine, and storage medium for controlling the balance of a mining machine, which aims to automatically control the lifting height of each lifting cylinder used to control the balance of the mining machine, so that the horizontal tilt angle of the mining machine is within a desired range.

[0005] In a first aspect, embodiments of this application provide a method for controlling the balance of a mining machine. The method is applied to a mining machine, which includes a machine body, a first lifting cylinder and a second lifting cylinder connected to the machine body. The first lifting cylinder is connected to the front side of the machine body, and a second lifting cylinder is connected to each of the two sides of the machine body near its rear. The method includes:

[0006] 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.

[0007] 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.

[0008] Optionally, based on real-time tilt data collected by tilt sensors installed on the mining machine, the current tilt status of the machine is determined, including:

[0009] Determine whether the mining machine is in an operating or non-operating state;

[0010] 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 conditions of the mining machine.

[0011] 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.

[0012] Optionally, if it is necessary to fix the height of one side of the fuselage, the lifting heights of the first and second lifting cylinders are controlled respectively based on the current tilt information of the fuselage, so as to sequentially control the horizontal tilt angle of the fuselage in its width direction and the horizontal tilt angle of the fuselage in its length direction, including:

[0013] 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.

[0014] The lifting height of the first lifting cylinder connected to the front 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.

[0015] Optionally, it also includes:

[0016] If the mining machine is not in operation, determine whether the mining machine is in a relocation state; the relocation state includes the state of moving from one work site to another.

[0017] 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 cylinder, which is 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.

[0018] Optionally, it also includes:

[0019] 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 separately to ensure that the width and length of the machine body are parallel to the horizontal plane.

[0020] 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.

[0021] 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 its horizontal tilt angle in its length direction, including:

[0022] Based on the current tilt information of the machine body and the current operating status information of the mining machine, determine the target adjustment height corresponding to the first lifting cylinder and the two second lifting cylinders respectively;

[0023] Based on the target adjustment height corresponding to the first lifting cylinder and the two second lifting cylinders, determine the target hydraulic oil volume to be pumped to the first lifting cylinder and the two second lifting cylinders respectively;

[0024] 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.

[0025] For each second lifting cylinder, 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.

[0026] 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.

[0027] 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, including:

[0028] Based on the real-time tilt angle data collected by the tilt sensor, 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 corresponding to the fuselage in its length direction.

[0029] 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.

[0030] 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.

[0031] For each second lifting cylinder, 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:

[0032] 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.

[0033] 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.

[0034] Secondly, this application provides a fuselage balance control device for a mining machine. The mining machine includes a fuselage, a first lifting cylinder and a second lifting cylinder connected to the fuselage. The first lifting cylinder is connected to the front side of the fuselage, and a second lifting cylinder is connected to each of the two sides of the fuselage near its rear. The device includes:

[0035] The tilt information determination module is used to determine the current tilt information of the mining machine 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 when it is in operation and the horizontal tilt angle of the mining machine when it is not in operation.

[0036] The tilt angle adjustment module is used to control the lifting height of the first lifting cylinder and 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.

[0037] Thirdly, embodiments of this application provide a mining machine, which 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;

[0038] Memory, used to store computer programs;

[0039] When a processor executes a program stored in a memory, it implements the steps of the fuselage balance control method provided in the first aspect of the embodiments of this application.

[0040] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the fuselage balance control method provided in the first aspect of embodiments of this application.

[0041] In this embodiment, the current tilt information of the machine body can be determined based on the real-time tilt data collected by the tilt sensor. Based on this, and combined with the current operating status information of the mining machine, the lifting height of the first lifting cylinder and the two second lifting cylinders can be automatically controlled to control the horizontal tilt angle of the machine body in its width direction and the horizontal tilt angle in its length direction, so as to control the horizontal tilt angle of the machine body within the desired range. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic flowchart of the fuselage balance control method provided in the embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the hydraulic system provided in the embodiments of this application;

[0045] Figure 3 This is a schematic diagram of the fuselage balance control device provided in the embodiments of this application;

[0046] Figure 4 This is a schematic diagram of the structure of the mining machine provided in the embodiments of this application. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0048] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0049] The following description, in conjunction with the accompanying drawings, details the fuselage balance control method, device, mining machine, and medium provided in this application through specific embodiments and application scenarios.

[0050] Those skilled in the art will understand that the fuselage balance control method provided in the embodiments of this application can be executed by a single or distributed processor of a mining machine. There can be one or more processors. In the case of multiple processors, the multiple processors can be electrically connected or communicatively connected to jointly execute the fuselage balance control method provided in the embodiments of this application as modules with different functions.

