CN114815723A - Automatic error correction control method and system for limit protection - Google Patents

Abstract

The application relates to a limit protection automatic error correction control method and a system, which belong to the technical field of error correction control, wherein the method comprises the following steps: when a load starting instruction is received, starting to acquire first timing data; when the first timing data is within the first preset duration, continuously acquiring a limit protection state of a limit switch, and if the limit protection state is a limit state, generating a protection signal and acquiring a direction state of a rocker, wherein the direction state of the rocker comprises a control state and a non-control state; and acquiring second timing data when the direction state of the rocker is the control state, adjusting the limit switch to be in the idle state when the second timing data exceeds the second preset time length, and enabling the equipment to enter a normal working mode based on the control state of the rocker. This application has the direct operation through the remote lever and realizes adjusting the load to normal operating area, reduces artificial labour's effect.

Description

A kind of limit protection automatic error correction control method and system

technical field

The present application relates to the technical field of error correction control, in particular to a limit protection automatic error correction control method and system.

Background technique

At present, in automation equipment such as laser processing, measurement and inspection, the joystick is used to control the load to move on the equipment in many occasions. In order to prevent the load movement from exceeding the limit, a limit limit protection switch will be installed in the equipment to ensure that the load on the equipment is normal. Area operation; under normal conditions, the load will move in the normal area and will not enter the left and right abnormal areas.

However, in some occasions, there will be a power failure. At this time, the motor driving the load will have no output torque, and because the load is relatively heavy, the load will exceed the normal area under the action, and the equipment will enter the normal area. When the power is turned on again, the equipment cannot work normally, and the load needs to be adjusted to the normal working area through the handwheel or human push under the condition of power failure, and the load adjustment through the hand wheel or human push requires a lot of money workforce and therefore needs to be improved.

SUMMARY OF THE INVENTION

In order to adjust the load to the normal working area through the direct operation of the joystick and reduce the manual labor, the present application provides a limit protection automatic error correction control method and system.

In the first aspect, the application provides a limit protection automatic error correction control method, which adopts the following technical solutions:

A limit protection automatic error correction control method, which is used in a limit protection automatic error correction control system, and the method comprises the following steps:

When receiving the load start command, start to obtain the first timing data;

Comparing the first timing data with the first preset duration, when the first timing data is within the first preset duration, continuously obtain the limit protection state of the limit switch, the limit protection The state includes a restricted state and an idle state, and when the first timing data is greater than the first preset duration, the device enters a normal working mode;

If the limit protection state is a limit state, a protection signal is generated to perform limit protection on the load;

Obtain the direction state of the joystick, where the direction state of the joystick includes a control state and a non-control state;

Obtain the direction state of the joystick, where the direction state of the joystick includes a control state and a non-control state;

acquiring second timing data when the direction state of the joystick is the control state;

The second timing data is compared with the second preset duration, and when the second timing data exceeds the second preset duration, the limit switch is adjusted to the idle state, and based on the position of the joystick The above control state makes the device enter the normal working mode.

By using the above technical solution, when the load is in a power outage environment, the load may enter the abnormal area from the normal area due to external factors. When the device is powered on again, when the user controls the load through the joystick, the load starts to run, and the system It is obtained that the load state is the startup state, the system starts timing and obtains the first timing data; the first timing data is compared with the first preset duration, and the time required for the load to completely pass through the abnormal area in the first preset duration is, If the first timing data is greater than the first preset duration, it means that the load does not have limit protection within the first timing data, and further means that the load is not in the abnormal area. Operating mode.

However, when the first timing data is always less than the first preset time period, it is impossible to determine whether the load is in the abnormal area. At this time, the system continues to obtain the limit protection status of the limit switch. If the limit switch is detected within the first preset time period Bit protection, at this time, the limit protection state is the limit state, which means that the load encounters the limit switch, and a protection signal is generated to perform limit protection on the load.

And start to detect the state of the joystick. The direction state of the joystick includes the control state and the non-control state. When the joystick is in the control state, it means that the user still controls the joystick when the load is limited. The system determines that the user needs to load the load. Control from the abnormal area to the normal area; when the user controls the joystick, the system obtains the second timing data, and compares the second timing data with the second preset duration. If the joystick remains in a certain direction for longer than the second preset time Set the time length, according to the current position of the joystick, a limit protection mark adjustment instruction will be generated, and the position mark of the limit protection will be adjusted, and the control device will exit the limit protection state and switch to the normal working mode.

