A mine-sweeping control method, system, mine-sweeping device and mine-sweeping vehicle

Abstract

The present invention discloses a mine sweeping control method, system, mine sweeping device and mine sweeping vehicle, which relates to the field of mine sweeping control. A variety of mine sweeping strategies are preset in advance; the mine type and soil hardness level of the operation minefield are determined, and based on the mine type and soil hardness level, a target control strategy is selected from the variety of mine sweeping strategies. Based on the target control strategy, the flail drive module is controlled to operate so as to drive the flail to rotate, and the telescopic length of the telescopic module is controlled to adjust the lifting height to the target height, so that the striking force when the flail rotates at the target height is within the effective striking force range. This solution determines the corresponding target control strategy based on external environmental factors to ensure the reliable striking force, which is conducive to realizing the flexible control of the mine sweeping device under different external environmental factors, ensuring the mine sweeping rate, and having stronger applicability and practicability, and ensuring the safety of relevant passing personnel and vehicles during and after the operation process.

Description

Technical Field

[0001] The present invention relates to the technical field of mine-sweeping control, and particularly to a mine-sweeping control method, system, device and vehicle. Background Art

[0002] A mine-sweeping device can perform mine-sweeping operations in peacetime or wartime, quickly opening up minefield roads, and is the main mission payload of manned and unmanned mine-sweeping vehicles. The mine-sweeping rate is the most critical indicator for evaluating the effectiveness of the mine-sweeping device in performing mine-sweeping operations. The level of the mine-sweeping rate directly affects the running safety of the mine-sweeping vehicle itself during the mine-sweeping operation, as well as the safety of relevant passing personnel and vehicles after the mine-sweeping operation.

[0003] Currently, in practice, it is found that some external environmental factors, such as the undulation degree of the ground surface passed by the mine-sweeping vehicle, the hardness level of the soil, and the way of laying mines in the mine-sweeping area, such as whether the mine is a surface mine or an underground mine, are all external environmental factors that have a greater impact on the mine-sweeping rate. Therefore, how to provide an effective mine-sweeping control method to achieve flexible control of the mine-sweeping device under different external environmental factors and ensure the mine-sweeping rate is an urgent problem to be solved currently. Summary of the Invention

[0004] The purpose of the present invention is to provide a mine-sweeping control method, system, device and vehicle, which determine the corresponding target control strategy based on external environmental factors to ensure reliable striking force, facilitate flexible control of the mine-sweeping device under different external environmental factors, ensure the mine-sweeping rate, have stronger applicability and practicability, and are conducive to ensuring the running safety of the mine-sweeping vehicle itself during the mine-sweeping operation, as well as the safety of relevant passing personnel and vehicles after the mine-sweeping operation.

[0005] To solve the above technical problems, the present invention provides a mine-sweeping control method, which is applied to a control module in a mine-sweeping device. The mine-sweeping device further includes a telescopic module, a flail arm, a flail power module and a flail hammer. The flail hammer is used to rotate under the operation of the flail power module to hammer the ground of the operation minefield; the telescopic module is used to adjust the lifting height of the flail arm by changing its own telescopic length, and the lifting height is negatively correlated with the depth of the flail hammer hammering into the ground. The mine-sweeping control method includes:

[0006] Determine the mine type and soil hardness level of the operation minefield;

[0007] Based on the mine type and the soil hardness level, select a target control strategy from mine-sweeping strategies, where the mine-sweeping strategies include a manual control strategy, a floating control strategy and an adaptive control strategy;

[0008] Based on the target control strategy, control the operation of the flail drive module to drive the rotation of the flail hammer, and control the telescopic length of the telescopic module to adjust the lifting height to the target height, so that the striking force when the flail hammer rotates and strikes the ground at the target height is within the effective striking force range.

[0009] Preferably, based on the mine type and the soil hardness grade, select a target control strategy from the mine-sweeping strategies, including:

[0010] When the mine type is surface mine, determine the manual control strategy as the target control strategy;

[0011] When the mine type is underground mine, judge whether the soil in the operation minefield is high-hardness soil based on the soil hardness grade;

[0012] If so, determine the adaptive control strategy as the target control strategy;

[0013] If not, determine the floating control strategy as the target control strategy.

[0014] Preferably, when the target control strategy is the manual control strategy;

[0015] Based on the target control strategy, control the operation of the flail drive module to drive the rotation of the flail hammer, including:

[0016] Control the operating speed of the flail drive module to be adjusted to the first speed;

[0017] Control the operating direction of the flail drive module to be clockwise, so as to drive the flail hammer to rotate in the clockwise direction at the first speed, so that the splashes when the flail hammer strikes the ground move in the direction away from the mine-sweeping device.

[0018] Preferably, when the target control strategy is the floating control strategy;

[0019] Control the telescopic length of the telescopic module to adjust the lifting height to the target height, including:

[0020] Control the telescopic length of the telescopic module to be its own value, so that the lifting height is adjusted based on the surface undulation of the operation minefield and the total gravity, and the total gravity is the sum of the gravity of the flail arm, the gravity of the flail power module and the gravity of the flail hammer.

[0021] Preferably, it further includes:

[0022] Judge whether there is a deep-striking requirement, and the deep-striking requirement is to strike the target position of the operation minefield according to the target striking depth;

[0023] If so, based on the target strike depth and the manual control strategy, control the operation of the flail driving module to drive the rotation of the flail hammer, and control the telescopic length of the telescopic module to adjust the lifting height to the target height corresponding to the target strike depth, so that the depth at which the flail hammer penetrates the ground is equal to the target strike depth.

