285results about "Machines/dredgers working methods" patented technology

The invention relates to the technical field of loaders, in particular to a loader multi-sensor data fusion fault diagnosis and early warning method, which comprises the following steps: S1, multi-source data acquisition and preprocessing: acquiring running state data of a loader in real time; s2, multi-modal data fusion: carrying out multi-modal data fusion on the preprocessed operation state data to form comprehensive data; s3, energy flow fault propagation prediction: analyzing energy flow distribution of each component in real time, and identifying a potential fault component and a propagation path thereof; and S4, fault assessment and graded early warning: comprehensively assessing the fault risk of the loader, and generating a graded early warning signal according to a set multi-stage early warning rule. According to the invention, the operation efficiency and safety of the loader are improved, the distribution of maintenance resources is optimized, the operation cost is reduced, the overall reliability of the loader is further improved, and the service life of the loader is further prolonged.

The invention provides a nuclear power station flow channel joint dredging robot applying an image recognition algorithm. The robot comprises an image recognition sensing system, a robot moving navigation system, a dredging operation system and a safety monitoring system. The image recognition sensing system is used for collecting an image in the flow channel through a high-resolution camera and analyzing and recognizing sludge and sundries in the flow channel according to the image; the robot mobile navigation system is used for realizing positioning, path planning and autonomous movement of the robot; the desilting operation system is used for removing and collecting sludge and sundries in the flow channel; the safety monitoring system is used for monitoring the running state and the working environment of the robot in real time and ensuring the safety and the reliability of the dredging process of the robot; by integrating image recognition, automatic navigation and a safety monitoring system, efficient, accurate and safe flow channel dredging operation is achieved.

The invention relates to the technical field of underwater dredging construction. The underwater dredging construction method comprises the steps that environment information of a to-be-constructed area is obtained, the environment information is input into a sludge physical property model, sludge physical property information is obtained, the sludge physical property information is compared with a preset sludge standard value, a comparison result is obtained, and the sludge type is determined based on the comparison result. And selecting a sludge construction mode corresponding to the sludge category based on the sludge category, adjusting working parameters of the construction equipment according to the sludge construction mode, and after the working parameters are adjusted, executing dredging construction until the dredging task of the to-be-constructed area is completed. The method has the effects of improving the construction efficiency and reducing equipment damage.

The invention discloses an integrated water dredging device and a dredging method, and belongs to the technical field of water treatment. Comprising an environment-friendly cutter suction dredger, the silt discharging end of the environment-friendly cutter suction dredger is provided with a first pumping system, the first pumping system is communicated with an impurity removal adjusting platform, and the impurity removal adjusting platform comprises a double-layer rotary screen and a first adjusting pool; the impurity removal adjusting platform is further communicated with a dewatering and volume reduction platform through a second pumping system, and a water outlet of the dewatering and volume reduction platform is communicated with a tail water treatment platform; the environment-friendly cutter suction dredger comprises a dredger body and a dredging device arranged on the dredger body. Sludge is preliminarily filtered through the dredging device, and later sludge treatment is better facilitated.

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 invention relates to a building inclination deformation treatment structure and method, the treatment structure comprises a plurality of drill holes, a plurality of peripheral heaped loads and a plurality of internal heaped loads, the drill holes are formed in a foundation of a building, the hole openings of the drill holes are located in the outer side of the foundation, and the drill holes are drilled in the bottom direction of the building by a preset length; the multiple drill holes are formed in the circumferential direction of the building at intervals. Along settlement distribution of the building, the building is provided with a plurality of units on a horizontal projection plane, the units comprise at least one deviation rectifying reference unit, at least one deviation rectifying unit and at least two transition units, the deviation rectifying reference unit is the side, with the largest settlement depth, of the building, and the deviation rectifying unit is the side, away from the deviation rectifying reference unit, of the building. The transition unit is located between the deviation rectifying reference unit and the deviation rectifying unit, and the peripheral stacking load is arranged in the outer side area of the deviation rectifying unit and the transition unit and is close to the deviation rectifying unit and the transition unit; and the internal heaping load is an auxiliary heaping load and is arranged in the building. The treatment structure can effectively treat inclination deformation of the ancient building caused by differential settlement of the foundation.