[0051] Figure 1 This is a schematic flowchart of the fuselage balance control method provided in the embodiments of this application, as shown below. Figure 1 As shown, the first aspect of this application provides a method for controlling the balance of 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 is connected to the front side of the body, and a second lifting cylinder is connected to each of the two sides of the body near its rear. The method includes the following steps:

[0052] S110. Determine the current tilt status of the machine body based on the real-time tilt data collected by the tilt sensor installed on the mining machine.

[0053] The tilt information includes the horizontal tilt angle of the mining machine when it is in operation and the horizontal tilt angle of the mining machine when it is not in operation.

[0054] It should be noted that the horizontal tilt angle of the fuselage can include the horizontal tilt angle of the fuselage in its length direction and the horizontal tilt angle of the fuselage in its width direction.

[0055] Here, by analyzing the real-time tilt data collected by the tilt sensor installed on the mining machine, the horizontal tilt angle of the mining machine body in the running state and the non-running state can be determined and monitored independently.

[0056] Furthermore, when the mining machine is in operation, the system monitors the horizontal tilt angle of the machine in real time. If the tilt angle exceeds a preset threshold, the alarm system will sound an alarm or automatically stop adjusting the tilt angle. This effectively prevents equipment overturning accidents caused by ground subsidence, track slippage, or operational errors, ensuring the safety of equipment and personnel. Simultaneously, when the mining machine is not in operation, real-time monitoring of the horizontal tilt angle determines whether the equipment is positioned on a stable surface. If ground subsidence or other factors cause an increase in tilt, the alarm system will provide an early warning, prompting personnel to inspect and adjust the equipment. This prevents the equipment from slowly tilting or even tipping over unattended, or from accidents occurring during startup due to unstable foundations.

[0057] S120. Based on the current tilt information of the machine body and the current operating status information of the mining machine, control the lifting height of the first lifting cylinder and the two second lifting cylinders to control the horizontal tilt angle of the machine body in its width direction and the horizontal tilt angle in its length direction.

[0058] Here, the current operating status information of the mining machine can include both running and not running status.

[0059] In this step, by using the current tilt information of the machine body and the current operating status information of the mining machine, it is possible to determine the current state of the mining machine and control the lifting height of the first lifting cylinder and the two second lifting cylinders to achieve the balance control of the mining machine body in the current state.

[0060] For example, when the current operating status information of the mining machine is in an inactive state, such as when it is stopped, preparing for operation, or undergoing maintenance, the lifting height of the first lifting cylinder and the two second lifting cylinders can be controlled to adjust the machine body to a horizontal state, so that the mining machine can be parked stably and a basic platform can be provided for the next step of starting operation.

[0061] For example, when the current operating status information of the mining machine is "operating", the body of the mining machine may tilt continuously due to uneven ground, changes in the load of the mining machine, and vibration of the mining machine. Therefore, by controlling the lifting height of the first lifting cylinder and the two second lifting cylinders according to the current tilt information of the body, the tilt of the body can be compensated in real time.

[0062] Using the above method, the current tilt status of the machine body can be determined based on the real-time tilt data collected by the tilt sensor. Based on this, and combined with the current operating status information of the mining machine, the lifting height of the first lifting cylinder and the two second lifting cylinders can be automatically controlled to control the horizontal tilt angle of the machine body in its width direction and its horizontal tilt angle in its length direction, so as to keep the horizontal tilt angle of the machine body within the desired range.

[0063] In some possible implementations, determining the current tilt status of the mining machine based on real-time tilt data collected by tilt sensors mounted on the machine may include the following steps:

[0064] S210. Determine whether the mining machine is in an operating state or not.

[0065] Here, the operating status information of the mining machine can be determined manually, or by checking whether the main components of the mining machine, especially the cutting section, are running, to determine whether the mining machine is in an operating state or not.

[0066] S220. 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 conditions of the mining machine.

[0067] Here, the assessment of the working environment of the mining machine can be based on the position of the working face relative to the mining machine to determine whether it is necessary to fix the height of one side of the machine body. For example, if the working face is located on the right side of the mining machine, then it is determined that the height of the right side of the machine body needs to be fixed.

[0068] In addition, if the working environment of the mining machine is such that one side of the mining machine 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 obstacle), the operator can choose to lock the height of the left or right side of the mining machine according to the site conditions.