[0024] Preferably, the telescopic module includes a pitching oil cylinder, the pitching oil cylinder is connected to the oil supply module through a solenoid valve, and the solenoid valve is also connected to the control module;

[0025] When the target control strategy is an adaptive control strategy, based on the target control strategy, control the operation of the flail driving module to drive the rotation of the flail hammer, and control the telescopic length of the telescopic module to adjust the lifting height to the target height, including:

[0026] Obtain the actual rotation speed at which the flail hammer is currently operating;

[0027] Determine the difference between the given rotation speed and the actual rotation speed as the rotation speed deviation value;

[0028] Based on the rotation speed deviation value and a preset feedback closed-loop PID adjustment algorithm, determine the target current for controlling the opening degree of the solenoid valve;

[0029] Based on the target current, control the opening duration and opening degree of the solenoid valve, so that the oil supply module outputs a target oil volume corresponding to the opening duration at a flow rate corresponding to the opening degree, so as to control the telescopic length of the pitching oil cylinder to be adjusted to the target length at a target adjustment speed corresponding to the flow rate under the drive of the target oil volume, so that the lifting speed reaches the target height, and further adjust the actual rotation speed at the target height to within the rotation speed tolerance range corresponding to the given rotation speed.

[0030] Preferably, the mine-sweeping device is provided on a mine-sweeping vehicle, and the mine-sweeping control method further includes:

[0031] Receive a speed limit signal;

[0032] Based on the speed limit signal, control the mine-sweeping vehicle to move forward at a target driving speed corresponding to the speed limit signal.

[0033] To solve the above technical problems, the present invention also provides a mine sweeping control system, which is applied to the control module in a mine sweeping device. The mine sweeping device further includes a telescopic module, a flail arm, a flail power module and a flail hammer. The flail hammer is used to rotate under the operation of the flail power module to hammer the ground of the operation minefield. The telescopic module is used to adjust the lifting height of the flail arm by changing its own telescopic length. The lifting height is negatively correlated with the depth of the flail hammer driven into the ground. The mine sweeping control system includes:

[0034] A first determination unit, configured to determine the mine type and soil hardness grade of the operation minefield;

[0035] A strategy selection unit, configured to select a target control strategy from mine sweeping strategies based on the mine type and the soil hardness grade. The mine sweeping strategies include a manual control strategy, a floating control strategy and an adaptive control strategy;

[0036] A first control unit, configured to control the operation of the flail drive module based on the target control strategy to drive the rotation of the flail hammer, and control the telescopic length of the telescopic module to adjust the lifting height to a target height, so that the striking force of the flail hammer hitting the ground when rotating at the target height is within the effective striking force range.

[0037] To solve the above technical problems, the present invention also provides a mine sweeping device, which includes a control module, and further includes a telescopic module, a flail arm, a flail power module and a flail hammer;

[0038] The flail hammer is used to rotate under the operation of the flail power module to hammer the ground of the operation minefield. The telescopic module is used to adjust the lifting height of the flail arm by changing its own telescopic length. The lifting height is negatively correlated with the depth of the flail hammer driven into the ground;

[0039] The control module is connected to the flail power module and the telescopic module, and is configured to execute the steps of the mine sweeping control method as described above.

[0040] To solve the above technical problems, the present invention also provides a mine sweeping vehicle, which includes a mine sweeping vehicle body, and further includes the mine sweeping device as described above.

[0041] The present application provides a mine sweeping control method, system, mine sweeping device and mine sweeping vehicle. The mine sweeping device includes a control module, a telescopic module, a flail arm, a flail power module and a flail hammer. Considering the influence of mine types and soil hardness levels on the mine sweeping control method, this solution sets multiple mine sweeping strategies including a manual control strategy, a floating control strategy and an adaptive control strategy. Then, determine the mine type and soil hardness level of the operation minefield. Based on the mine type and soil hardness level, select a target control strategy from the mine sweeping strategies. Based on the target control strategy, control the operation of the flail drive module to drive the flail hammer to rotate, and control the telescopic length of the telescopic module to adjust the lifting height to the target height, so that the striking force when the flail hammer rotates at the target height is within the effective striking force range. It can be seen that this solution determines the corresponding target control strategy based on external environmental factors to ensure a reliable striking force, which is conducive to realizing flexible control of the mine sweeping device under different external environmental factors, ensuring the mine sweeping rate, and having stronger applicability and practicability. It is conducive to ensuring the operation safety of the mine sweeping vehicle itself during the mine sweeping operation, as well as the safety of relevant passing personnel and vehicles after the mine sweeping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the prior art and the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 It is a flowchart of a mine sweeping control method provided by the present invention;

[0044] Figure 2 It is a structural schematic diagram of a mine sweeping device provided by the present invention;

[0045] Figure 3 It is a structural schematic diagram of a mine sweeping control system provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The core of the present invention is to provide a mine sweeping control method, system, mine sweeping device and mine sweeping vehicle, which determine the corresponding target control strategy based on external environmental factors to ensure a reliable striking force, which is conducive to realizing flexible control of the mine sweeping device under different external environmental factors, ensuring the mine sweeping rate, and having stronger applicability and practicability. It is conducive to ensuring the operation safety of the mine sweeping vehicle itself during the mine sweeping operation, as well as the safety of relevant passing personnel and vehicles after the mine sweeping operation.

