247results about "Machines/dredgers working methods" patented technology

The invention discloses a method and system for detecting the bucket fullness rate of a shovel loading robot based on multi-source fusion, and belongs to the technical field of shovel loading robos.The working state of a working device at the front end of the shovel loading robot is monitored, and when it is detected that a swing mechanism of the shovel loading robot starts to work, system detection work is started; performing calibration fusion processing on the point cloud data of the 4D millimeter wave radar and the binocular vision camera to obtain high-quality bucket point cloud data; the working process between the 4D millimeter wave radar and the binocular vision camera is self-calibrated; and according to the obtained high-quality bucket point cloud data, processing and segmenting to obtain the point cloud and the fullness rate of the excavated material. The method can accurately identify the outline of the bucket and the morphology and volume of materials in the bucket, and improves the autonomous operation efficiency.

The invention provides an unmanned loader control method and system, a loader and a medium, and relates to the technical field of engineering machinery. The method comprises the following steps: acquiring current state data of the unmanned loader, wherein the current state data comprises operation image data acquired by a camera of the unmanned loader and loader body data acquired by a sensor; determining a corresponding first state vector according to the current state data, and inputting the first state vector into a pre-trained human in-the-loop reinforcement learning model to obtain an execution action of the unmanned loader at the next moment; and outputting a corresponding control signal according to the execution action to drive the unmanned loader to execute, and performing parameter optimization on the human in-the-loop reinforcement learning model according to the execution action and the intervention action input by the human. According to the method, the automation, the working efficiency and the operation safety of loading operation are improved.

The present disclosure provides a control system, a control method and machine, a storage medium and a program product. The control system includes: an environment perception module configured to output perception result information based on environment information and / or control result information, and adjust own state based on a system adjustment instruction; a decision-making planning module configured to generate a motion trajectory based on an operation task and the perception result information, output the motion trajectory, predict the motion trajectory to obtain the prediction result information, receive the feedback result information corresponding to the motion trajectory, and output the system adjustment instruction to the environment perception module based on the prediction result information and feedback result information; and a control performing module configured to perform the operation task based on the motion trajectory, obtain and output the feedback result information and the control result information.

The invention relates to the technical field of water environment governance, in particular to an ecological desilting intelligent control method and device.The device comprises a desilting device, a protection device and a central control device.The desilting device comprises a first ship body, a first control center, a jack, a cutter suction desilting pipe, a rotating shaft and a twisted rope; the protection device comprises a second ship body, a second control center, a sand adding device, a pump station, a pull-type laying pipe, an adapter shaft, a dynamic monitoring pipeline and hydrological sensing equipment. The central control device is connected with the desilting device and the protection device through the Internet of Things, can collect operation information of the desilting device and the protection device in real time and control working conditions of the desilting device and the protection device, and performs model calculation and scheme decision through a built-in central processing unit. The overall efficiency and the automation level of river channel dredging protection operation are improved, and the labor cost and the operation difficulty are reduced.

The invention relates to an automatic dredging control method based on target parameters of a trailing suction dredger, which comprises the following steps of: setting target parameters of dredging and loading operation to be controlled under a dredging and loading working condition, and constructing a dredger according to a construction path planned by a system; the system jointly controls dredging operation equipment such as a steering engine, a propeller, a rake arm winch, an active rake head, a wave compensator, a high-pressure flushing pump and an underwater / cabin mud pump to achieve dredging and driving integrated dredging and cabin loading operation, and in the dredging and cabin loading process, the controlled equipment is always kept to stably operate at a set target parameter value. Therefore, efficient automatic dredging operation of the trailing suction hopper dredger is achieved. According to the method, the target parameters of the dredging and loading operation are set, the controlled equipment is always kept to stably operate at the set target parameter values in the dredging and loading process, and efficient automatic dredging operation of the trailing suction hopper dredger is achieved.