[0069] S230. 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 shall be controlled 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.

[0070] Since the height of one side of the machine body needs to be fixed by determining the working environment, the lifting height of the first lifting cylinder and the second lifting cylinder are controlled respectively. By controlling 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 in sequence, it is possible to quickly adjust the horizontal tilt angle of the entire machine body after locking the height of one side of the machine body.

[0071] Using the above method, after determining that the mining machine is in operation, it can be determined whether it is necessary to fix the height of one side of the machine body according to the working environment of the mining machine. After determining that it is necessary to fix the height of one side of the machine body, the overall horizontal tilt angle of the machine body can be quickly adjusted by controlling the lifting height of the first lifting cylinder and the second lifting cylinder, so that the machine body after the horizontal tilt angle adjustment can adapt to the working environment of the mining machine.

[0072] In some possible embodiments, if it is necessary to fix the height of one side of the fuselage, the lifting heights of the first and second lifting cylinders are controlled respectively based on the current tilt information of the fuselage, so as to complete the sequential control of the horizontal tilt angle of the fuselage in its width direction and the horizontal tilt angle of the fuselage in its length direction. This may include the following steps:

[0073] S310. 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, control the lifting height of the second lifting cylinder connected to the other side of the fuselage so that the horizontal tilt angle of the fuselage in its width direction is adjusted to the first target angle.

[0074] Taking the side of the fuselage that needs to be fixed as the left side of the fuselage as an example, the lifting height of the second lifting cylinder connected to the left side of the fuselage is kept constant, while the lifting height of the second lifting cylinder connected to the right 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.

[0075] Step S310 decomposes the complex multi-dimensional attitude adjustment problem of the fuselage into two relatively independent one-dimensional control problems. First, the horizontal problem of the fuselage in the lateral (width) direction is solved, laying a stable foundation for the longitudinal adjustment of the fuselage.

[0076] S320: Control the lifting height of the first lifting cylinder connected to the front of the fuselage, so that the horizontal tilt angle of the fuselage in the length direction after the horizontal tilt angle in the width direction is adjusted to the second target angle.

[0077] Since the lateral angle of the fuselage has already been adjusted before this step of adjusting the horizontal tilt angle of the fuselage, the horizontal tilt angle of the fuselage in the length direction can be easily adjusted without destroying the completed horizontal tilt angle of the fuselage in the width direction when this step is performed.

[0078] By employing the above method, the step-by-step decoupling of the horizontal tilt angle of the fuselage in its width and length directions effectively reduces oscillations and overshoot during the adjustment process, enabling the fuselage to reach the target horizontal state smoothly and accurately.

[0079] In some possible embodiments, the fuselage balance control method further includes:

[0080] S410. If the mining machine is not in operation, determine whether the mining machine is in a relocation state; the relocation state includes the state of moving from one work location to another work location.

[0081] S420. If the mining machine is in a transfer state, while keeping the lifting height of the first lifting cylinder unchanged, the lifting height of the second lifting cylinder, which is 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.

[0082] Here, after confirming that the mining machine is in the transfer state, the lifting height of the first lifting cylinder is kept unchanged to lock the height of the front of the machine body as a stable reference benchmark. Then, the lifting height of the second lifting cylinders connected to the two sides of the machine body near its tail is controlled. That is, by adjusting the height of the left and right sides of the tail of the machine body, the entire machine body is rotated around the longitudinal axis to form a lateral tilt posture, so that the horizontal tilt angle of the machine body in its width direction is adjusted to the third target angle.

[0083] Using the above method, mining machines can be moved from one work site to another, and the relocated mining machines can actively adapt to the environment of the new work site, thereby improving the operating efficiency of the mining machines.

[0084] In some possible embodiments, the body balance control method further includes: if the mining machine is not in a transfer state, controlling the lifting height of the first lifting cylinder and the two second lifting cylinders respectively, so that the width direction and the length direction of the body are parallel to the horizontal plane.

[0085] Using the above method, the lifting height of the first lifting cylinder and the two second lifting cylinders can be controlled separately when the mining machine is not in a transfer state, so that the machine body is parallel to the horizontal plane in both the width and length directions, creating an extremely stable and precise reference platform for the operation of the mining machine.

[0086] In some possible embodiments, the mining machine includes a first hydraulic pump and a second hydraulic pump, the first hydraulic pump being used to pump hydraulic fluid to a first lifting cylinder and the second hydraulic pump being used to pump hydraulic fluid to a second lifting cylinder.