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0048] Please refer to Figure 1 and Figure 2 , Figure 1 which is a flowchart of a mine sweeping control method provided by the present invention, Figure 2 and which is a structural schematic diagram of a mine sweeping device provided by the present invention.

[0049] In this embodiment, considering that some external environmental factors have a great impact on the mine sweeping rate, and the mine sweeping rate is the most critical indicator for evaluating the effect of the mine sweeping device performing the mine sweeping operation task, its level directly affects the operation safety of the mine sweeping vehicle itself during the mine sweeping operation, and also the safety of relevant passing personnel and vehicles after the mine sweeping operation. Therefore, an effective mine sweeping control method is needed. To solve the above technical problems, the present application provides a mine sweeping control method, which realizes flexible control of the mine sweeping device under different external environmental factors and ensures the mine sweeping rate.

[0050] This mine sweeping control method is applied to the control module in the mine sweeping device. The mine sweeping device further includes a telescopic module, a flail arm, a flail power module, and a flail hammer. The flail hammer is used to rotate under the operation of the flail power module to hammer the ground of the operation minefield; the telescopic module is used to adjust the lifting height of the flail arm by changing its own telescopic length, and the lifting height is negatively correlated with the depth of the flail hammer hammering into the ground. This mine sweeping control method includes:

[0051] S11: Determine the mine type and soil hardness grade of the operation minefield;

[0052] S12: Based on the mine type and soil hardness grade, select a target control strategy from the mine sweeping strategies. The mine sweeping strategies include a manual control strategy, a floating control strategy, and an adaptive control strategy;

[0053] S13: Based on the target control strategy, control the operation of the flail drive module to drive the rotation of the flail hammer, and control the telescopic length of the telescopic module to adjust the lifting height to the target height, so that the striking force of the flail hammer hammering the ground during rotation at the target height is within the effective striking force range.

[0054] First of all, it should be noted that the control end of the telescopic module is connected to the control module to enable the control module to control the telescopic module; the control end of the flail power module is connected to the control module to enable the control module to control the flail power module. Please refer to Figure 2 which is limited by Figure 2 the focus of the display. Here, the connection schematic of the control module is temporarily omitted, and the mechanical structure connection schematic of other structural components in the mine-sweeping device is mainly described. The mine-sweeping device can be specifically arranged on a mine-sweeping vehicle. The mine-sweeping vehicle includes a mine-sweeping vehicle body and the mine-sweeping device. The mine-sweeping vehicle body includes a chassis. The chassis includes crawlers 41 and a fixed interface 42. The telescopic module includes a pitching oil cylinder 3. The pitching oil cylinder 3 is fixed on the fixed interface 42 through a pin shaft 51. The flail arm 2 is fixed on the fixed interface 42 through a pin shaft 52. And the oil supply input end of the pitching oil cylinder 3 is connected to an oil supply module through a solenoid valve. The oil is stored in the oil supply module. Under different solenoid valve opening degrees and opening durations, oil can be filled into the pitching oil cylinder. This amount of oil can push the pitching oil cylinder 3 to expand and contract in its axial direction, thereby changing the telescopic length; the change in the telescopic length will adjust the height of the flail arm 2 (see Figure 2 It can be seen that the pitching oil cylinder 3 is connected to the middle and lower support point of the flail arm 2 through a pin shaft 53, so as to realize the change of the lifting height with the change of the telescopic length); the flail power module and the flail arm 2 can be connected through a pin shaft 54. The flail power module includes a flail motor 13 (the specific number can be two, which are respectively arranged on both sides of the flail fixing part 15) and a drum 12 connected to the flail motor 13 through a belt and a pulley. In the absence of additional resistance, as the flail motor 13 rotates (such as rotating forward at a certain speed or rotating backward at a certain speed), the drum 12 can rotate synchronously. The drum 12 is connected to the flail hammer 11, and the flail hammer 11 rotates synchronously with the drum 12. For the specific setting of the flail hammer 11, it can be as Figure 2 shown. The flail hammers 11 are arranged on the drum 12 in a spiral form through chains. In the absence of additional resistance, when the drum 12 rotates at a certain speed, the flail hammers 11 will rotate with the rotation of the drum 12, and then hammer the ground with a certain hitting force. This hitting force can form a certain hitting depth on the ground to achieve mine-sweeping. In addition, the mine-sweeping device can also include rollers 14. The rollers 14 may be in contact with the ground or suspended at a certain distance from the ground as the lifting height of the flail arm 2 changes.

[0055] Specifically, first, determine the types of landmines at the operation minefield and the soil hardness level of the operation minefield. The types of landmines include surface landmines and underground landmines. Among them, the surface landmines can be scatterable landmines set on the ground; the underground landmines can be buried landmines buried at a certain burial depth below the ground surface, and the burial depth is determined by the layout requirements of the buried landmines. More specifically, for the determination of the types of landmines in the operation minefield, it can be obtained based on professional detection equipment combined with expert analysis; for the determination of the soil hardness level, it can be detected based on a corresponding soil hardness level tester. Different mine-sweeping strategies are preset in advance. The mine-sweeping strategies include a manual control strategy, a floating control strategy, and an adaptive control strategy. It can be understood that different soil hardness levels have different resistance effects on the chain hammer when it penetrates the ground. The greater the resistance, under the action of the resistance, the operating speed of the roller 12 in the flail drive module will be too high due to the resistance and cannot be maintained at the expected speed, resulting in a decrease in speed. Correspondingly, the rotation of the chain hammer 11 will synchronously decrease as the operating speed of the roller 12 decreases, and thus cannot be maintained at the expected striking force, and the striking depth is also insufficient, unable to achieve effective mine-sweeping. Similarly, different types of landmines correspond to different striking force requirements, and corresponding different mine-sweeping strategies need to be used for processing. Therefore, based on the differences in the types of landmines and the soil hardness levels, the target control strategy is selected from the mine-sweeping strategies. The selection process is described in the following embodiments and will not be elaborated here.