The invention relates to an automatic dredging control method for economic yield of a trailing suction dredger, which comprises the following steps of: under a dredging loading working condition, acquiring the ratio of concentration and flow velocity to oil consumption of a loading pipeline according to historical data of concentration and flow velocity and oil consumption of the loading pipeline in construction; the concentration and flow rate target values of the loading pipeline with the most economic benefits under the working condition are determined in a mode of taking the maximum ratio, and the ship navigational speed, the rake head angle, the rake head cutting depth, the wave compensator pressure, the high-pressure flushing pressure and the dredge pump rotating speed are automatically controlled according to the target values; and meanwhile, the steering engine and the propeller are jointly controlled to realize automatic dredging and loading operation of the dredger according to a planned path, so that the dredging yield is stabilized near the economic yield, and the efficient automatic dredging and loading operation of the trailing suction dredger with the best economic benefit is realized. According to the method, it can be guaranteed that the optimal ratio of economic output to cost input can be obtained in automatic dredging and loading operation conducted under the economic output, and therefore economic benefits are greatly improved.

The invention discloses a hydrostatic drive control system, a hydrostatic drive control method and a loader. The system comprises a walking system and a working system, the walking system comprises a whole vehicle controller, an engine controller, an engine, an electric control closed variable pump and an electric control variable motor. The working system comprises a quantitative hydraulic pump, a control valve, a working hydraulic cylinder and a hydraulic motor; the input end of the whole vehicle controller is connected with the output end of the engine controller and the signal output ends of an accelerator pedal, a hand accelerator knob, a speed governor knob and an FNR selection switch of the loader. Two different working modes are formed based on coupling and separation control of the engine rotating speed and the electric control closed variable pump displacement under different use working conditions, so that following control over the vehicle speed and the engine rotating speed can be achieved, and separation control over the vehicle speed and the engine rotating speed can also be achieved. The problems that under the working conditions of close-range loading of the loader and constant accessory flow, the vehicle speed and accessory operation action speed are poor in collaboration, and control is complex are solved. And the displacement of the electric control closed variable pump is subjected to multi-stage proportional control, so that any real-time vehicle speed is limited, and the vehicle speed requirements under different working conditions are conveniently controlled.

The present invention discloses an auxiliary control method, device, equipment, medium, and system for an excavator. The method uses the acquired original excavator sensor joint description data to calibrate the current excavator sensor joint description data, obtaining the current excavator sensor joint description calibration data and determining the current excavator operating condition. The method also obtains the hydraulic pump speed, dipper arm movement speed, and operating point distance corresponding to the current excavator to determine the boom cylinder solenoid valve reference current and bucket cylinder solenoid valve reference current. The method also calculates the target boom position and target bucket cylinder length. The method also obtains the actual boom position and actual bucket cylinder length corresponding to the current excavator, and adjusts the boom cylinder solenoid valve reference current and bucket cylinder solenoid valve reference current using current control rules to achieve auxiliary control of the current excavator. The method solves the problem of complex and difficult manual operation of excavators and improves the efficiency and accuracy of excavator operation.

The application discloses a kind of static hydraulic pressure land leveler control method and system, belong to static hydraulic pressure land leveler control field, static hydraulic pressure land leveler includes engine, accelerator pedal, walking pump, first hydraulic motor, second hydraulic motor and transfer case;Engine selects different speed section according to load condition;After the speed section of engine is determined, the current speed of engine will only fall into current speed section;According to the opening of accelerator pedal, change the displacement of walking pump, first hydraulic motor and second hydraulic motor and the engagement state of first hydraulic motor and / or second hydraulic motor to control the speed of land leveler.The speed section of engine is adjusted according to load condition, and the displacement and engagement state of walking pump and hydraulic motor are controlled in combination with the opening of accelerator pedal, which can realize accurate control of the speed of land leveler, improve work efficiency and reduce fuel consumption.

An arrangement and method for heating an impact device (9) of a rock treating machine (Rtm) in low-temperature operating conditions. The arrangement comprises a warm-up mode (WM) for feeding pre-heated hydraulic fluid through a feed channel (19) to a hydraulic circuit (18) of the impact device. There are one or more hydraulic accumulators (Pa) in the hydraulic circuit. The feed channel is provided with a control element (CE) for limiting the feeding of the pre-heated hydraulic fluid during the warm-up mode. The control element limits the feeding of the pre-heated hydraulic fluid in the feed channel so that separating elements (Se) of the pressure accumulators do not move.

