Self-adaptive crushing control method, device and system suitable for excavator

Abstract

The invention discloses a self-adaptive crushing control method, device and system suitable for an excavator, and the self-adaptive crushing control method suitable for the excavator comprises the steps: calculating the position of a drill rod in a crushing device based on the obtained real-time data of each movement mechanism in the excavator and a pre-constructed excavator model; the impact pressure of a breaking hammer in the breaking device is obtained; the self-adaptive crushing control of the excavator is completed based on the impact pressure of the crushing hammer and the position of the drill rod as well as a preset self-protection control algorithm and a self-adaptive control algorithm in order to maintain the crushing efficiency and reduce the damage risk of the crushing device. Operation parameters can be dynamically adjusted according to actual working conditions, the crushing operation process is optimized, abrasion to a crushing device is reduced, and therefore the safety and economical efficiency of operation are improved, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering machinery, and in particular relates to an adaptive crushing control method, device and system suitable for an excavator. Background Art

[0002] Excavator crushing is widely used in industries such as building demolition, mining, and road construction. With its efficient crushing capacity and versatility, it has become the core equipment in many construction projects. With the development of technology, modern excavator crushing equipment is moving towards intelligence and automation. Many high-end equipment are equipped with intelligent control systems that can adjust the crushing frequency and intensity according to the hardness of the crushed material and the construction environment, further improving operating efficiency. In addition, the improvement of environmental protection and safety requirements has promoted the technological innovation of equipment, and technologies such as noise reduction, vibration reduction, and emission reduction have been widely used.

[0003] Although the excavator crushing operation has made progress in efficiency and technology, there are still some problems. First, severe equipment wear is a major challenge in crushing operations, especially the hydraulic system and the breaker are easily damaged after long-term high-intensity use, which increases the cost of maintenance and replacement. Secondly, the operation technology requirements are high. Crushing operations require operators to have rich experience and technology. Improper operation may cause equipment damage or affect crushing efficiency.

[0004] In the Chinese invention patent application with publication number CN110847274, a method for controlling the crushing of an excavator, a controller of the excavator and an excavator are disclosed, which relate to the technical field of engineering machinery. The method for controlling the crushing of an excavator provided by an embodiment of the present invention obtains a signal representing the positional relationship between the crushing hammer body and the drill rod, and controls the oil circuit system according to the signal so that the power cylinder is in a floating state. During the crushing process, when the position between the crushing hammer body and the drill rod changes, it indicates that the drill rod has contacted the object to be crushed, such as a stone, etc. At this time, by making the power cylinder in a floating state, that is, the power cylinder does not provide power to the working arm, the working arm descends under the action of its own gravity and relies on gravity to compact the drill rod, thereby avoiding the problem of empty strike or excessive vibration and crawler being lifted due to improper operation causing the drill rod to fall in place or over-position. In this scheme, a signal representing the positional relationship between the crushing hammer body and the drill rod is obtained, and the oil circuit system is controlled according to the signal so that the power cylinder is in a floating state. This adds a large amount of changes to the boom floating valve and hydraulic pipelines, increasing hardware costs, and cannot meet the working conditions that require pressurized crushing.