Using the above-mentioned automatic error correction method for load limit protection, it is determined whether the load has limit protection within the first preset time period, if not, it means the load is in the normal working area; if the limit occurs within the first preset time period Protection, after the limit switch limits the load, it will judge whether the load is in an abnormal area through the state of the rocker. The preset time period means that the user needs to adjust the load from the abnormal area to the normal area, and control the equipment to enter the normal working mode by generating the limit protection mark adjustment instruction, without the need to manually adjust the position of the load after the load enters the abnormal area, reducing the need for manual labor. It saves the labor force and prolongs the service life of the equipment.

Optionally, after the continuous acquisition of the limit protection state of the limit switch, the method further includes:

If the limit protection state is an idle state, the first timing data is continuously acquired.

By adopting the above technical solution, the limit protection state of the limit switch is continuously obtained within the first preset time period, and the direction state of the joystick will be obtained only when the limit protection occurs within the first preset time period, so as to enhance the The accuracy of error correction.

Optionally, after obtaining the direction state of the joystick, the method further includes:

If the direction state of the rocker is a non-control state, the control device stops.

By adopting the above technical solution, after the protection signal is generated to perform limit protection on the load, it means that the load is at the position of the limit switch, and the direction state of the joystick is obtained at this time. If the joystick is in a non-control state, it represents the user There is no need to continuously control the movement of the load, a stop command is generated, the control of the load is stopped, and the load is controlled at the position of the limit switch to meet more usage requirements.

Optionally, after the comparing the second timing data with the second preset duration, the method further includes:

If the second timing data is less than the second preset duration, the control state of the joystick is acquired; if the control state changes, the second timing data is re-acquired; if the control If the state remains unchanged, the second timing data is continuously acquired.

By adopting the above technical solution, when the direction state of the joystick is the control state, the user may change the control direction of the joystick. During the second preset time period, if the control direction of the joystick remains unchanged, the control state continues, and then the control state continues. Continue to obtain the second and second timing data; if the control direction of the joystick changes, the control state changes. At this time, the system clears the first timing data and the second timing data, and restarts to obtain the second timing data to meet the needs of different users. Operational situation, reducing the situation that the device enters the normal mode in the abnormal area.

Optionally, the method further includes:

obtaining the detected pressure value of the pressure sensor;

When the detected pressure value is greater than the preset pressure value, an alarm instruction is sent to the alarm device to make the alarm device alarm.

By adopting the above technical solution, when the load moves on the equipment, the position close to the equipment belongs to the abnormal area. If the load enters the abnormal area when the power is cut off, the phenomenon of load collision is likely to occur. Alarm, if the load enters the abnormal area, it will offset the pressure sensor, the pressure sensor will detect the pressure of the load on the equipment, and the system will obtain the detected pressure value of the pressure sensor. If the detected pressure value is greater than the preset pressure value, it means that the load has The equipment generates a large pressure, which is easy to cause damage to the equipment. At this time, an alarm command is sent to the alarm to make the alarm alarm, and the alarm is issued to remind the user to adjust the load from the abnormal area to the normal area in time.

Optionally, when the detected pressure value is greater than a preset pressure value, sending an alarm instruction to the alarm device, so that after the alarm device alarms, the method further includes:

Obtain the direction state of the joystick;

If the direction state is the control state, generating a reverse direction control command based on the control state, so as to make the load move in the opposite direction;

Start the timer, and after the third preset time period arrives, the control device stops.

By adopting the above technical solution, after the alarm command is generated, the system will also detect the state of the rocker to determine whether the load collision is caused by the rocker control or the load factor. If the direction state of the rocker is the control state, then It is determined that the joystick controls the load and the collision occurs, and the reverse direction control command is generated based on the control state. Even if the joystick control direction does not change at this time, the reverse direction control command can control the load to be opposite to the current joystick control direction. move in the direction of the , and generate a third delay command, control the load method movement within the third delay time, and finally stop the load by generating a stop command after the time limit of the third delay command is reached, so as to achieve the result of accidental shock The purpose is that the load will automatically move away from the equipment after the collision occurs with the pole, which reduces the phenomenon of equipment damage due to accidental contact.