The application discloses a kind of abnormal intelligent identification system of crawler excavator, it is related to excavator abnormal identification technical field, including following module: multi-source sensing acquisition module, including pressure sensing unit, vibration sensing unit, temperature sensing unit and controller area network signal acquisition unit;Signal synchronization pre-processing module is connected with multi-source sensing acquisition module, for each sensor signal is time synchronization, anti-aliasing filtering and analog-digital conversion;In the scheme, not only will fault diagnosis from traditional single parameter threshold alarm to the qualitative change breakthrough of multi-feature fusion accurate positioning, can distinguish different fault modes of plunger wear, flow distribution plate wear, bearing damage and hydraulic oil intake fault and provide quantitative severity assessment, also by building the diagnosis mode of data-driven and knowledge-driven fusion, both use high-precision sensor to extract state characteristics, also through rule base embedding field experience, make fault identification more accurate and intelligent.

This application relates to an excavator control method, device, and excavator, belonging to the field of construction machinery technology. The excavator control method includes obtaining a preset sway threshold based on the current working mode; acquiring real-time sway parameters of the machine body; and adjusting the working parameters of the target hydraulic cylinder if the real-time sway parameters exceed the preset sway threshold. This excavator control method, device, and excavator can reduce the degree of machine body sway, improve operator comfort, and thus increase operator work efficiency.

The invention relates to a trailing suction dredger pipe ditch accurate landfill control method, which comprises the following steps of S1, measuring a pipe ditch through an underwater topographic measurement system, reconstructing an underwater topography through laid underwater pipelines or underwater cables, and performing three-dimensional visualization; s2, the system automatically plans a pipe ditch landfill path according to pipe ditch excavation, underwater pipeline or underwater cable laying design path data and the reconstructed underwater terrain; and S3, according to the pipe ditch landfill path, the intelligent navigation controller and the intelligent dredging controller are combined to precisely control the drag head, so that the drag head is located over the pipe ditch all the time and is close to the pipe ditch as far as possible, the intelligent dredging controller automatically controls the dredging system, and the pipe ditch is precisely landfilled with the landfill materials. The position of the rake head can be accurately and automatically adjusted in real time, the precision and efficiency of landfill operation are ensured, the influence on the underwater environment during landfill operation is reduced, and the purpose of accurate landfill is achieved.

The invention relates to the technical field of sand gravel stratum foundation construction, in particular to sand gravel stratum scour prevention wall grooving equipment and a self-adaptive grooving method, and aims to solve the technical problem that large-range groove milling in the prior art easily causes production safety due to uncertain properties of a sand gravel stratum. The groove body is located on a stable supporting system constructed by the groove edge prefabricating assembly and the pouring positioning assembly on the side of the width of the groove body, a loose space of a gravel layer generates vibration and impact along with contact between a reciprocating groove milling assembly head and the gravel layer, flowing of the surrounding gravel layer is intensified, slurry can flow out step by step when groove milling is not conducted, and therefore the effect that the groove body is not subjected to groove milling is achieved. Under the interception of the interception template, the gravel layer on the width side of the actual groove body is more compact and stable, so that the safety is greatly improved; and after the groove type is detected, the groove edge prefabricating assembly and the pouring positioning assembly also provide a positioning foundation and a fixing foundation for prefabricating and pouring, so that the construction process is safer and more reliable.

The invention discloses a rail self-propelled channel inner wall cleaning device and method, and aims to solve the problems that a device in the prior art is low in manual cleaning efficiency, incomplete in cleaning and insufficient in automation degree. The device comprises a main supporting rod, a left cleaning rod body, a right cleaning rod body, a bottom cleaning rod body, a motor, a battery, a solar panel, a generator, an opening and closing water baffle, a cleaning brush head, a vibration motor and the like. The device drives the moving wheels to move along the channel track through the motor, and the detachable cleaning brush heads on the left and right cleaning rod bodies and the bottom are combined with the vibration motor to achieve comprehensive cleaning of the inner wall. The solar panel and the generator form a dual-energy system to ensure continuous operation of the device; the opening and closing water baffle enhances the fitting degree of the cleaning rod according to the Bernoulli principle, and the cleaning efficiency is improved; the device can automatically recognize the growth condition of algae on the inner wall of the channel or start cleaning operation according to a preset program, achieves intelligent management, effectively removes impurities on the inner wall, guarantees smooth water flow and stable operation of the channel, and has remarkable technical progress and practical value.