[0005] In the Chinese invention patent application with publication number CN117364875, a breaker hammer automatic control system, control method, control equipment and excavator are disclosed, including an input module, an execution module and a controller; the input module is configured to control the action of the breaker hammer and select the working mode of the breaker hammer, and send the corresponding control signal to the controller; the execution module is configured to automatically start and stop the breaker hammer after receiving the output signal of the controller and meet the crushing frequency requirements of different geological conditions; the controller is configured to obtain the control signal of the input module, and process the output signal according to the obtained control signal, and send the output signal to the execution module. This system uses sensors, controllers, and actuators to sense changes in the crushing working state, automatically start and stop the breaker hammer, and solve the problems of automatic start and stop control and safety protection of the breaker hammer. At the same time, it provides a crushing frequency customization function to meet the crushing frequency requirements of different geological conditions. Based on this scheme, during the operation of the breaker hammer, if the rod chamber pressure of the boom cylinder is less than P2, the breaker pilot solenoid valve will lose power and the breaker hammer will stop; or, if the breaker hammer works continuously for more than t1, the breaker pilot solenoid valve will lose power and the breaker hammer will stop; if there are other actions except the boom lowering action, the breaker pilot solenoid valve will lose power and the breaker hammer will stop; when the breaker hammer stops working for less than t2, the breaker hammer cannot be started, and after more than t2, it is re-determined whether the breaker hammer can be started. This invention is suitable for vehicles without breaker positioning. Compared with vehicles equipped with position sensors, the hydraulic oil pressure sensor is added, and there is a risk of cylinder stagnation and increased error in the detection result due to the quality of the hydraulic oil. Summary of the invention

[0006] In view of the above problems, the present invention proposes an adaptive crushing control method, device and system suitable for an excavator, which can achieve the goal of reducing the risk of damage to the crushing device while maintaining the crushing efficiency.

[0007] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0008] In a first aspect, the present invention provides an adaptive crushing control method applicable to an excavator, comprising:

[0009] Based on the real-time data of each moving mechanism in the excavator and the pre-built excavator model, the position of the drill rod in the crushing device is calculated;

[0010] Obtain the impact pressure of the crushing hammer in the crushing device;

[0011] With the goal of maintaining crushing efficiency while reducing the risk of damage to the crushing device, adaptive crushing control of the excavator is completed based on the impact pressure of the breaker and the position of the drill rod, as well as the preset self-protection control algorithm and adaptive control algorithm.

[0012] In combination with the first aspect, optionally, the excavator model is expressed as:

[0013]

[0014] in, , , , , The middle matrix respectively represents the chassis, body rotation, boom, dipper arm, and crushing device of the excavator, wherein the crushing device includes a variable amplitude cylinder, a crushing hammer, and a drill rod connected in sequence; , , , , They respectively represent the transformation matrix functions of the excavator chassis, body rotation, boom, arm, and crushing device, and each transformation matrix function is related to the position of the excavator chassis, body rotation, boom, arm, and crushing device; Respectively represent the chassis of the excavator axis, Axis direction angle; Indicates the swing angle of the excavator body. Indicates the luffing angle of the boom. Indicates the arm's luffing angle. Indicates the amplitude angle of the breaker hammer in the crushing device. , , , The structural vector matrix representing the excavator body, boom, stick, and crushing device.

[0015] In combination with the first aspect, optionally, the self-protection control algorithm includes the following steps:

[0016] Based on the calculated position of the drill rod, the moving distance of the drill rod per unit time is calculated;

[0017] During the crushing action of the crushing device, the impact pressure of the crushing hammer in the crushing device is monitored in real time and compared with the set pressure threshold;

[0018] If the moving distance per unit time is greater than the set distance threshold, the impact pressure of the breaker hammer in the crushing device is less than the set pressure threshold, and the duration of the impact pressure being less than the set pressure threshold exceeds the set time threshold, a closing command is sent to the crushing impact solenoid valve connected to the breaker hammer in the crushing device for crushing impact protection.

[0019] In combination with the first aspect, optionally, the drill rod is defined as Move to , the calculation formula of the moving distance of the drill rod per unit time is:

[0020]

[0021] in, is the distance the drill rod moves per unit time.

[0022] In combination with the first aspect, optionally, the adaptive control algorithm includes the following steps:

[0023] In the process of the crushing device performing the crushing action, the current hardness of the object to be crushed is obtained based on the impact pressure of the crushing hammer in the crushing device obtained in real time, and the corresponding relationship between the impact pressure and the hardness of the object to be crushed;

[0024] If it is determined that the drill rod in the crushing device matches the hardness of the current object to be crushed, the crushing efficiency is calculated based on the calculated position of the drill rod;

[0025] If it is determined that the crushing efficiency cannot meet the preset crushing efficiency requirements, the appropriate impact pressure and impact frequency are automatically matched according to the corresponding relationship between the crushing efficiency and the impact pressure and impact frequency, and a notification information containing the impact pressure and impact frequency is generated, so that the operator can adjust the parameter settings of the excavator according to the impact pressure and impact frequency in the notification information.