Optionally, send an alarm instruction to the alarm, so that the alarm of the alarm includes:

Obtain the direction state of the joystick;

If the joystick is in the control state, generating a first alarm instruction;

If the joystick is in a non-control state, a second alarm instruction is generated.

By adopting the above technical solution, when alarming through the alarm device, if the user is not using the joystick, a first alarm command is generated; if the user is using the joystick, a second alarm command is generated, and the alarm device is controlled by different alarm commands Alarms with different sounds or colors are helpful for users to judge the dangerous situation of the equipment, so as to quickly adjust the load by using the joystick.

In the second aspect, the application provides a limit protection automatic error correction control system, which adopts the following technical solutions:

a first timing module, configured to start acquiring the first timing data when receiving a load start instruction;

The first duration comparison module is used to compare the first timing data with the first preset duration, and when the first timing data is within the first preset duration, continuously obtain the limit of the limit switch a protection state, the limit protection state includes a limit state and an idle state, and when the first timing data is greater than the first preset duration, the device enters a normal working mode;

a limit module, configured to generate a protection signal if the limit protection state is a limit state, so as to perform limit protection on the load;

a joystick detection module, used to obtain the direction state of the joystick, where the direction state of the joystick includes a control state and a non-control state;

a second timing module, configured to acquire second timing data when the direction state of the joystick is the control state;

A second duration comparison module, configured to compare the second timing data with a second preset duration, and adjust the limit switch to the idle when the second timing data exceeds the second preset duration state, and based on the control state of the joystick, the device enters the normal working mode.

In a third aspect, the present application provides a limit protection automatic error correction control device, which adopts the following technical solution: including a memory and a processor, and the memory stores a limit protection capable of being loaded by the processor and executing the above-mentioned limit protection. Computer program for automatic error correction control method.

In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: a computer program capable of being loaded by a processor and executing the above-mentioned limit protection automatic error correction control method is stored.

To sum up, the present application includes at least one of the following beneficial technical effects:

1. In this application, it is determined whether the load has limit protection within the first preset time period. If not, it means that the load is in the normal working area. If limit protection occurs within the first preset time period, the limit switch After the load is limited, it will be judged by the state of the rocker whether the load is in an abnormal area. If the limit protection state of the limit switch is not only the limit state, but the time when the rocker maintains a certain direction exceeds the second preset time, then It means that the user needs to adjust the load from the abnormal area to the normal area, and control the equipment to enter the normal working mode by generating the limit protection mark adjustment instruction, without the need to adjust the position of the load by manual labor after the load enters the abnormal area, which reduces the manual labor and is beneficial to Extend the service life of the equipment;

2. Further, when the direction state of the joystick is the control state, the user may change the control direction of the joystick. During the second preset time period, if the control direction of the joystick remains unchanged, the control state continues, and then continues. Obtain the second and second timing data; if the control direction of the joystick changes, the control state changes. At this time, the system clears the first timing data and the second timing data, and restarts to obtain the second timing data to meet different user operations. situation, reduce the situation that the device enters the normal mode in the abnormal area;

3. Further, when the load moves on the equipment, if the load enters the abnormal area, it will offset the pressure sensor. The pressure sensor will detect the pressure of the load on the equipment, and the system will obtain the detected pressure value of the pressure sensor. When the pressure value is set, it means that the load produces a large pressure on the equipment at this time, which is easy to cause damage to the equipment. At this time, an alarm command is sent to the alarm to make the alarm alarm, and the alarm is used to warn the user to remind the user to put the load in time. From the abnormal area to the normal area, if the direction state of the joystick is in the control state, it is determined that the joystick controls the load and a collision occurs, and the reverse direction control command is generated based on the control state, even if the joystick control direction at this time is not. If the change occurs, the load can be controlled to move in the opposite direction to the current joystick control direction through the reverse direction control command, and a third delay command is generated to control the movement of the load method within the third delay time, and finally in the third delay time After the time limit of the command is reached, the load will be stopped by generating a stop command, so that the load will automatically move away from the equipment after a collision occurs due to the accidental touch of the joystick.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 is a schematic diagram of a scenario of a limit protection automatic error correction control method provided by an embodiment of the present application.

FIG. 2 is a schematic flowchart of a limit protection automatic error correction control method provided by an embodiment of the present application.

FIG. 3 is a schematic diagram of a method for automatic error correction control method for limit protection according to an embodiment of the present application.