[0087] 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. This may include the following steps:

[0088] S510: Based on the current tilt information of the machine body and the current operating status information of the mining machine, determine the target adjustment height corresponding to the first lifting cylinder and the two second lifting cylinders.

[0089] In this step, based on the current tilt information of the machine body and the current operating status information of the mining machine, a more objective and accurate decision can be made on the adjustment of the first lifting cylinder and the two second lifting cylinders, rather than relying on the operator to manually judge and operate individual lifting cylinders, thus avoiding errors that may be caused by human observation and operation of each lifting cylinder.

[0090] S520. Based on the target adjustment heights corresponding to the first lifting cylinder and the two second lifting cylinders, determine the target hydraulic oil volume to be pumped to the first lifting cylinder and the two second lifting cylinders.

[0091] In this step, by adjusting the height according to the target height of the first lifting cylinder and the two second lifting cylinders respectively, and then converting it into a precise target hydraulic oil volume, the final target of all lifting cylinders can be calculated based on the tilt information at the same time, directly moving from the starting point to the end point, avoiding error accumulation. At the same time, using the target hydraulic oil volume as the control reference, which is the most fundamental control variable of the hydraulic system, can achieve very fine position control, thereby obtaining a high level of adjustment accuracy.

[0092] S530: The determined target hydraulic oil quantity 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 quantity.

[0093] S540. For each second lifting cylinder, 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.

[0094] Steps S530 and S540 allow all lifting cylinders to move simultaneously to the target height, reducing the total leveling time to nearly the time required for a single lifting cylinder to operate, thus significantly improving efficiency.

[0095] By adopting the above method, it is possible to achieve fully closed-loop automatic and precise control of each hydraulic cylinder from "sensing" to "execution". Through the strategy of centralized calculation and parallel drive, the speed, accuracy and coordination of the leveling process are significantly improved, thereby achieving efficient, stable and reliable body attitude control.

[0096] In some possible embodiments, the mining machine further includes a first solenoid valve, a first hydraulic pump connected to the first solenoid valve, and the first solenoid valve connected to a 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.

[0097] The hydraulic system consisting of the first hydraulic pump 1, the first solenoid valve 2, and the first lifting cylinder 3, see [link to relevant documentation]. Figure 2 The first hydraulic pump 1 is connected to the first solenoid valve 2, the first solenoid valve 2 is connected to the first lifting cylinder 3, the first lifting cylinder 3 is also connected to the hydraulic oil tank 4, and the hydraulic oil tank 4 is also connected to the first hydraulic pump 1; the first solenoid valve 2 is also connected to the PLC control module 5 installed on the mining machine, and the tilt sensor 6 is connected to the PLC control module 5.

[0098] Sending the determined target hydraulic oil quantity to be pumped into the first lifting cylinder to the first hydraulic pump, so that the first hydraulic pump pumps hydraulic oil into the first lifting cylinder according to the target hydraulic oil quantity, may include the following steps:

[0099] S610. Based on the real-time tilt angle data collected by the tilt sensor, 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 corresponding to the current fuselage in its length direction.

[0100] S620. 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.

[0101] Using the above method, the fuselage with a first tilt angle to be adjusted that is less than a first preset angle is taken as the fuselage that is close to completing the fuselage adjustment. In order to prevent the fuselage from "overshooting" the target position, the speed of change of the first tilt angle is compared with the speed of change of the first threshold. When the speed of change of the first tilt angle is greater than the speed of change of the first threshold, the flow rate of the hydraulic oil pumped by the first hydraulic pump to the first lifting cylinder is reduced by the first solenoid valve until the speed of change of the first tilt angle is the speed of change of the first threshold. This prevents the fuselage from "overshooting" the target position, thereby achieving a fast, smooth and one-time precise leveling of the fuselage.

[0102] Furthermore, the mining machine also includes a second solenoid valve, a second hydraulic pump connected to the second solenoid valve, and the second solenoid valve connected to the second lifting cylinder. 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.

[0103] For each second lifting cylinder, 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. This may include the following steps:

[0104] S710. 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.

[0105] S720. 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.

[0106] Using the above method, the fuselage with a second tilt angle to be adjusted that is less than a second preset angle is taken as the fuselage that is close to completing the fuselage adjustment. In order to prevent the fuselage from "overshooting" the target position, the second tilt angle change rate and the second threshold rate are compared. When the second tilt angle change rate is greater than the second threshold rate, the flow rate of the hydraulic oil pumped by the second hydraulic pump to the second lifting cylinder is reduced by the second solenoid valve until the second tilt angle change rate is the second threshold rate. This prevents the fuselage from "overshooting" the target position, thereby achieving a fast, smooth and one-time precise leveling of the fuselage.