[0056] Based on the target control strategy, control the flail drive module to drive the chain hammer 11 to rotate. That is, the control module controls the control signal output to the flail motor 13, so that the flail motor 13 rotates at the operating speed corresponding to the target control strategy, and then drives the roller 12 to rotate through the belt, and then the roller 12 drives the chain hammer 11 to rotate synchronously. And the control module controls the telescopic length of the telescopic module to adjust the lifting height of the flail arm to the target height, so that the striking force of the chain hammer hitting the ground during rotation at the target height is within the effective striking force range. Thus, considering the resistance borne by the chain hammer during rotation, ensure that the striking force of the chain hammer is always within the effective striking force range. On this basis, the adjustment of the lifting height is also conducive to realizing the adjustment of different striking depths, truly considering the types of landmines and the soil hardness level, taking into account both the striking force and the striking depth, reducing the influence of external environmental factors on the mine-sweeping rate, and improving the mine-sweeping rate of the mine-sweeping device.

[0057] In summary, the present application provides a mine-sweeping control method. Considering the influence of mine types and soil hardness levels on the mine-sweeping control method, this solution sets multiple mine-sweeping strategies including a manual control strategy, a floating control strategy, and an adaptive control strategy. Then, it determines the mine type and soil hardness level of the operation minefield, selects a target control strategy from the mine-sweeping strategies based on the mine type and soil hardness level, and based on the target control strategy, controls the operation of the flail drive module to drive the flail to rotate, and controls the telescopic length of the telescopic module to adjust the lifting height to the target height, so that the striking force when the flail rotates at the target height strikes the ground is within the effective striking force range. It can be seen that this solution determines the corresponding target control strategy based on external environmental factors to ensure the striking force, which is conducive to the flexible control of the mine-sweeping device under different external environmental factors, ensures the mine-sweeping rate, has stronger applicability and practicability, is conducive to ensuring the operation safety of the mine-sweeping vehicle itself during the mine-sweeping operation, and the safety of relevant passing personnel and vehicles after the mine-sweeping operation.

[0058] Based on the above embodiments:

[0059] As a preferred embodiment, selecting a target control strategy from the mine-sweeping strategies based on the mine type and soil hardness level includes:

[0060] When the mine type is surface mine, determine the manual control strategy as the target control strategy;

[0061] When the mine type is underground mine, judge whether the soil in the operation minefield is high-hardness soil based on the soil hardness level;

[0062] If so, determine the adaptive control strategy as the target control strategy;

[0063] If not, determine the floating control strategy as the target control strategy.

[0064] In this embodiment, the execution logic for selecting the target control strategy is given. Specifically, when the mine type is surface mine, the manual control strategy in the mine sweeping strategy can be determined as the target control strategy at this time. The advantage of the manual control strategy is that the control method is flexible, and it can flexibly achieve the continuous forward movement of the mine sweeping vehicle or the mine sweeping vehicle stopping at a certain position for concentrated strikes according to the current control requirements, which is conducive to realizing the mine sweeping operation considering a certain strike depth, and can flexibly adjust the rotation direction of the chain hammer, which is conducive to realizing the mine sweeping treatment of surface mines buried not deep; when the mine type is underground mine, underground mines are usually buried at a certain distance below the surface. Therefore, in combination with the soil hardness level, when it is determined that the soil in the minefield to be operated is high-hardness soil, the adaptive control strategy is determined as the target control strategy; when it is determined that the soil in the minefield to be operated is not high-hardness soil, it means that the soil in the minefield to be operated is low-hardness soil and the soil is soft, then the floating control strategy is determined as the target control strategy, as described in the following embodiments, which will not be elaborated here. It can be seen that combining the determination of the target control strategy with the mine type and the soil hardness level is more conducive to successful mine sweeping, and improves the mine sweeping rate while reducing the influence of external environmental factors on the mine sweeping rate.

[0065] As a preferred embodiment, when the target control strategy is the manual control strategy;

[0066] Based on the target control strategy, control the operation of the flail drive module to drive the chain hammer to rotate, including:

[0067] Adjust the operating speed of the flail drive module to the first speed;

[0068] Control the operating direction of the flail drive module to be clockwise, so as to drive the chain hammer to rotate clockwise at the first speed, so that the splashes when the chain hammer hits the ground move in the direction away from the mine sweeping device.

[0069] In this embodiment, when the target control strategy is the manual control strategy, the mine sweeping execution logic for surface mines is given. Specifically, adjust the operating speed of the flail drive module to the first speed. The first speed can be the default speed under the manual control strategy stored in advance in the memory of the control module, or can be determined according to the received speed to be adjusted, and the speed to be adjusted corresponds to the current speed adjustment requirement, and no special limitation is made here; more specifically, the adjustment and implementation of the first speed can be: by controlling the control signal output to the flail motor, the flail motor rotates at the first speed and then drives the roller to rotate through the belt, and then the roller drives the chain hammer to rotate synchronously, and finally the chain hammer rotates at the first speed.