The invention provides a construction detection device and a construction method of an anti-seepage wall, and belongs to the technical field of engineering construction equipment.The construction detection device comprises an annular guide rail which is fixed to a milling rack in the circumferential direction of the milling rack; the sliding block is connected to the annular guide rail in a sliding mode, the sliding block is configured to be driven by external force to move on the annular guide rail, and the sliding block is fixedly connected with a detection piece used for detecting a groove body; when the milling rack enters the groove body, the detection piece synchronously moves along with the sliding block in the circumferential direction of the milling rack so as to detect at least part of the groove body. According to the construction detection device provided by the invention, the annular guide rail is arranged on the milling rack, and the detection piece can synchronously move on the annular guide rail along with the sliding block to detect at least part of the groove body, so that the quality detection and control work of the groove body can be carried out in the construction process, and the groove body can be repaired and protected in time; and the grooving quality is ensured.

The invention discloses an electric rotation control system and method and an excavator in the technical field of engineering machinery, and aims to solve the problem that in the prior art, due to fluctuation of a pressure source of a pilot pressure reducing valve group, the rotation speed is slowed down or even stopped. The system comprises a load-sensitive pump, a main valve, a handle mechanism and an oil tank, load-sensitive pump return oil, main valve return oil and handle mechanism return oil are all connected with the oil tank, an oil outlet of the load-sensitive pump is connected with the handle mechanism and the main valve at the same time, and the main valve comprises a first link and a plurality of working links; the pressure of the main overflow valve is changed, the LS pressure of the main valve is fed back to the adjusting characteristic of the load-sensitive pump, the pressure of an outlet of the load-sensitive pump is larger than the set pressure of a pilot pressure reducing valve set in a handle mechanism under the single rotation action and other actions, and it is guaranteed that the electric rotation action is normal under the condition that idle speed energy consumption is not increased.

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 discloses underwater repairing equipment for a concrete lining panel of a water network channel and a repairing method of the underwater repairing equipment. The underwater repairing equipment comprises a tail end executor, and the tail end executor comprises a plate cutting tail end executor and a flattening tail end executor; the four-degree-of-freedom adjusting mechanism is detachably connected with any one of the end actuators; the movable cross beam is in sliding connection with the four-degree-of-freedom adjusting mechanism and is used for driving the four-degree-of-freedom adjusting mechanism to be in sliding connection in the length direction of the movable cross beam; the truss is arranged on the plane where a side slope of a channel is located and arranged in the length direction of the plane, and the movable cross beam is arranged on the truss in the width direction of the plane and further arranged in a sliding mode in the length direction of the truss. Compared with the prior art, cutting, moving-out, trimming, gravel cleaning, leveling, new plate replacement and joint filling treatment are sequentially carried out on the designated lining plate to be cut, influences of construction time windows and space ranges are avoided, and the work amount and complexity are relatively reduced.

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 relates to the technical field of river regulation and discloses river regulation equipment and a regulation method thereof.The river regulation equipment comprises a mounting unit, a transmission unit and a driving unit, the mounting unit comprises a floating plate, a lower mounting cylinder is arranged above the floating plate, an upper mounting cylinder is arranged above the lower mounting cylinder, and a feeding hopper is arranged above the upper mounting cylinder. According to the water purifier, a sealing block can vertically move upwards firstly through a driving assembly until the sealing block is located above a second filtering plate, at the moment, the driving assembly can drive the second filtering plate to rotate until the second filtering plate and a first filtering plate are matched with each other, and at the moment, purified water can be discharged along filtering holes; and after the driving assembly is reset, the sealing block can be driven to vertically move downwards when the driving assembly continues to vertically move downwards at the moment, so that when the sealing block moves to a certain position, the sealing block can incline under the assistance of a positioning rod, and the stains can fall into the collecting box.