[0107] Please see Figure 3 This is a schematic diagram of the structure of the fuselage balance control device provided in the embodiments of this application. A second aspect of this application provides a fuselage balance control device applied to a mining machine. The mining machine includes a fuselage, a first lifting cylinder and a second lifting cylinder connected to the fuselage. The first lifting cylinder is connected to the front side of the fuselage, and a second lifting cylinder is connected to each of the two sides of the fuselage near its rear. The device includes:

[0108] The tilt information determination module 810 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.

[0109] The tilt angle adjustment module 820 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.

[0110] Optionally, the tilt information determination module 810 includes:

[0111] The first judgment unit is used to determine whether the mining machine is in a running state or a non-running state;

[0112] The second judgment unit is used to determine whether it is necessary to fix the height of one side of the machine body if the mining machine is in operation, based on the working environment of the mining machine.

[0113] The first control unit is used to control the lifting height of the first lifting cylinder and the second lifting cylinder respectively according to the current tilt information of the machine body if it is necessary to fix the height of one side 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.

[0114] Optionally, the first control unit includes:

[0115] The first tilt angle control subunit is used to control the lifting height of the second lifting cylinder connected to the other side of the fuselage 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, so that the horizontal tilt angle of the fuselage in its width direction is adjusted to the first target angle.

[0116] The second tilt angle control subunit is used to control the lifting height of the first lifting cylinder connected to the front side of the fuselage, so that the horizontal tilt angle of the fuselage in the length direction after the horizontal tilt angle in the width direction is adjusted to the second target angle.

[0117] Optionally, the device further includes:

[0118] 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.

[0119] 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.

[0120] Optionally, the device further includes:

[0121] 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.

[0122] 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.

[0123] The tilt angle adjustment module 820 includes:

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] The first hydraulic pump control unit includes:

[0130] 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.

[0131] 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.

[0132] 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.

[0133] The second hydraulic pump control unit includes:

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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 operate 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.

[0142] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0143] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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 method of controlling body balance, characterized by, The application is applied to a mining machine, the mining machine comprises a machine body, a first lifting cylinder and a second lifting cylinder connected with the machine body, the first lifting cylinder is connected with the front side of the machine body, and each of the two side parts of the machine body close to the tail part is connected with the second lifting cylinder, and the method comprises the following steps: According to the real-time inclination data collected by the inclination sensor arranged on the mining machine, the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises 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; the inclination information is determined according to the real-time inclination data collected by the inclination sensor arranged on the mining machine, and the current inclination information of the machine body is determined; the inclination information comprises the horizontal inclination angle of the machine body of the mining machine ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ If the first to-be-adjusted tilt angle is less than a first preset angle and the first tilt angle change speed is greater than a first threshold speed, a first flow control signal is sent to the first electromagnetic valve to cause the first electromagnetic valve to reduce the flow speed of the hydraulic oil pumped by the first hydraulic pump to the first lifting oil cylinder until the first tilt angle change speed is the first threshold speed. The mining machine further comprises a second electromagnetic valve, the second hydraulic pump is connected to the second electromagnetic valve, the second electromagnetic valve is connected to the second lifting oil cylinder, and the second electromagnetic valve is used to control the flow speed 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, which comprises: According to the real-time tilt angle data collected by the tilt angle sensor, the second tilt angle change speed of the current machine body in the width direction thereof and the second to-be-adjusted tilt angle corresponding to the current machine body in the width direction thereof are calculated. If the second to-be-adjusted tilt angle is less than a second preset angle and the second tilt angle change speed is greater than a second threshold speed, a second flow control signal is sent to the second electromagnetic valve to cause 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 tilt angle change speed is the second threshold speed.

2. The body balance control method according to claim 1, characterized by, According to the real-time tilt angle data collected by the tilt angle sensor arranged on the mining machine, the current tilt condition information of the machine body is determined, which comprises: It is judged whether the mining machine is in a running state or an unrunning state; If the mining machine is in a running state, it is judged according to the working condition environment of the mining machine whether the height of one side of the machine body needs to be fixed; If the height of one side of the machine body 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 tilt condition information of the machine body to complete the sequential control of the horizontal tilt angle of the machine body in the width direction thereof and the horizontal tilt angle of the machine body in the length direction thereof.