[0026] In combination with the first aspect, optionally, the calculation formula of the crushing efficiency is:

[0027]

[0028] in, For crushing efficiency, is the distance the drill rod moves per unit time, As unit time.

[0029] In combination with the first aspect, optionally, the adaptive control algorithm further includes the following steps:

[0030] If it is determined that the drill rod in the crushing device does not match the hardness of the current object to be crushed, a suitable drill rod type is automatically matched based on the correspondence between the drill rod type and the hardness of the object to be crushed, and notification information containing the drill rod type is generated, so that the operator can replace the drill rod according to the drill rod type in the notification information.

[0031] In a second aspect, the present invention provides an adaptive crushing control device suitable for an excavator, comprising:

[0032] A drill rod position calculation module is used to calculate the position of the drill rod in the crushing device based on the acquired real-time data of each motion mechanism in the excavator and the pre-built excavator model;

[0033] An acquisition module, used for acquiring the impact pressure of a crushing hammer in a crushing device;

[0034] The adaptive control module is used to achieve the goal of maintaining the crushing efficiency while reducing the risk of damage to the crushing device. It completes the adaptive crushing control of the excavator based on the impact pressure of the breaker and the position of the drill rod, as well as the preset self-protection control algorithm and the adaptive control algorithm.

[0035] In a third aspect, the present invention provides an adaptive crushing control device for an excavator, comprising a controller, and a body position sensor, a boom position sensor, a dipper arm position sensor, a breaker hammer position sensor, a crushing impact pressure sensor, a swing action solenoid valve, a boom action solenoid valve, a dipper arm action solenoid valve, a breaker hammer action solenoid valve and a crushing impact solenoid valve connected to the controller;

[0036] The controller is configured to execute the method described in any one of the first aspects;

[0037] The boom position sensor is arranged on the boom structure to detect the amplitude change angle of the boom; the arm position sensor is arranged on the arm structure to detect the amplitude change angle of the arm; the breaker hammer position sensor is arranged on the breaker hammer connecting rod structure to detect the amplitude change angle of the breaker hammer in the breaker device; the body position sensor is arranged on the bottom of the cab to detect the excavator chassis. axis, The axis direction angle and the swing angle of the excavator body; the crushing impact pressure sensor is arranged on the crushing impact solenoid valve, which is used to detect the impact pressure of the crushing hammer in the crushing device; the rotation action solenoid valve is used to be connected with the body rotation; the boom action solenoid valve is used to be connected with the boom; the arm action solenoid valve is used to be connected with the arm; the hammer action solenoid valve is used to control the action of the variable amplitude cylinder in the crushing device; the crushing impact solenoid valve is used to be connected with the crushing hammer in the crushing device.

[0038] In a fourth aspect, the present invention provides an adaptive crushing control system for an excavator, comprising a storage medium and a processor;

[0039] The storage medium is used to store instructions;

[0040] The processor is configured to operate according to the instructions to execute the method according to any one of the first aspects.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The present invention calculates the position of the drill rod in the crushing device based on the real-time data of each motion mechanism in the excavator obtained and the pre-built excavator model; on this basis, with the goal of maintaining the crushing efficiency while reducing the risk of damage to the crushing device, based on the impact pressure of the breaker hammer in the crushing device and the position of the drill rod, as well as the preset self-protection control algorithm and adaptive control algorithm, the adaptive crushing control of the excavator is completed. The present invention can dynamically adjust the operating parameters according to the actual working conditions, optimize the crushing operation process, reduce the wear on the crushing device, thereby improving the safety and economy of the operation and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor, among which:

[0044] Figure 1 This is a layout diagram of various sensors in an adaptive crushing control device applicable to an excavator according to an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of an excavator model according to an embodiment of the present invention;

[0046] Figure 3 A schematic diagram of an adaptive crushing control device applicable to an excavator according to an embodiment of the present invention;

[0047] Figure 4 A flowchart of a self-protection control algorithm according to an embodiment of the present invention;

[0048] Figure 5 A flowchart of an adaptive control algorithm according to an embodiment of the present invention;

[0049] in:

[0050] Point O is the intersection of the center of the excavator's rotary axis and the bottom plane of the crawler track, point A is the vertical intersection of point B and the rotary center axis, point B is the center of the connection point between the boom and the body, point C is the center of the connection point between the boom and the arm, point D is the connection center between the arm and the crushing device, point E is the end of the drill rod in the crushing device, 1- boom position sensor, 2- arm position sensor, 3- breaker hammer position sensor, 4- body position sensor, 5- crushing impact pressure sensor. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] Example 1

[0054] An embodiment of the present invention provides an adaptive crushing control method applicable to an excavator, comprising the following steps:

[0055] (1) Based on the real-time data of each motion mechanism in the excavator and the pre-built excavator model, the position of the drill rod in the crushing device is calculated;

[0056] (2) Obtaining the impact pressure of the crushing hammer in the crushing device;

[0057] (3) With the goal of maintaining crushing efficiency while reducing the risk of damage to the crushing device, adaptive crushing control of the excavator is completed based on the impact pressure of the breaker and the position of the drill rod, as well as the preset self-protection control algorithm and adaptive control algorithm.

[0058] Based on the adaptive crushing control method suitable for excavators in the embodiment of the present invention, it is possible to dynamically adjust operating parameters according to actual working conditions, optimize the crushing operation process, reduce wear on the crushing device, thereby improving the safety and economy of the operation and extending the service life of the equipment.

[0059] In a specific implementation of the embodiment of the present invention, the expression of the excavator model is:

[0060]

[0061] in, , , , , , represents the middle matrix of the excavator chassis, body rotation, boom, dipper arm, and crushing device, wherein the crushing device includes a connected variable amplitude cylinder, a crushing hammer, and a drill rod; , , , , Respectively represent the transformation matrix functions of the excavator chassis, body rotation, boom, arm, and crushing device, each transformation matrix function is related to the position of the excavator chassis, body rotation, boom, arm, and crushing device, respectively. The method for obtaining the transformation matrix function is a prior art and will not be described in detail in the present invention; Respectively represent the chassis of the excavator axis, Axis direction angle; Indicates the swing angle of the excavator body. Indicates the luffing angle of the boom. Indicates the arm's luffing angle. Indicates the amplitude angle of the breaker hammer in the crushing device. , , , The structural vector matrix representing the excavator body, boom, dipper arm, and crushing device, the method for obtaining the structural vector matrix is ​​prior art and will not be elaborated in detail in the present invention.

[0062] In a specific implementation of the embodiment of the present invention, the self-protection control algorithm includes the following steps:

[0063] Based on the calculated position of the drill rod, the moving distance of the drill rod per unit time is calculated;

[0064] During the crushing action of the crushing device, the impact pressure of the crushing hammer in the crushing device is monitored in real time and compared with the set pressure threshold;

[0065] If the moving distance per unit time is greater than the set distance threshold, the impact pressure of the breaker hammer in the crushing device is less than the set pressure threshold, and the duration of the impact pressure being less than the set pressure threshold exceeds the set time threshold, a closing command is sent to the crushing impact solenoid valve connected to the breaker hammer in the crushing device for crushing impact protection.

[0066] In a specific implementation of the embodiment of the present invention, it is defined that the drill rod is Move to , the calculation formula of the moving distance of the drill rod per unit time is:

[0067]

[0068] in, is the distance the drill rod moves per unit time.