[0070] In addition, considering the burial characteristics of surface mines, the rotation direction of the chain hammer can be adjusted. Specifically, the operation direction of the flail drive module is controlled to be clockwise to drive the chain hammer to rotate in the clockwise direction at a first speed. At this time, the linear velocity direction of the chain hammer hitting the ground faces the advancing direction of the mine sweeping vehicle, so that the splashes when the chain hammer strikes the ground move in the direction away from the mine sweeping device. The splashes include surface scattered mines, that is, the surface scattered mines are swept forward, avoiding the surface scattered mines being brought under the vehicle bottom of the mine sweeping vehicle when rotating counterclockwise, which may cause potential safety hazards; the splashes also include splashed soil particles and sand and gravel, and these soil particles and sand and gravel will be carried in the same direction as the advancing direction of the mine sweeping vehicle, thus facilitating the premature detonation of some surface scattered mines.

[0071] It should also be noted that in this case, the advancing speed of the mine sweeping vehicle can be 0, that is, it stops in place for in-depth cleaning; it can also be a non-zero second speed, and the specific value of the second speed is determined according to actual needs to achieve moving mine sweeping under the manual control strategy. In addition, the telescopic length of the telescopic module can be controlled to remain at a first preset length to keep the lifting height of the flail arm constant, or the telescopic length of the telescopic module can be flexibly extended and shortened according to the current mine sweeping situation so that the lifting height of the flail arm rises or falls accordingly (wherein, the telescopic length of the telescopic module is directly proportional to the lifting height and inversely proportional to the height of the chain hammer hammering into the ground), so as to achieve mine sweeping at different depths. This is not specifically limited here and can be determined according to actual needs.

[0072] As a preferred embodiment, when the target control strategy is a floating control strategy;

[0073] Controlling the telescopic length of the telescopic module to control the lifting height to be adjusted to the target height includes:

[0074] Controlling the telescopic length of the telescopic module to be its own value, so that the lifting height is adjusted based on the surface undulation of the operation minefield and the total gravity. The total gravity is the sum of the gravity of the flail arm, the gravity of the flail power module, and the gravity of the chain hammer.

[0075] In this embodiment, the mine-sweeping execution logic for underground mines is given when the target control strategy is a floating control strategy. Specifically, the load torque after the chain hammer strikes the ground directly affects the rotation speed of the drum. Since this corresponds to a relatively low soil hardness grade and relatively soft soil conditions at this time, the resistance received by the chain hammer during actual operation is relatively small, and the impact on the rotation speed of the drum is also relatively small. Therefore, the entire mine-sweeping device can operate in an open-loop control mode. More specifically, the telescopic length of the telescopic module is controlled to its natural value, which is the natural value when the pitching cylinder is in a pressure-relieved state. The rollers in the mine-sweeping device are in direct contact with the ground, and the lifting height of the flail arm will change with the undulation of the surface of the minefield during operation under the combined action of the total gravity and the gravity of the rollers, so as to achieve rising or falling, making the responsiveness to terrain undulation stronger.

[0076] It should also be noted that at this time, the flail drive module can be controlled to rotate at a third speed to drive the chain hammer to rotate synchronously (specifically, it can be achieved by controlling the rotation speed of the flail motor in the flail power module to drive the drum to rotate synchronously). The third speed can specifically be the default speed under the floating control strategy pre-stored in the memory of the control module, or it can be determined according to the received adjustable speed under the floating control strategy. The adjustable speed corresponds to the speed adjustment requirement under the current floating control strategy, and no special limitation is made here; the forward speed of the mine-sweeping vehicle can be a fourth speed, and the specific value of the fourth speed is determined according to actual needs to achieve moving mine-sweeping under the floating control strategy.

[0077] As a preferred embodiment, it further includes:

[0078] Judge whether there is a deep-striking requirement, and the deep-striking requirement is to hammer the target position of the minefield according to the target striking depth;

[0079] If so, based on the target striking depth and the manual control strategy, control the flail drive module to operate to drive the chain hammer to rotate, and control the telescopic length of the telescopic module to adjust the lifting height to the target height corresponding to the target striking depth, so that the depth of the chain hammer hammering into the ground is equal to the target striking depth.

[0080] In this embodiment, the inventor further considers that in the actual application process, there may be a need for deep strikes. Specifically, based on the target striking depth and the manual control strategy, the flail drive module can be controlled to rotate at a fifth speed to drive the chain hammer to rotate synchronously. The fifth speed is set according to actual needs and no special limitation is made here; control the telescopic length of the telescopic module to adjust the lifting height to the target height corresponding to the target striking depth, so that the depth of the chain hammer hammering into the ground is equal to the target striking depth.

[0081] It can be understood that when there is a need for deep strike, the user can further select multiple mine-sweeping strategies as target control strategies in combination with the soil hardness level. Multiple target control strategies work alternately, and only one control strategy mode works at the same time. For example, for different burial depths and lower soil hardness levels, a manual control strategy and a floating control strategy can be selected, and the two can be alternated; no special limitation is made here. The multiple mine-sweeping strategies provided in this application can be flexibly selected by the user according to the actual situation, and a variety of mine-sweeping control schemes are truly tailored to the actual application.