FIG. 4 is a schematic flowchart of an alarm generating an alarm in an embodiment of the present application.

FIG. 5 is a schematic flowchart after step 402 in the embodiment of the present application.

FIG. 6 is a schematic flowchart of step 402 in this embodiment of the present application.

FIG. 7 is a schematic diagram of a limit protection automatic error correction control system provided by an embodiment of the present application.

Detailed ways

The present application will be further described in detail below in conjunction with accompanying drawings 1-6.

The embodiment of the present application discloses a limit protection automatic error correction control method. This method is applied to the limit protection automatic error correction controller. The control scene is shown in Figure 1. The load can move on the equipment. Most of the loads are moved by controlling the motor with the screw or conveyor belt. Figure 1 shows the load The schematic diagram of the moving scene with the screw, the user uses the joystick to control the forward and reverse rotation of the motor to drive the screw to move forward and reverse, which in turn drives the load to move in different directions on the device. The equipment will be divided into normal areas and abnormal areas. When the equipment enters the abnormal area due to external factors or its own factors, collisions are likely to occur. Therefore, the limit switch of the equipment between the normal area and the abnormal area is normally controlled by the user. When the load encounters the limit switch in the normal area, the limit switch will have limit protection to stop the load, and the user will stop using the joystick. When the equipment is powered off, due to the heavy load, it will enter the abnormal range under the action of the load. As a result, after the power is turned on again, due to the limitation of the limit switch, the load cannot be directly controlled to enter the normal area through the limit switch. The control method of this embodiment is to adjust the load to the normal area through the direct operation of the joystick.

The processing flow will be described in detail below with reference to FIG. 2 and FIG. 3 in conjunction with the specific embodiments, and the content may be as follows:

Step 201, when a load start instruction is received, start acquiring first timing data.

In the embodiment, when the device is powered on again for use, the user operates the motor through the joystick to control the load to move on the device. When the load moves, the controller will receive the load start instruction, and the controller will start the timer at this time. The first timing data T1 is acquired.

Step 202, compare the first timing data with the first preset duration, and when the first timing data is within the first preset duration, continuously obtain the limit protection state of the limit switch, and the limit protection state includes a limit state and a limit protection state. In the idle state, when the first timing data is greater than the first preset duration, the device enters the normal working mode.

In the embodiment, the first preset duration refers to the longest time that the load needs to use from the abnormal area to the normal area through the joystick, and the size of the first preset duration is manually set according to the specific use environment of the device; A timing data is compared with the first preset duration. If the load and the limit switch are in contact with each other, the limit protection state will become the limit state, and the acquisition of the first timing data will be stopped at the same time. At this time, the first timing data cannot reach the first timing data. The value of the preset duration; if the first timing data is greater than the first preset duration, it means that there is no contact with the limit switch in the first timing data of the load operation, and then it is determined that the load must be running in the normal area, so that the equipment enters the normal working mode.

Step 203 , if the limit protection state is the limit state, a protection signal is generated to perform limit protection on the load.

In the embodiment, when the first timing data has not reached the first preset duration, the limit protection state of the limit switch will be continuously obtained. If the obtained limit protection state is the limit state, it means that the load is in the first preset time. Contact with the limit switch for a long time, at this time, by generating a protection signal to limit protection to the load, the load will stay at the position of the limit switch.

In step 204, the direction state of the joystick is acquired, and the direction state of the joystick includes a control state and a non-control state.

In the embodiment, after judging that the load encounters the limit protection, the system will obtain the direction state of the joystick. When the joystick is not in control, the joystick is in the non-control state, and the position of the joystick is vertical at this time; After the limit protection, the user is still using the joystick. At this time, the direction state of the joystick is the control state. The control state represents the tilt of the joystick at this time. At the same time, the control state also includes the control states of different directions. When the direction changes, the control state will change. In normal use, the controller is based on the control state of the joystick in different directions, and controls the load to move in different directions.

Step 205: Acquire second timing data when the direction state of the joystick is the control state.

In the embodiment, when the joystick is in the control state, it means that the user still controls the joystick when the load is limited, and the system determines that the user needs to control the load from the abnormal area to the normal area at this time, depending on the time of the joystick control. To hold, by simultaneously acquiring the second timing data T2, the second timing data is the time when the user still controls the joystick in one direction when the limit occurs.