[0069] In a specific implementation of the embodiment of the present invention, the adaptive control algorithm includes the following steps:

[0070] During the crushing operation of the crushing device, the current hardness of the object to be crushed is obtained based on the impact pressure of the crushing hammer in the crushing device obtained in real time, and the corresponding relationship between the impact pressure and the hardness of the object to be crushed; in the specific implementation process, the object to be crushed may be rock, etc.;

[0071] If it is determined that the drill rod in the crushing device matches the hardness of the current object to be crushed, the crushing efficiency is calculated based on the calculated position of the drill rod;

[0072] If it is determined that the crushing efficiency cannot meet the preset crushing efficiency requirements, the appropriate impact pressure and impact frequency are automatically matched according to the corresponding relationship between the crushing efficiency and the impact pressure and impact frequency, and a notification information containing the impact pressure and impact frequency is generated, so that the operator can adjust the parameter settings of the excavator according to the impact pressure and impact frequency in the notification information.

[0073] In a specific implementation of the embodiment of the present invention, the calculation formula of the crushing efficiency is:

[0074]

[0075] in, For crushing efficiency, is the distance the drill rod moves per unit time, As unit time.

[0076] In a specific implementation of the embodiment of the present invention, the adaptive control algorithm further includes the following steps:

[0077] If it is determined that the drill rod in the crushing device does not match the hardness of the current object to be crushed, a suitable drill rod type is automatically matched based on the correspondence between the drill rod type and the hardness of the object to be crushed, and notification information containing the drill rod type is generated, so that the operator can replace the drill rod according to the drill rod type in the notification information.

[0078] Example 2

[0079] Based on the same inventive concept as that of Embodiment 1, an adaptive crushing control device applicable to an excavator is provided in an embodiment of the present invention, comprising:

[0080] A drill rod position calculation module is used to calculate the position of the drill rod in the crushing device based on the acquired real-time data of each motion mechanism in the excavator and the pre-built excavator model;

[0081] An acquisition module, used for acquiring the impact pressure of a crushing hammer in a crushing device;

[0082] The adaptive control module is used to achieve the goal of maintaining the crushing efficiency while reducing the risk of damage to the crushing device. It completes the adaptive crushing control of the excavator based on the impact pressure of the breaker and the position of the drill rod, as well as the preset self-protection control algorithm and the adaptive control algorithm.

[0083] The rest are the same as in Example 1.

[0084] Example 3

[0085] An embodiment of the present invention provides an adaptive crushing control device for an excavator, comprising a controller, and a body position sensor, a boom position sensor, a dipper arm position sensor, a breaker hammer position sensor, a crushing impact pressure sensor, a swing action solenoid valve, a boom action solenoid valve, a dipper arm action solenoid valve, a breaker hammer action solenoid valve and a crushing impact solenoid valve connected to the controller;

[0086] The controller is configured to execute the method described in any one of Embodiment 1;

[0087] Among them, the boom position sensor is arranged on the boom structure, used to detect the amplitude change angle of the boom; the arm position sensor is arranged on the arm structure, used to detect the amplitude change angle of the arm; the breaker hammer position sensor is arranged on the breaker hammer connecting rod structure, used to detect the amplitude change angle of the breaker hammer in the crushing device; the body position sensor is arranged at the bottom of the cab, used to detect the x-axis and y-axis direction angles of the excavator chassis and the swing angle of the excavator body; the crushing impact pressure sensor is arranged on the crushing impact solenoid valve, used to detect the impact pressure of the breaker hammer in the crushing device; the rotation action solenoid valve is used to be connected to the body rotation; the boom action solenoid valve is used to be connected to the boom; the arm action solenoid valve is used to be connected to the arm; the hammer action solenoid valve is used to control the action of the amplitude change cylinder in the crushing device; the crushing impact solenoid valve is used to be connected to the breaker hammer in the crushing device.

[0088] The working process of the adaptive crushing control device applicable to an excavator in an embodiment of the present invention is described in detail below in conjunction with a specific implementation.