[0082] As a preferred embodiment, the telescopic module includes a pitching oil cylinder, the pitching oil cylinder is connected to the oil supply module through a solenoid valve, and the solenoid valve is also connected to the control module;

[0083] When the target control strategy is an adaptive control strategy, based on the target control strategy, control the operation of the flail drive module to drive the chain hammer to rotate, and control the telescopic length of the telescopic module to adjust the lifting height to the target height, including:

[0084] Obtain the actual rotation speed of the chain hammer currently in operation;

[0085] Determine the difference between the given rotation speed and the actual rotation speed as the rotation speed deviation value;

[0086] Based on the rotation speed deviation value and the preset feedback closed-loop PID adjustment algorithm, determine the target current for controlling the opening degree of the solenoid valve;

[0087] Based on the target current, control the opening duration and opening degree of the solenoid valve, so that the oil supply module outputs the target oil volume corresponding to the opening duration at the flow rate corresponding to the opening degree, so as to control the telescopic length of the pitching oil cylinder to be adjusted to the target length at the target adjustment speed corresponding to the flow rate under the drive of the target oil volume, so that the lifting speed is adjusted to the target height, and then the actual rotation speed at the target height is adjusted to the rotation speed tolerance range corresponding to the given rotation speed.

[0088] In this embodiment, when the target control strategy is an adaptive control strategy, the mine-sweeping execution logic for underground mines is given. Since this corresponds to a situation where the soil hardness level is relatively high and the soil is relatively hard at this time, if the floating control strategy is still used, when the chain hammer overcomes the soil resistance and tunnels in the hard soil, the resistance received by the chain hammer during actual operation is also relatively large, which has a greater impact on the rotation speed of the drum, and the rotation speed of the drum will decrease significantly, and the striking force will weaken accordingly, affecting the striking effect. Therefore, an adaptive control strategy is adopted to ensure the balance of the striking force and the striking depth. This adaptive control strategy is essentially a closed-loop feedback control strategy.

[0089] Specifically, obtain the actual rotational speed at which the chain hammer is currently operating. Since the operating speeds of the chain hammer, the drum, and the flail motor are the same, this step can be measured by a rotational speed sensor configured on the flail motor. Predesign the given rotational speed under the adaptive control strategy, and determine the difference between the given rotational speed and the actual rotational speed as the rotational speed deviation value. Based on the rotational speed deviation value and the preset feedback closed-loop PID regulation algorithm, determine the target current for controlling the opening degree of the solenoid valve. It should be noted that the preset feedback closed-loop PID regulation algorithm can include a PID control processing unit, a differential control processing unit, and a scale proportional scaling control processing unit. Furthermore, input the rotational speed deviation value as an input item into the PID control processing unit to obtain the displacement information corresponding to the length to be extended or retracted of the pitching oil cylinder; input the displacement information as an input item into the differential control processing unit to obtain the speed information; input the speed information as an input item into the scale proportional scaling control processing unit to obtain the target current for controlling the solenoid valve. Specific parameter settings for the preset feedback closed-loop PID regulation algorithm are not particularly limited here, as long as the above control objectives can be achieved.

[0090] Control the opening duration and opening degree of the solenoid valve based on the target current. Under different opening degrees and opening durations of the solenoid valve, the oil filling amount and oil filling speed in the pitching oil cylinder are different, so that the oil supply module outputs the target oil amount corresponding to the opening duration at the flow rate corresponding to the opening degree, in order to control the extension and retraction length of the pitching oil cylinder to be adjusted to the target length at the target adjustment speed (i.e., the oil filling speed) corresponding to the flow rate under the input drive of the target oil amount, so as to lift the high speed to the target height, and then adjust the actual rotational speed at the target height to within the rotational speed tolerance range corresponding to the given rotational speed, and the striking force of the chain hammer can always be maintained within the striking force tolerance range corresponding to the rotational speed tolerance range, thereby ensuring the striking depth when the chain hammer continuously operates.

[0091] As a preferred embodiment, the mine sweeping device is provided on the mine sweeping vehicle, and the mine sweeping control method further includes:

[0092] Receive a speed limit signal;

[0093] Based on the speed limit signal, control the mine sweeping vehicle to move forward at the target driving speed corresponding to the speed limit signal.

[0094] In this embodiment, in order to further balance the striking force and the striking depth of the chain hammer, the forward speed of the mine-sweeping vehicle including the mine-sweeping device can also be limited. Specifically, a speed limit signal including target driving speed information is received, and based on this signal, the mine-sweeping vehicle is controlled to move forward at a target driving speed corresponding to the speed limit signal, so that the vehicle speed of the mine-sweeping vehicle matches the hammering action of the chain hammer, ensuring the striking depth when the chain hammer continuously operates and effectively improving the mine-sweeping rate. It can be understood that considering the relatively hard soil hardness level, in order to ensure the mine-sweeping effect, the target driving speed can be relatively small, which can be determined according to actual needs.

[0095] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a mine-sweeping control system provided by the present invention.

[0096] This mine-sweeping control system is applied to the control module in the mine-sweeping device. The mine-sweeping device further includes a telescopic module, a flail arm, a flail power module and a chain hammer. The chain hammer is used to rotate under the operation of the flail power module to hammer the ground of the minefield to be worked; the telescopic module is used to adjust the lifting height of the flail arm by changing its own telescopic length, and the lifting height is negatively correlated with the depth of the chain hammer hammering into the ground. This mine-sweeping control system includes:

[0097] The first determination unit 61 is used to determine the mine type and soil hardness level of the minefield to be worked;

[0098] The strategy selection unit 62 is used to select a target control strategy from the mine-sweeping strategies based on the mine type and soil hardness level. The mine-sweeping strategies include a manual control strategy, a floating control strategy and an adaptive control strategy;

[0099] The first control unit 63 is used to control the operation of the flail drive module based on the target control strategy to drive the rotation of the chain hammer, and control the telescopic length of the telescopic module to adjust the lifting height to the target height, so that the striking force of the chain hammer hitting the ground when rotating at the target height is within the effective striking force range.