3. The body balance control method according to claim 2, characterized by, If the height of one side of the machine body 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 tilt condition information of the machine body to complete the sequential control of the horizontal tilt angle of the machine body in the width direction thereof and the horizontal tilt angle of the machine body in the length direction thereof, which comprises: The lifting height of the second lifting oil cylinder connected to the other side of the machine body is controlled while keeping the lifting height of the second lifting oil cylinder connected to the side of the machine body that needs to be fixed unchanged, so that the horizontal tilt angle of the machine body in the width direction thereof is adjusted to a first target angle. The height of the first lifting 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.

4. The body balance control method according to claim 2, characterized by, Further comprising: If the mining machine is not in the running state, it is determined whether the mining machine is in the scene transition state; The scene transition state includes the state of moving from one work site to another work site; If the mining machine is in the scene transition state, the height of the second lifting cylinder connected to the two side parts of the machine body near the tail is controlled to adjust the horizontal inclination angle of the machine body in the width direction to a third target angle while keeping the height of the first lifting cylinder unchanged.

5. The body balance control method according to claim 4, characterized by, Further comprising: If the mining machine is not in the scene transition state, the heights of the first lifting cylinder and the two second lifting cylinders are controlled respectively to make the width direction of the machine body and the length direction of the machine body parallel to the horizontal plane.

6. A body balance control device, characterized by The device is applied to a mining machine, which includes a machine body, a first lifting cylinder and a second lifting cylinder connected to the machine body, the first lifting cylinder is connected to the front side of the machine body, and the two side parts of the machine body near the tail are each connected to a second lifting cylinder, and the device comprises: An inclination information determination module is configured to determine the current inclination information of the machine body according to real-time inclination data collected by an inclination sensor arranged on the mining machine; the inclination information includes 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; An inclination angle adjustment module is configured to control the heights 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. 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 inclination angle adjustment module comprises: A target adjustment height determination unit is configured to determine the corresponding target adjustment 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; A target hydraulic oil amount determination unit is configured to determine the target hydraulic oil amount corresponding to the first lifting cylinder and the two second lifting cylinders according to the corresponding target adjustment height of the first lifting cylinder and the two second lifting cylinders; A first hydraulic pump control unit is configured to send the determined target hydraulic oil amount 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 amount. A second hydraulic pump control unit is configured to send the determined target hydraulic oil volume pumped to the second lifting oil cylinder to the second hydraulic pump for the second lifting oil cylinder, so that the second hydraulic pump pumps hydraulic oil to the second lifting oil cylinder according to the target hydraulic oil volume; The mining machine further comprises a first electromagnetic valve, the first hydraulic pump is connected to the first electromagnetic valve, the first electromagnetic valve is connected to the first lifting oil cylinder, and the first electromagnetic valve is configured to control the flow rate of the hydraulic oil pumped by the first hydraulic pump to the first lifting oil cylinder; The first hydraulic pump control unit comprises: A first calculation subunit is configured to calculate a first inclination angle change rate of the machine body in the length direction thereof and a first to-be-adjusted inclination angle corresponding to the machine body in the length direction thereof according to real-time inclination angle data collected by the inclination sensor; A first electromagnetic valve control subunit is configured to send a first flow control signal to the first electromagnetic valve if the first to-be-adjusted inclination angle is less than a first preset angle and the first inclination angle change rate is greater than a first threshold speed, 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 rate is equal to the first threshold speed. The mining machine further comprises a second electromagnetic valve, the second hydraulic pump is connected to the second electromagnetic valve, the second electromagnetic valve is connected to the second lifting oil cylinder, and the second electromagnetic valve is configured to control the flow rate of the hydraulic oil pumped by the second hydraulic pump to the second lifting oil cylinder; The second hydraulic pump control unit comprises: A second calculation subunit is configured to calculate a second inclination angle change rate of the machine body in the width direction thereof and a second to-be-adjusted inclination angle corresponding to the machine body in the width direction thereof according to real-time inclination angle data collected by the inclination sensor; A second electromagnetic valve control subunit is configured to send a second flow control signal to the second electromagnetic valve if the second to-be-adjusted inclination angle is less than a second preset angle and the second inclination angle change rate is greater than a second threshold speed, 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 rate is equal to the second threshold speed.

7. A mining machine characterized by, The mining machine comprises 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; The memory is configured to store a computer program; The processor is configured to execute the program stored in the memory to implement the steps of the machine body balance control method in any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the machine body balance control method in any one of claims 1-5.

Images