[0089] like Figure 1 and Figure 3As shown, the boom position sensor 1 is arranged on the boom, and the detection axis of the boom position sensor 1 is as parallel to the line connecting the hinge points at both ends of the boom as possible, which is used to monitor the amplitude change angle of the excavator boom and the horizontal plane in real time. The arm position sensor 2 is arranged on the arm, and the detection axis of the arm position sensor 2 is as parallel to the line connecting the hinge points at both ends of the arm as possible, which is responsible for detecting the amplitude change angle of the arm and the horizontal plane. The breaker hammer position sensor 3 is arranged on the connecting rod structure of the breaker hammer, and the detection axis of the breaker hammer position sensor 3 is as parallel to the connecting rod of the breaker hammer as possible, which is used to detect the amplitude change angle of the breaker hammer and the horizontal plane. The body position sensor 4 is arranged at the bottom of the cab, and the mounting surface of the body position sensor 4 is as parallel to the ground as possible, and the pitch detection axis of the body position sensor 4 is as parallel to the center axis of the body as possible, which is used to detect the chassis of the excavator. axis, The axial direction angle and the swing angle of the excavator body (i.e. the rotation angle of the excavator body and the angle between the excavator body and the horizontal plane). The detection value of each position sensor affects the relative position and posture between the breaker and the target working surface. The crushing impact pressure sensor 5 is arranged on the crushing impact solenoid valve to detect the impact pressure of the breaker in the crushing device to ensure that the hydraulic system works at the optimal pressure, thereby providing stable power output and preventing the system from overloading.

[0090] The vehicle body position sensor 4, boom position sensor 1, arm position sensor 2, breaker hammer position sensor 3, and breaker impact pressure sensor 5 are used to send the real-time collected data to the controller;

[0091] The controller is based on the received data and the pre-built excavator model (see Figure 2 ), calculate the position of the drill rod; the expression of the excavator model is:

[0092] ;

[0093] With the goal of maintaining crushing efficiency while reducing the risk of damage to the crushing device, adaptive crushing control of the excavator is completed based on the impact pressure of the breaker and the position of the drill rod, as well as the preset self-protection control algorithm and adaptive control algorithm. Specifically:

[0094] like Figure 4 As shown, the self-protection control algorithm includes the following steps:

[0095] a) Start crushing command: First, the start crushing command is received, which is the trigger point of the self-protection control algorithm and enters step b;

[0096] b) Crushing and impacting: Subsequently, the excavator performs a crushing and impacting operation. This step is the core of the crushing process, and the target object is crushed by physical impact, and then enters step c;

[0097] c) The solenoid valve is energized: During the crushing impact process, each solenoid valve is energized to control the operation of related equipment to ensure the smooth progress of the crushing operation, and then proceed to step d;

[0098] d) Pressure sampling and judgment: Sample the "impact pressure" and compare it with the set pressure threshold. If the impact pressure is less than the set pressure threshold and the duration also exceeds the set time threshold, it means that the crushing effect is not good, and go to step f;

[0099] e) Determination of drill rod position and moving distance: monitor the drill rod position and its moving distance per unit time at the same time. If the moving distance per unit time is greater than the set distance threshold, it indicates that the crushing process has been completed or there is an abnormality, and enter step f;

[0100] f) Crushing impact protection: Close the crushing impact solenoid valve to perform crushing impact protection, and the excavator enters the standby state to end the process.