The invention provides a control method and device for a series loader and the series loader. The method comprises the steps that first power is determined according to the current gear of the loader and the current charge state of a power battery; second power is determined according to the target pedal opening degree, the current gear and the current charge state; determining third power according to the first power and the second power; obtaining the current power of the working motor to obtain fourth power, obtaining the current power of the walking motor to obtain fifth power, and performing power battery peak power verification on the fourth power and the fifth power according to the third power; and controlling the working motor to operate according to the fourth power and controlling the walking motor to operate according to the fifth power under the condition that the verification is passed. According to the method, the problems that in the prior art, engine power is only related to SOC, due to simultaneous output of a working motor and a walking motor, instantaneous output power of a power battery frequently exceeds a peak value, and the service life of the battery is affected are solved.

The invention discloses an operation control method and device of a bulldozer, the bulldozer and a storage medium. The method comprises the following steps: detecting the terrain of an operation area of the bulldozer through a laser radar to obtain point cloud terrain data under an external coordinate system, and shooting the terrain through a camera to obtain a terrain image; converting the point cloud topographic data under the external coordinate system into point cloud topographic data under an internal coordinate system based on laser radar external parameters to obtain internal point cloud topographic data; determining sampling points from the internal point cloud topographic data to obtain grid point cloud topographic data; converting the grid point cloud topographic data into corresponding pixel position information based on camera calibration parameters to obtain camera pixel position information of each point in the grid point cloud topographic data; performing image enhancement on the topographic image based on the camera pixel position information of each point to obtain a target topographic image; sending the target topographic image to a remote operation terminal of the bulldozer; and obtaining a control instruction fed back by the remote operation terminal based on the target topographic image, and performing operation based on the control instruction.

The application relates to the technical field of demolition robots, in particular to a demolition robot applied to a strong radiation environment and a control method thereof. The demolition robot comprises a demolition device and a control device. The demolition device comprises a base, a swing arm and an execution element. The swing arm is hinged to the top end of the base, and the execution element is arranged at the tail end of the swing arm. The swing arm has multiple joints. Swing arm oil cylinders are arranged between the base and the swing arm joints hinged to the base and between any two adjacent joints of the swing arm. The control device comprises a joystick, a hydraulic pipeline, a pushing assembly, a triggering assembly and an adjusting assembly. The application uses a set of hydraulic control systems to replace the electrical control system of the existing demolition robot, avoids the problem that the electrical control system of the demolition robot fails when working in a strong radiation environment, effectively improves the reliability of the demolition robot when working in a strong radiation environment, and prolongs the service life of the demolition robot.

The invention discloses a shovel loading control method and device based on working condition recognition, a medium and a product, and the method comprises the steps that when a loader works, the initial height of a movable arm and the first shovel loading weight of each time of shovel loading are collected in real time; on the basis of the data of multiple operations, the weight and granularity of the materials are judged to recognize the attribute category of the materials, and a matched first optimized shovel loading control parameter is called from a preset shovel loading control parameter database according to the attribute category of the materials; controlling the loader to continue working according to the parameters, collecting a second shoveling weight and working time of each subsequent operation, and calculating an average working efficiency value of the loader according to the second shoveling weight and the working time; if the value is lower than the set efficiency threshold value, the first optimized shovel loading control parameter is finely adjusted to obtain a second optimized shovel loading control parameter, and the loader is controlled to continue working according to the second optimized shovel loading control parameter. And the working efficiency, the equipment adaptability and the overall intelligent level of the loader under different working conditions are improved.

An intelligent operation method for a loader comprises the steps that S1, initial parameters are calibrated, and target angle numerical values of all key positions of the loader are recorded through a man-machine interaction interface and stored in a logic control module; s2, performing cycle operation, starting an auxiliary operation mode, sending a mode switching instruction by an operator through a mode switching instruction device in the operation process, obtaining sensor parameters of a next operation position according to a preset cycle sequence after a logic control module receives the mode switching instruction, and sending the sensor parameters to the auxiliary operation mode; and the movable arm and the rocker arm are controlled to rotate to a target angle directly or after triggering conditions are met. A'multi-level manual-automatic switching mechanism 'is creatively designed, the safety problem of butt joint with the dumper is considered again, and the operation difficulty is effectively simplified on the basis that the operation safety of the loader is guaranteed.