Step 206, compare the second timing data with the second preset duration, when the second timing data exceeds the second preset duration, adjust the limit switch to the idle state, and make the device enter the state based on the control state of the joystick. normal working mode.

In the embodiment, the second preset duration is a reference value for judging the holding time of the joystick, the second preset duration is about two seconds, and the second timing data is compared with the second preset duration, if the joystick keeps When the time in a certain direction exceeds the second preset time period, it is determined that the user wants to control the load from the abnormal area to the normal area at this time. The controller will generate a limit protection mark adjustment instruction according to the current position of the remote handle, and adjust the limit switch to an idle state. At this time, the limit switch cannot perform limit protection on the load, so the load is controlled by the rocker to pass the limit switch. Enter into the normal area to make the device enter the normal working mode.

The setting of the second preset duration is also convenient for the user to judge when the load is working in the normal area. If the load is in the normal area after power-on and is close to the position of the limit switch, if the user controls the load to the position of the limit switch Move, at this time, the first timing data cannot reach the first preset duration, and the limit switch will limit the load to protect the load within the first preset duration. At this time, if the user maintains the original The load is still in the state of restricted movement within the preset time period. When the user sees that the load cannot move, he will stop the joystick in time. At this time, the load will stop at the position of the limit switch to ensure that the limit switch is in the normal area when the load moves in the normal area. It has the function of limit protection.

Using the above-mentioned automatic error correction method for load limit protection, it is determined whether the load has limit protection within the first preset time period, if not, it means the load is in the normal working area; if the limit occurs within the first preset time period Protection, after the limit switch limits the load, it will judge whether the load is in an abnormal area through the state of the rocker. The preset time period means that the user needs to adjust the load from the abnormal area to the normal area, and control the device to enter the normal working mode by generating the limit protection mark adjustment instruction, without the need to manually adjust the position of the load after the load enters the abnormal area, reducing the need for manual labor. It saves the labor force and prolongs the service life of the equipment.

Optionally, after continuously obtaining the limit protection state of the limit switch, referring to FIG. 3 , the following processing flow may also be stored:

If the limit protection state is the idle state, the first timing data is continuously acquired.

In the embodiment, the limit protection state of the limit switch is continuously acquired within the first preset time period, and the direction state of the joystick is acquired only when the limit protection occurs within the first preset time period, so as to enhance the correction wrong precision.

Optionally, after acquiring the direction state of the joystick, referring to FIG. 3 , it further includes:

If the direction state of the joystick is a non-control state, the control device stops.

In the embodiment, after the limit protection of the load occurs within the first preset time period, the direction state of the joystick will be obtained. If the joystick is in a non-control state, it means that the user does not need to continuously control the movement of the load, and a shutdown instruction is generated to control the device. Stop, stop the control of the load, and control the load at the position of the limit switch to meet more usage needs.

Optionally, referring to FIG. 2 and FIG. 3 , after comparing the second timing data with the second preset duration, the method further includes:

Step 207: If the second timing data is less than the second preset duration, obtain the control state of the joystick; if the control state changes, obtain the second timing data again; if the control state remains unchanged, continue to obtain the second timing data. timing data.

In an embodiment, when the second timing data does not reach the second preset duration, the user is controlling the joystick, but the user may change the control direction of the joystick, specifically when the load in the normal area encounters the limit switch After that, the user will change the control direction of the joystick. When the load in the abnormal area encounters the limit switch, the user will keep the original control direction of the joystick so that the load can enter the normal area. Specifically, it is represented by Same_Flag, which represents the consistency between the actual joystick movement direction and the limit protection signal. In the second preset time period, if the control direction of the joystick remains unchanged, the control state will continue, Same_Flag is equal to 1, and then continue to obtain The second and second timing data; if the control direction of the joystick changes, the control state changes, and Same_Flag is not equal to 1. At this time, the system clears the first timing data and the second timing data, and restarts to obtain the second timing data. Satisfaction Different operating conditions of users reduce the situation that the device enters the normal mode in the abnormal area.

Optionally, when the equipment is powered off, if the load is close to the limit position of the abnormal area due to its own factors or external factors, the load has the risk of collision, and the user needs to be reminded to adjust the position of the load in time. The pressure sensor associated with the controller is arranged at the extreme position near the abnormal area. The pressure sensor can detect the pressure value when the load is in contact with the equipment. Specifically, referring to Figure 4, the method further includes:

In step 401, the detected pressure value of the pressure sensor is acquired.