[0100] For the introduction of the mine-sweeping control system provided in the present invention, please refer to the embodiments of the above mine-sweeping control method, which will not be elaborated here.

[0101] As a preferred embodiment, the strategy selection unit 62 includes:

[0102] The first determination unit is used to determine the manual control strategy as the target control strategy when the mine type is surface mine;

[0103] A first judgment unit, configured to, when the mine type is an underground mine, judge whether the soil of the operation minefield is high-hardness soil based on the soil hardness level; if so, trigger a second determination unit; if not, trigger a third determination unit;

[0104] The second determination unit is configured to determine the adaptive control strategy as the target control strategy;

[0105] The third determination unit is configured to determine the floating control strategy as the target control strategy.

[0106] As a preferred embodiment, when the target control strategy is a manual control strategy; the first control unit 63 includes:

[0107] A first speed regulation unit, configured to control the operating speed of the flail drive module to be adjusted to a first speed

[0108] A direction control unit, configured to control the operating direction of the flail drive module to be clockwise, so as to drive the flail hammer to rotate in the clockwise direction at the first speed, so that the splashes when the flail hammer strikes the ground move in a direction away from the mine sweeping device.

[0109] As a preferred embodiment, when the target control strategy is a floating control strategy; the first control unit 63 includes:

[0110] A length control unit, configured to control the telescopic length of the telescopic module to be its own value, so that the lifting height is adjusted based on the surface undulation of the operation minefield and the total gravity, and the total gravity is the sum of the gravity of the flail arm, the gravity of the flail power module, and the gravity of the flail hammer.

[0111] As a preferred embodiment, the mine sweeping control system further includes:

[0112] A second judgment unit, configured to judge whether there is a deep strike requirement, where the deep strike requirement is to strike the target position of the operation minefield at a target strike depth; if so, trigger a second control unit;

[0113] The second control unit is configured to control the operation of the flail drive module to drive the flail hammer to rotate based on the target strike depth and the manual control strategy, and control the telescopic length of the telescopic module to adjust the lifting height to a target height corresponding to the target strike depth, so that the depth at which the flail hammer penetrates the ground is equal to the target strike depth.

[0114] As a preferred embodiment, the telescopic module includes a pitching oil cylinder, the pitching oil cylinder is connected to an oil supply module through a solenoid valve, and the solenoid valve is also connected to the control module;

[0115] When the target control strategy is an adaptive control strategy, the first control unit 63 includes:

[0116] An actual rotation speed acquisition unit, configured to acquire the actual rotation speed of the chain hammer during current operation;

[0117] A deviation determination unit, configured to determine the difference between the given rotation speed and the actual rotation speed as the rotation speed deviation value;

[0118] A target current determination unit, configured to determine a target current for controlling the opening degree of the electromagnetic valve based on the rotation speed deviation value and a preset feedback closed-loop PID adjustment algorithm;

[0119] A third control unit, configured to control the opening duration and opening degree of the electromagnetic valve based on the target current, so that the fuel supply module outputs a target fuel quantity corresponding to the opening duration at a flow rate corresponding to the opening degree, in order to control the telescopic length of the pitching oil cylinder to be adjusted to a target length at a target adjustment speed corresponding to the flow rate under the input drive of the target fuel quantity, so that the lifting speed is raised to a target height, and further adjust the actual rotation speed at the target height to be within a rotation speed tolerance range corresponding to the given rotation speed.

[0120] As a preferred embodiment, the mine sweeping device is arranged on a mine sweeping vehicle, and the mine sweeping control system further includes:

[0121] A signal receiving unit, configured to receive a speed limit signal;

[0122] A second speed regulation unit, configured to control the mine sweeping vehicle to move forward at a target driving speed corresponding to the speed limit signal based on the speed limit signal.

[0123] The present invention further provides a mine sweeping device, including a control module, and further including a telescopic module, a flail arm, a flail power module, and a chain hammer;

[0124] The chain hammer is used to rotate under the operation of the flail power module to hammer the ground of the minefield to be worked; the telescopic module is used to adjust the lifting height of the flail arm by changing its own telescopic length, and the lifting height is negatively correlated with the depth of the chain hammer hammered into the ground;

[0125] The control module is connected to the flail power module and the telescopic module, and is configured to execute the steps of the mine sweeping control method as described above.

[0126] For the introduction of the mine sweeping device provided in the present invention, please refer to the embodiments of the mine sweeping control method above, and details are not described herein again.

[0127] The present invention also provides a mine-clearing vehicle, which includes a mine-clearing vehicle body and also includes the mine-clearing device as described above.

[0128] For the introduction of the mine-clearing vehicle provided in the present invention, please refer to the embodiments of the above-mentioned mine-clearing control method, which will not be elaborated here.

[0129] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, please refer to the description in the method part. Relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0130] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mine-sweeping control method, characterized in that, A control module applied to a mine-sweeping device, the mine-sweeping device further comprising a telescopic module, a flail arm, a flail power module and a flail hammer, the flail hammer being configured to rotate under the operation of the flail power module to hammer the ground of the operation minefield; the telescopic module being configured to adjust the lifting height of the flail arm by changing its own telescopic length, the lifting height being negatively correlated with the depth at which the flail hammer penetrates the ground; The mine-sweeping control method includes: Determining the mine type and soil hardness grade of the operation minefield; Based on the mine type and the soil hardness grade, selecting a target control strategy from mine-sweeping strategies, the mine-sweeping strategies including a manual control strategy, a floating control strategy and an adaptive control strategy; Based on the target control strategy, controlling the operation of the flail drive module to drive the rotation of the flail hammer, and controlling the telescopic length of the telescopic module to adjust the lifting height to a target height, so that the striking force when the flail hammer rotates and hammers the ground at the target height is within the effective striking force range.