The invention is suitable for the technical field of excavators, and provides a bucket landing point prediction method fusing point cloud information. According to the method, the efficient and accurate landing point prediction of the excavator in various and complex working environments is realized by combining the efficient and reliable distance measurement capability of the IMU and the advantages of abundant ground point information capture and small environmental influence of the laser radar in the complex environment. The method shows high precision under different poses and working conditions, the error range is small, and the stability and reliability of excavator operation are ensured. Specifically, the overlap ratio of the predicted landing point of the bucket and the actual landing point area reaches 85% or above, even if multiple variables and uncertain factors are faced, the method can still keep high prediction accuracy, and the requirement of intelligent operation for accuracy is fully met. The high-precision prediction not only improves the working efficiency of the excavator, but also reduces the damage to the terrain, and has important practical application value.

The present invention relates to the technical field of underwater operation, and in particular to an underwater jet trenching and cable laying operation system and method. An underwater traveling device is provided at the lower end of a main unit body; two jetting arms are located at the front end of the main unit body; a jetting and suction device is provided at the rear end of the main unit body and comprises suction pipes and second jetting pipes; the suction pipes are used for suctioning silt in an ocean trench through suction ports before a cable settles to the bottom of the ocean trench, and discharging the silt to the outside of the ocean trench through discharge ports; and the second jetting pipes spray horizontal jet flow to scour the inner side wall and the bottom of the ocean trench in the length direction of the ocean trench, so as to maintain the trench profile of the ocean trench during settling of the cable to the bottom of the ocean trench. The present invention is suitable for hyper-soft seabed conditions, and in the case where a cable can only settle naturally due to its large bending radius, it can be ensured that the cable is laid to a target depth to satisfy the operation requirements.

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 invention provides a leveling device and method for underwater repair operation of a concrete lining panel of a water network channel, and the leveling device comprises a bearing frame which is provided with a storage cavity for storing sandbags, and the bottom of the storage cavity is provided with a throwing opening for throwing the sandbags; the fixing frame is arranged on the side, away from the throwing opening, of the bearing frame and provided with a leveling unit used for leveling the channel base layer face. The conveying unit is arranged on the bearing frame and used for conveying the sandbags stored in the storage cavity to the throwing opening; and the detection unit is used for detecting the convex or concave condition of the base layer surface. Traditional manual operation is replaced by the whole equipment, the leveling work of the datum plane can be rapidly completed, flattening of a convex area and filling and compacting of a concave area can be efficiently completed, and the repairing time is remarkably shortened.

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.

The present invention provides a technology capable of improving the effectiveness of operation of a construction machine by an operator using a natural language instruction. A shovel (100) according to one embodiment of the present invention is provided with: an imaging device (40) for acquiring information indicating the environment around the shovel (100); a language conversion unit (303) for converting the information acquired by the imaging device (40) into a natural language; an instruction acquisition unit (301) that acquires an instruction using a natural language from an operator; and an operation control unit (306) that controls the operation of the shovel (100) on the basis of a result obtained by causing the language model LM1 to interpret the instruction acquired by the instruction acquisition unit (301) and the information language-converted by the language conversion unit (303).

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 an energy-saving self-lubricating device and method for an excavator and the excavator. The energy-saving self-lubricating device comprises an oil storage tank, a lubricating pump, an electromagnetic valve, a distributor and an energy conversion device. The oil storage tank is used for containing lubricating grease; an oil inlet of the lubricating pump is communicated with the oil storage tank; a first oil port of the electromagnetic valve is communicated with an oil outlet of the lubricating pump, and a third oil port of the electromagnetic valve is communicated with the oil storage tank; one end of the distributor is communicated with the second oil port of the electromagnetic valve, and the other end of the distributor is communicated with each lubricating point; one end of the energy conversion device is connected with the movable arm, the other end of the energy conversion device is connected to the rotary table, a rotary shaft of the lubricating pump is connected with the energy conversion device, the energy conversion device converts potential energy generated when the movable arm descends into mechanical energy for driving the lubricating pump, lubricating grease is injected into all lubricating point positions, power waste is avoided, and the energy utilization rate is increased. And the device is simple in mechanical structure, low in manufacturing cost, firm and durable, and greatly meets the lubricating requirement of the excavator.

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.