[0101] like Figure 5 As shown, the adaptive control algorithm includes the following steps:

[0102] a) Start the excavator, enter the operation interface, and proceed to step b;

[0103] b) According to the characteristics and requirements of the material to be crushed (such as rock), select the appropriate needle bar type and set it in the excavator, and then go to step c;

[0104] c) according to the crushing requirements, set the appropriate impact pressure and impact frequency for the crushing device, and proceed to step d;

[0105] d) After confirming that all parameter settings are correct, issue a start crushing command, and the excavator starts to perform the crushing task, and enter step e;

[0106] e) The crushing impact solenoid valve is powered on, and the crushing impact action is performed, and the process goes to step f;

[0107] f) Crushing impact pressure sampling: During the crushing process, the impact pressure is sampled, and the hardness of the material to be crushed is fed back through the impact pressure to determine whether the current drill rod type matches the hardness of the material to be crushed. If they do not match, step g is entered, and if they match, step h is entered;

[0108] g) automatically matching a suitable drill rod type according to the correspondence between the drill rod type and the hardness of the material to be crushed that is pre-stored in the database, and entering step 1;

[0109] h) Sampling the drill rod position: During the crushing process, the crushing efficiency is calculated based on the calculated drill rod position, and it is determined whether the crushing efficiency meets the preset crushing efficiency requirement. If the crushing efficiency does not meet the preset crushing efficiency requirement, the process proceeds to step i, and if it does, the process proceeds to step k;

[0110] i) Database matching of crushing impact parameters: automatically matching the appropriate impact pressure and impact frequency based on the correspondence between the impact pressure and impact frequency pre-stored in the database, and entering step j;

[0111] j) Instrument display: Use the display module to display the automatically matched appropriate impact pressure and impact frequency for the operator to monitor, and then go to step m;

[0112] k) Maintain the crushing impact state: the system continues to maintain the crushing impact state until the crushing task is completed and enters step m;

[0113] l) Instrument display: Use the display module to display the matching needle bar type for the operator to monitor and enter step m;

[0114] m) End: The excavator automatically stops the crushing and impact action and returns to the standby state. The operator sets the parameters.

[0115] Example 4

[0116] An embodiment of the present invention provides an adaptive crushing control system suitable for an excavator, including a storage medium and a processor;

[0117] The storage medium is used to store instructions;

[0118] The processor is configured to operate according to the instructions to execute the method according to any one of the embodiments 1.

[0119] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0120] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0121] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0123] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

[0124] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An adaptive crushing control method for an excavator, characterized in that: include: Based on the real-time data of each moving mechanism in the excavator and the pre-built excavator model, the position of the drill rod in the crushing device is calculated; Obtain the impact pressure of the crushing hammer in the crushing device; With the goal of maintaining crushing efficiency while reducing the risk of damage to the crushing device, adaptive crushing control of the excavator is completed based on the impact pressure of the breaker and the position of the drill rod, as well as the preset self-protection control algorithm and adaptive control algorithm.

2. The adaptive crushing control method for an excavator according to claim 1, characterized in that: The expression of the excavator model is: ； in, , , , , The middle matrix respectively represents the chassis, body rotation, boom, dipper arm, and crushing device of the excavator, wherein the crushing device includes a variable amplitude cylinder, a crushing hammer, and a drill rod connected in sequence; , , , , They respectively represent the transformation matrix functions of the excavator chassis, body rotation, boom, arm, and crushing device, and each transformation matrix function is related to the position of the excavator chassis, body rotation, boom, arm, and crushing device; Respectively represent the chassis of the excavator axis, Axis direction angle; Indicates the swing angle of the excavator body. Indicates the luffing angle of the boom. Indicates the arm's luffing angle. Indicates the amplitude angle of the breaker hammer in the crushing device. , , , The structural vector matrix representing the excavator body, boom, stick, and crushing device.

3. The adaptive crushing control method for an excavator according to claim 1, characterized in that: The self-protection control algorithm comprises the following steps: Based on the calculated position of the drill rod, the moving distance of the drill rod per unit time is calculated; During the crushing action of the crushing device, the impact pressure of the crushing hammer in the crushing device is monitored in real time and compared with the set pressure threshold; If the moving distance per unit time is greater than the set distance threshold, the impact pressure of the breaker hammer in the crushing device is less than the set pressure threshold, and the duration of the impact pressure being less than the set pressure threshold exceeds the set time threshold, a closing command is sent to the crushing impact solenoid valve connected to the breaker hammer in the crushing device for crushing impact protection.

