178results 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 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 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 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 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 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 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.

The invention discloses an excavator bucket adjusting method and device and an excavator, and relates to the technical field of operation machinery. The excavator bucket adjusting method comprises the steps that in response to an automatic control instruction, the pitch angle of a bucket and the inclination angle of materials are obtained in real time; based on the pitch angle of the bucket and the inclination angle of the material, a cut-in angle estimation value is obtained; and adjusting the attitude of the bucket of the excavator based on the estimated value of the cut-in angle. The cut-in angle, namely the cut-in angle estimated value, of the bucket relative to the material can be determined through the pitch angle of the bucket and the inclination angle of the material, the cut-in angle estimated value serves as a target reference for adjusting the posture of the bucket or the small arm, self-adaptive positioning and adjustment of the cut-in angle at the moment when the bucket makes contact with the material are achieved, cut-in is more accurate, and the work efficiency is improved. The cutting-in failure or rebounding risk is reduced, and the operation efficiency and the operation safety are improved.

The invention discloses an autonomous operation method of an automatic crushing system and engineering machinery. The method comprises the following steps: acquiring the pressure P0 of a small cavity of a movable arm and the current C0 of a descending electromagnetic valve of the movable arm; according to the comparison of the P0 and a preset pressure threshold Paim, a movable arm is controlled to descend to support the vehicle, when the P0 is larger than or equal to the Paim, the C0 is reduced to a preset current threshold Cmin, and crushing operation is started; in the crushing operation process, the pressure P0 of a small cavity of the movable arm and the pressure P1 of a large cavity of the movable arm are obtained; and if it is monitored that the current moment P0 is smaller than or equal to P1 and the previous moment P0 is larger than P1, empty beating is judged, and crushing operation is stopped. The device can automatically recognize idle beating and timely stop crushing operation, so that the labor intensity is reduced, the crushing hammer body is protected, and the dependence on skilled operators is reduced.

This invention relates to the field of hydraulic control technology for construction machinery, and discloses a method for controlling the composite motion of a fully electric positive flow excavator under variable load conditions, comprising the following steps: control initialization, including: setting the displacement ratio a:b between the boom and stick handles; setting the adjustment coefficient; acquiring real-time operating handle signals, setting the initial priority of the stick main valve, starting the control system, and collecting real-time operating parameters; calculating the output flow of the dual pumps based on the handle signals. Q total ; Calculate the flow area of ​​the boom main valve based on real-time operating parameters. A 2 and flow rate of regenerated oil flow rate Q x ;Regenerated oil flow rate based on flow rate Q x Recalculate the desired flow area of ​​the boom main valve. A 2; Based on the desired flow area of ​​the boom main valve A 2. Calculate and output the control current of the boom main valve I ; Control the current of the boom main valve I The output is sent to the stick main valve to dynamically control its opening. Based on the above technical solution, the coordination of the complex actions of the fully electronically controlled positive flow excavator under variable load conditions can be improved, and the control response speed can be increased.

The invention is suitable for the technical field of trajectory planning, and provides an optimal trajectory planning method for excavator pipe ditch operation, which comprises the following steps: establishing an excavator kinematics and dynamics model; the pipe ditch operation mode is divided into straight ditch excavation and side wall finishing; a piecewise polynomial interpolation method is adopted, a straight ditch excavation track and a side wall finishing track are planned in a joint space, and the angle, the angular speed and the angular acceleration of each joint of the excavator are obtained; the interpolation time of each segment in the segmented polynomial trajectory is used as a variable, and a trajectory planning model with mining time, joint impact and mining energy consumption as a comprehensive target is established; optimizing the trajectory planning model by adopting a self-adaptive genetic algorithm; and outputting the optimized pipe ditch excavation track. According to the method, aiming at the optimal excavation trajectory planning problem, the excavation trajectory is optimized, and the working efficiency, the smoothness and the energy consumption are effectively considered.

Problems with a machine that manifest as noise can go unnoticed during remote or autonomous operation of the machine. Accordingly, the disclosed embodiments use one or more acoustic sensors (180) attached to the machine (100) to monitor noises emanating from various locations on the machine (100) and corresponding to known components (170). Spatial filtering can be used to attribute noises to specific components (170), and acoustic filtering can be used to identify noises that indicate problems or other malfunctions in these components. When a problem is detected, a measure, such as notifying an operator or an autonomous control system, can be initiated to resolve the problem.

This application relates to the field of construction machinery technology, and discloses a method for setting the working range of an excavator, a terminal device, and a computer-readable storage medium. The method includes: upon receiving an excavation task, acquiring a working image, dimensions, and boundaries corresponding to the working range of the excavation task; programming the working image, dimensions, and boundaries to generate pattern data corresponding to a programmable pattern card; acquiring the current position and vehicle posture data of the excavator, and controlling a laser imager located on the top of the excavator or pre-set in the working area to project onto the working surface according to the vehicle posture data and the pattern data, displaying the working range corresponding to the excavation task. This solves the problem of inaccuracy in defining the working range of an excavator, achieving the effect of improving the accuracy of delineating the working range of the excavator.

This invention discloses a multi-track coordinated steering control method and system for slipform pavers, belonging to the field of mechanical control technology. It includes acquiring the boom steering angle, track steering angle, slipform paver steering control information, and vehicle parameters; calculating the slipform paver steering angle based on these parameters; and performing steering operations on the slipform paver using this steering angle. This invention adjusts the boom and track steering via electro-hydraulic means based on the calculated slipform paver steering angle, achieving the steering requirements of the slipform paver in various operating modes, while also offering fast response, high efficiency, and energy savings.

The application relates to the technical field of automatic control, and discloses a loader control method and device, a loader and a storage medium, the method comprising the following steps: acquiring a first attitude angle of a movable arm relative to a horizontal direction and a second attitude angle of a tilting bucket rod relative to the horizontal direction; based on the first attitude angle, the second attitude angle and structural parameters of the loader, obtaining a first joint angle between the movable arm and a hydraulic push rod of a bucket, and a second joint angle between the bucket and the movable arm; and based on the first joint angle and the second joint angle, controlling the movable arm and the bucket. According to the application, the first attitude angle of the movable arm relative to the horizontal direction and the second attitude angle of the tilting bucket rod relative to the horizontal direction are acquired, and the joint angles of the working arm of the loader are calculated in real time according to the structural parameters of the loader, so that the movable arm and the bucket of the loader are controlled.