Step 402, when the detected pressure value is greater than the preset pressure value, send an alarm instruction to the alarm device to make the alarm device alarm.

In the embodiment, if the load collides with the plane, the load will offset the pressure sensor, the pressure sensor will detect the pressure of the load on the equipment, and the system will obtain the detected pressure value of the pressure sensor. If the detected pressure value is greater than the preset pressure value, It means that the load exerts great pressure on the equipment at this time, and it is easy to cause damage to the equipment. At this time, an alarm command is sent to the alarm to make the alarm alarm, and the alarm is issued to remind the user to adjust the load from the abnormal area to the alarm in time. normal area.

Optionally, the phenomenon that the load collides may occur due to human operation error or intentional when the device is powered on. In order to reduce the phenomenon of the collision caused by the artificial control of the load, referring to FIG. 5 , after step 402, it also includes :

In step 501, the direction state of the joystick is acquired.

Step 502 , if the direction state is the control state, a reverse direction control command is generated based on the control state, so as to make the load move in the reverse direction.

Step 503: Start the timer, and after the third preset time period is reached, the control device stops.

In the embodiment, after the alarm alarms, the controller will judge the reason for the collision of the load, and by obtaining the direction state of the joystick, if the joystick is in the non-control state, it means that the load may occur due to its own gravity or external factors. displacement. If the direction state of the joystick is in the control state, it is determined that the joystick controls the load and a collision occurs. At this time, the reverse direction control command is generated based on the control state, so that even if the operation direction of the joystick does not change, the controller will Start the delay command, and control the load to move in the opposite direction of the joystick control within the third preset time period. And after the third preset time period is reached, the load is stopped by generating a stop command, so as to achieve the purpose of automatically moving the load away from the equipment after a collision occurs due to the accidental touch of the joystick, thereby reducing the phenomenon of equipment damage due to accidental touches.

Optionally, referring to FIG. 6, step 402 includes:

In step 601, the direction state of the joystick is acquired.

Step 602, if the joystick is in a control state, generate a first alarm command, and if the joystick is in a non-control state, generate a second alarm command.

In an embodiment, when an alarm is performed by an alarm, if the user is not using the joystick, a first alarm instruction is generated, and if the user is using the joystick, a second alarm instruction is generated, and the alarm is controlled by different alarm instructions. Different sounds or different colors alarm, which is helpful for users to judge the dangerous situation of the equipment, so as to quickly adjust the load by using the joystick.

Based on the same concept, the embodiment of the present application also discloses a limit protection automatic error correction control system. Referring to Figure 7, the limit protection automatic error correction control system includes:

The first timing module is configured to start acquiring the first timing data when receiving the load start instruction.

The first duration comparison module is used to compare the first timing data with the first preset duration, and when the first timing data is within the first preset duration, continuously obtain the limit of the limit switch A protection state, the limit protection state includes a limit state and an idle state, and when the first timing data is greater than the first preset duration, the device enters a normal working mode.

The limit module is configured to generate a protection signal to perform limit protection on the load if the limit protection state is the limit state.

The joystick detection module is used to acquire the direction state of the joystick, and the direction state of the joystick includes a control state and a non-control state.

A second timing module, configured to acquire second timing data when the direction state of the joystick is the control state.

A second duration comparison module, configured to compare the second timing data with a second preset duration, and adjust the limit switch to the idle when the second timing data exceeds the second preset duration state, and based on the control state of the joystick, the device enters the normal working mode.

Optionally, the limit protection automatic error correction control system also includes:

The pressure detection module is used to obtain the detected pressure value of the pressure sensor.

The alarm module is configured to send an alarm instruction to the alarm device when the detected pressure value is greater than a preset pressure value, so as to make the alarm device alarm.

Specifically, the alarm module includes:

The joystick detection sub-module is used to obtain the direction state of the joystick.

The first alarm sub-module is configured to generate a first alarm instruction if the joystick is in the control state.

The second alarm sub-module is configured to generate a second alarm instruction if the joystick is in a non-control state.

Optionally, the limit protection automatic error correction control system also includes:

A reverse direction movement module, configured to generate a reverse direction control instruction based on the control state if the direction state is the control state, so as to make the load move in the reverse direction.

The third timing module is used to start timing, and after the third preset time period is reached, the control device stops.