4. The adaptive crushing control method for an excavator according to claim 3, characterized in that: Define the drill rod from Move to , the calculation formula of the moving distance of the drill rod per unit time is: ； in, is the distance the drill rod moves per unit time.

5. The adaptive crushing control method for an excavator according to claim 1, characterized in that: The adaptive control algorithm comprises the following steps: In the process of the crushing device performing the crushing action, the current hardness of the object to be crushed is obtained based on the impact pressure of the crushing hammer in the crushing device obtained in real time, and the corresponding relationship between the impact pressure and the hardness of the object to be crushed; If it is determined that the drill rod in the crushing device matches the hardness of the current object to be crushed, the crushing efficiency is calculated based on the calculated position of the drill rod; If it is determined that the crushing efficiency cannot meet the preset crushing efficiency requirements, the appropriate impact pressure and impact frequency are automatically matched according to the corresponding relationship between the crushing efficiency and the impact pressure and impact frequency, and a notification information containing the impact pressure and impact frequency is generated, so that the operator can adjust the parameter settings of the excavator according to the impact pressure and impact frequency in the notification information.

6. The adaptive crushing control method for an excavator according to claim 5, characterized in that: The calculation formula of the crushing efficiency is: ； in, For crushing efficiency, is the distance the drill rod moves per unit time, As unit time.

7. The adaptive crushing control method for an excavator according to claim 5, characterized in that: The adaptive control algorithm further comprises the following steps: If it is determined that the drill rod in the crushing device does not match the hardness of the current object to be crushed, a suitable drill rod type is automatically matched based on the correspondence between the drill rod type and the hardness of the object to be crushed, and notification information containing the drill rod type is generated, so that the operator can replace the drill rod according to the drill rod type in the notification information.

8. An adaptive crushing control device suitable for an excavator, characterized in that: include: A drill rod position calculation module is used to calculate the position of the drill rod in the crushing device based on the acquired real-time data of each motion mechanism in the excavator and the pre-built excavator model; An acquisition module, used for acquiring the impact pressure of a crushing hammer in a crushing device; The adaptive control module is used to achieve the goal of maintaining the crushing efficiency while reducing the risk of damage to the crushing device. It completes the adaptive crushing control of the excavator based on the impact pressure of the breaker and the position of the drill rod, as well as the preset self-protection control algorithm and the adaptive control algorithm.

9. An adaptive crushing control device suitable for an excavator, characterized in that: It includes a controller, and a body position sensor, a boom position sensor, a stick position sensor, a breaker hammer position sensor, a crushing impact pressure sensor, a swing action solenoid valve, a boom action solenoid valve, a stick action solenoid valve, a breaker hammer action solenoid valve and a crushing impact solenoid valve connected to the controller; The controller is configured to execute the method according to any one of claims 1 to 7; The boom position sensor is arranged on the boom structure to detect the amplitude change angle of the boom; the arm position sensor is arranged on the arm structure to detect the amplitude change angle of the arm; the breaker hammer position sensor is arranged on the breaker hammer connecting rod structure to detect the amplitude change angle of the breaker hammer in the breaker device; the body position sensor is arranged on the bottom of the cab to detect the excavator chassis. axis, The axis direction angle and the swing angle of the excavator body; the crushing impact pressure sensor is arranged on the crushing impact solenoid valve, which is used to detect the impact pressure of the crushing hammer in the crushing device; the rotation action solenoid valve is used to be connected with the body rotation; the boom action solenoid valve is used to be connected with the boom; the arm action solenoid valve is used to be connected with the arm; the hammer action solenoid valve is used to control the action of the variable amplitude cylinder in the crushing device; the crushing impact solenoid valve is used to be connected with the crushing hammer in the crushing device.

10. An adaptive crushing control system suitable for an excavator, characterized in that: including storage media and processors; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the method according to any one of claims 1-7.

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