2. The mine-sweeping control method according to claim 1, characterized in that, Based on the mine type and the soil hardness grade, selecting a target control strategy from mine-sweeping strategies, including: When the mine type is surface mine, determining the manual control strategy as the target control strategy; When the mine type is underground mine, judging whether the soil of the operation minefield is high-hardness soil based on the soil hardness grade; If so, determining the adaptive control strategy as the target control strategy; If not, determining the floating control strategy as the target control strategy.

3. The mine-sweeping control method according to claim 2, wherein When the target control strategy is the manual control strategy; Based on the target control strategy, controlling the operation of the flail drive module to drive the rotation of the flail hammer, including: Controlling the operating speed of the flail drive module to be adjusted to a first speed; Controlling the operating direction of the flail drive module to be clockwise, so as to drive the flail hammer to rotate in the clockwise direction and at the first speed, so that the splashes when the flail hammer hammers the ground move in a direction away from the mine-sweeping device.

4. The mine-sweeping control method according to claim 1, wherein When the target control strategy is the floating control strategy; Controlling the telescopic length of the telescopic module to adjust the lifting height to a target height, including: Controlling the telescopic length of the telescopic module to be its own value, so that the lifting height is adjusted based on the surface undulation of the operation minefield and the total gravity, the total gravity being the sum of the gravity of the flail arm, the gravity of the flail power module and the gravity of the flail hammer.

5. The mine-sweeping control method according to claim 1, characterized in that, It further includes: Judging whether there is a deep-striking requirement, the deep-striking requirement being to hammer a target position of the operation minefield according to a target striking depth; If so, based on the target striking depth and the manual control strategy, controlling the operation of the flail drive module to drive the rotation of the flail hammer, and controlling the telescopic length of the telescopic module to adjust the lifting height to a target height corresponding to the target striking depth, so that the depth at which the flail hammer penetrates the ground is equal to the target striking depth.

6. The mine-sweeping control method according to any one of claims 1 to 5, characterized in that The telescopic module includes a pitching oil cylinder, the pitching oil cylinder is connected to an oil supply module through a solenoid valve, and the solenoid valve is also connected to the control module; When the target control strategy is an adaptive control strategy, based on the target control strategy, control the operation of the flail drive module to drive the rotation of the flail hammer, and control the telescopic length of the telescopic module to adjust the lifting height to the target height, including: Obtain the actual rotation speed at which the flail hammer is currently operating; Determine the difference between the given rotation speed and the actual rotation speed as the rotation speed deviation value; Based on the rotation speed deviation value and a preset feedback closed-loop PID adjustment algorithm, determine the target current for controlling the opening degree of the solenoid valve; Based on the target current, control the opening duration and opening degree of the solenoid valve, so that the oil supply module outputs a target oil quantity corresponding to the opening duration at a flow rate corresponding to the opening degree, in order to control the telescopic length of the pitching oil cylinder to be adjusted to the target length at a target adjustment speed corresponding to the flow rate under the input drive of the target oil quantity, so that the lifting speed reaches the target height, and further adjust the actual rotation speed at the target height to within the rotation speed tolerance range corresponding to the given rotation speed.

7. The mine-sweeping control method according to claim 6, wherein The mine sweeping device is installed on a mine sweeping vehicle, and the mine sweeping control method further includes: Receive a speed limit signal; Based on the speed limit signal, control the mine sweeping vehicle to move forward at a target driving speed corresponding to the speed limit signal.

8. A mine-sweeping control system, characterized in that, Applied to the control module in the mine sweeping device, the mine sweeping device further includes a telescopic module, a flail arm, a flail power module and a flail hammer, and the flail hammer is used to rotate under the operation of the flail power module to hammer the ground of the operation minefield; the telescopic module is used to adjust the lifting height of the flail arm by changing its own telescopic length, and the lifting height is negatively correlated with the depth of the flail hammer hammering into the ground; The mine sweeping control system includes: A first determination unit for determining the mine type and soil hardness grade of the operation minefield; A strategy selection unit for selecting a target control strategy from the mine sweeping strategies based on the mine type and the soil hardness grade, and the mine sweeping strategies include a manual control strategy, a floating control strategy and an adaptive control strategy; A first control unit for controlling the operation of the flail drive module to drive the rotation of the flail hammer based on the target control strategy, and controlling the telescopic length of the telescopic module to adjust the lifting height to the target height, so that the striking force of the flail hammer hitting the ground when rotating at the target height is within the effective striking force range.

9. A mine-sweeping device, characterized in that, Includes a control module, and also includes a telescopic module, a flail arm, a flail power module and a flail hammer; The flail hammer is used to rotate under the operation of the flail power module to hammer the ground of the operation minefield; the telescopic module is used to adjust the lifting height of the flail arm by changing its own telescopic length, and the lifting height is negatively correlated with the depth of the flail hammer hammering into the ground; The control module is connected to the flail power module and the telescopic module, and is used to execute the steps of the mine sweeping control method according to any one of claims 1 to 7.

10. A mine-sweeping vehicle, characterized in that, Includes a mine sweeping vehicle body, and also includes the mine sweeping device according to claim 9.

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