The embodiment of the present application also discloses a limit protection automatic error correction control device. The limit protection automatic error correction control device includes a memory and a processor, and the memory stores a memory that can be loaded by the processor and execute the limit protection automatic correction as described above. Computer program for error control method.

The embodiment of the present application also discloses a computer-readable storage medium, which stores a computer program that can be loaded by a processor and executes the above-mentioned limit protection automatic error correction control method. The computer-readable storage medium includes, for example: a USB flash drive , mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes.

The above embodiments are only used to illustrate the technical solutions of the present application, but are not intended to limit the protection scope of the application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on these embodiments, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

Claims (10)

1. a limit protection automatic error correction control method, is characterized in that, described method comprises the steps: When receiving the load start command, start to obtain the first timing data; Comparing the first timing data with the first preset duration, when the first timing data is within the first preset duration, continuously obtain the limit protection state of the limit switch, the limit protection The state includes a restricted state and an idle state, and when the first timing data is greater than the first preset duration, the device enters a normal working mode; If the limit protection state is a limit state, a protection signal is generated to perform limit protection on the load; Obtain the direction state of the joystick, where the direction state of the joystick includes a control state and a non-control state; acquiring second timing data when the direction state of the joystick is the control state; The second timing data is compared with the second preset duration, and when the second timing data exceeds the second preset duration, the limit switch is adjusted to the idle state, and based on the position of the joystick The above control state makes the device enter the normal working mode. 2. The limit protection automatic error correction control method according to claim 1, wherein after the continuous acquisition of the limit protection state of the limit switch, the method further comprises: If the limit protection state is an idle state, the first timing data is continuously acquired. 3. The limit protection automatic error correction control method according to claim 1, characterized in that, after the acquisition of the direction state of the joystick, further comprising: If the direction state of the rocker is a non-control state, the control device stops. 4. The limit protection automatic error correction control method according to claim 1, characterized in that, after the second timing data is compared with the second preset duration, further comprising: If the second timing data is less than the second preset duration, the control state of the joystick is acquired; if the control state changes, the second timing data is re-acquired; if the control If the state remains unchanged, the second timing data is continuously acquired. 5. The limit protection automatic error correction control method according to claim 1, wherein the method further comprises: obtaining the detected pressure value of the pressure sensor; When the detected pressure value is greater than the preset pressure value, an alarm instruction is sent to the alarm device to make the alarm device alarm. 6 . The automatic error correction control method for limit protection according to claim 5 , wherein when the detected pressure value is greater than a preset pressure value, an alarm instruction is sent to the alarm, so that the alarm After the alarm, it also includes: Obtain the direction state of the joystick; If the direction state is the control state, generating a reverse direction control command based on the control state, so as to make the load move in the opposite direction; Start the timer, and after the third preset time period arrives, the control device stops. 7. The limit protection automatic error correction control method according to claim 5, wherein sending an alarm instruction to the alarm device, so that the alarm device alarm includes: Obtain the direction state of the joystick; If the joystick is in the control state, generating a first alarm instruction; If the joystick is in a non-control state, a second alarm instruction is generated. 8. A limit protection automatic error correction control system is characterized in that, comprising, a first timing module, configured to start acquiring the first timing data when receiving a load start instruction; The first duration comparison module is used to compare the first timing data with the first preset duration, and when the first timing data is within the first preset duration, continuously obtain the limit of the limit switch a protection state, the limit protection state includes a limit state and an idle state, and when the first timing data is greater than the first preset duration, the device enters a normal working mode; a limit module, configured to generate a protection signal if the limit protection state is a limit state, so as to perform limit protection on the load; a joystick detection module, used to obtain the direction state of the joystick, where the direction state of the joystick includes a control state and a non-control state; a second timing module, configured to acquire second timing data when the direction state of the joystick is the control state; A second duration comparison module, configured to compare the second timing data with a second preset duration, and adjust the limit switch to the idle when the second timing data exceeds the second preset duration state, and based on the control state of the joystick, the device enters the normal working mode. 9. A limit protection automatic error correction control device, characterized in that it comprises a memory and a processor, and the memory is stored with a computer program that can be loaded by the processor and executes any method as claimed in claims 1 to 7 . 10. A computer-readable storage medium, characterized by storing a computer program capable of being loaded by a processor and executing the method according to any one of claims 1 to 7.

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