The invention relates to an integrated port mobile machinery intelligent sensing system and method fusing multiple sensors. A mobile machinery comprises an edge calculation unit and multiple sensors. The edge calculation unit comprises an operation subunit and a control subunit; the sensor comprises a speed sensor, a high-precision positioning sensor, a radar and a camera; the method comprises the following steps: acquiring a target position and an initial position of the flowing machine; periodically acquiring the current position, the current movement speed and the current acceleration of the flowing machine; determining a sensing distance according to the current movement speed, the current acceleration, the destination position, the initial position and the current position; and the sensing distance is sent to a control subunit of the mobile machinery, so that the mobile machinery performs auxiliary driving based on the sensing distance, the operation efficiency and safety of the port mobile machinery are improved, and automation and intelligence of the dry bulk port are promoted.

The invention discloses a breaking hammer with a piston reset function and a storage control method, and belongs to the technical field of breaking hammer control, the storage control method comprises the following steps: acquiring a signal that an excavator is switched to an intelligent storage mode, starting to receive a nitrogen pressure feedback signal in a rear cylinder body, and if the nitrogen pressure is greater than 0, starting to control the piston reset function; if yes, an electromagnetic switch on the rear cylinder body is controlled to be turned on to release nitrogen, and nitrogen pressure is gradually reduced; if the nitrogen pressure is reduced to 0, a main pump starts to be controlled to work, and high-pressure oil is supplied to a middle cylinder body, so that a piston continuously ascends under the action of the high-pressure oil; and when a reversing point on the piston reaches the position of a signal groove in the middle cylinder body, a piston tail end position signal is obtained, the main pump is controlled to stop working, and then the electromagnetic switch on the rear cylinder body is controlled to be turned off. Manual operation is not needed, automatic nitrogen discharging of the breaking hammer and automatic retraction of the piston can be achieved, and the corrosion phenomenon of the sealing section of the piston during long-term storage is prevented.

The invention discloses an electrically-driven bulldozer cooling system and a cooling method, and belongs to the technical field of design and manufacture of engineering machinery, the electrically-driven bulldozer cooling system comprises a speed reduction transmission mechanism, a heat dissipation mechanism, a sensor group, a driving mechanism and a controller, different heat dissipation branches connected with a final transmission part are arranged, and the sensor group is connected with the controller. The flow of the cooling medium in the heat dissipation branch is adjusted in time through the corresponding driving circulation loop and depending on the temperature measured by the sensor set, the cooling effect and cooling efficiency of final transmission in the bulldozer are improved, and the situation that a pure electric bulldozer needs a large braking resistor in the braking process is avoided. The problems that an existing bulldozer is poor in final transmission cooling effect and serious in power consumption are solved.

The utility model discloses an intelligent safety control system of an electric loader, and belongs to the technical field of safety management of electric loaders. Comprising a radar and a camera which are used for collecting vehicle environment information, and the radar and the camera are in communication connection with a VCU; the double-loop brake device comprises a brake pedal air brake valve loop and an electric proportional air brake electromagnetic valve loop, the brake pedal air brake valve loop is used for a driver to control braking, and the electric proportional air brake electromagnetic valve loop is used for controlling braking of the electric proportional air brake electromagnetic valve loop. The electric proportional pneumatic brake electromagnetic valve loop communicates with the electric driving device and is used for executing automatic braking, and the alarm device and the electric driving device are in communication connection with the VCU. The radar and the camera are arranged at the same time, information near the vehicle can be fully collected, the VCU can control the electric driving device to conduct active braking operation on the double-loop braking device according to data collected by the radar and the camera, and the safety of the loader vehicle in the working process can be effectively improved.

The method for improving the efficiency of trailing suction hopper dredgers in dredging fine sand, as proposed in this invention, includes the following steps: S1. Understanding the soil distribution and quantity of dredged material in the channel through on-site surveys, and analyzing the characteristics of sand layer distribution; S2. Investigating and observing the construction characteristics of the trailing suction hopper dredger and the three stages of the dredging and loading process; S3. Treating the actual soil conditions of the identified sand-bearing areas in the channel, removing surface silt, observing and recording relevant data to form statistical reports for retention, future reference, and comparative analysis; S4. Identifying the factors affecting the efficiency of trailing suction hopper dredging fine sand, and formulating targeted construction countermeasures for each factor; S5. Setting construction goals and achieving the completion deadline. This method greatly improves the construction efficiency of trailing suction hopper dredgers in dredging fine sand, while reducing pollution to the marine environment, ensuring the construction period, improving project quality, expanding the application areas of trailing suction hopper dredgers, and promoting comprehensive economic and social development, achieving good social and economic benefits.

This work route design device (1) is provided with: a current topography data acquisition unit (21) which acquires current topography data of a construction site; a design topography data acquisition unit (22) which acquires design topography data of the construction site; a map creation unit (25) which calculates a soil cutting and banking area on the basis of the current topography data and the design topography data; and a work route search unit (28) which searches for a work route along which a work machine moves during work including a series of unit work. The work route search unit (28) performs a selection process for selecting a plurality of unit work candidates to be cut from a work start point of the soil cutting area, and a determination process for determining, from the plurality of unit work candidates, a unit work with a minimum cost as a unit work for cutting soil from the work start point. The work route search unit (28) determines a series of unit work and obtains a work route by using, as the next work start point, a site close to a soil cutting site including a soil cutting site due to the determined unit work, and repeating the selection process and the determination process for the subsequent unit work until the soil cutting area disappears.

The application provides an engine hood, an engine hood assembling method and a construction machine, which comprises a front hood assembly, a rear hood assembly and a middle section assembly; the front hood assembly comprises a front framework module and a front skin component mounted outside the front framework module; the rear hood assembly is used for being independently mounted with the front hood assembly along a front-rear direction on a rear frame of the construction machine, and comprises a rear framework module and a rear skin component mounted outside the rear framework module; the middle section assembly comprises a middle section framework component and a middle section skin component mounted outside the middle section framework component, and the front-rear ends of the middle section framework component are respectively mounted on the front framework module and the rear framework module. The application reduces the production cost, realizes the modular installation of the engine hood, and has high assembling efficiency. Moreover, the correlation dimension chain of related parts with strict gap requirements is minimized, and the problems of poor appearance, such as uneven gap and unreasonable surface difference, of the engine hood of the large loader in the prior art are improved.

The embodiment of the invention provides a modeling simulation method, device and equipment for the whole process of slope construction and a medium, and the method comprises the steps: building a slope construction simulation model according to a three-level coding system of slope excavation; the excavation construction sequence controls the intelligent body object to send an excavation operation starting message; the side slope excavation block intelligent agent object sends an excavation operation development message; the excavation construction working face intelligent body object sends a mechanical request message; the construction machinery scheduling agent object schedules the target construction machinery agent object so as to execute the first process operation; the waste slag stockpiling working face intelligent body object sends a discharging starting message to execute a discharging procedure; and the construction machinery scheduling agent object schedules the bulldozing machinery agent object and the rolling machinery agent object so as to execute a bulldozing process and a rolling process. According to the embodiment of the invention, the method achieves the whole-process coverage of the complete process flow of slope construction, and can meet the simulation demands of complex working conditions.

The invention discloses mine large-scale equipment and a protection and anti-wear system and method for a high-voltage cable of the mine large-scale equipment. The mine large-scale equipment comprises a power supply cable, a collecting ring, a cable bracket, a junction box and a cable lifting device. The collecting ring solves the problem of continuous transmission of electric energy when the revolving platform rotates; the junction box realizes cable switching and circuit protection; the cable bracket supports and guides the direction of the cable to reduce friction of the fuselage section; when mine equipment is transferred or moved, the high-voltage cable is hung on the hook of the cable lifting device, and the ground cable is automatically lifted away from the ground by utilizing the lifting action of the bucket. Safety accidents such as insulation layer damage, breakdown and even short circuit caused by the fact that the cable is rolled by an equipment crawler belt and rubs with the ground are effectively avoided, power supply reliability is greatly improved, and the service life of the cable is greatly prolonged. The service life of the cable is effectively prolonged, the operation safety of mining equipment is effectively improved, and the cable is suitable for crawler-type electric equipment.