Self-adaptive inclined excavator bucket system and control method thereof

Abstract

The invention discloses a self-adaptive inclined excavator bucket system and a control method thereof. The self-adaptive inclined excavator bucket system comprises a bucket, an inclination sensor, a laser distance measuring sensor, a soil characteristic sensor, a main controller and an executing mechanism. The inclination sensor is installed on the rear side of the bucket and used for monitoring the inclination angle of the bucket in real time. The laser distance measuring sensor is installed on the front edge of the bucket and used for measuring the distance between the bucket and the ground. The soil characteristic sensor is installed on bucket teeth of a bucket and used for obtaining physical characteristic information of soil in real time. The main controller is electrically connected with all the sensors and the executing mechanism and is used for receiving and processing data of the sensors in real time and sending a control command to the executing mechanism; the executing mechanism comprises a hydraulic system and a servo motor and is used for receiving a control command of the main controller in real time and automatically adjusting the inclination angle and the digging force of the bucket. The inclination angle and the digging depth of the bucket can be automatically adjusted according to different conditions, and the working efficiency, precision and safety are improved.

Description

Technical Field

[0001] The invention relates to the field of engineering machinery, and in particular to an adaptive tilting excavator bucket system for earthwork and mining operations and a control method thereof. Background Art

[0002] Currently, excavators are widely used in the fields of construction, civil engineering and mining. Their buckets are responsible for excavating, loading and transporting earth. Traditional bucket operation relies on manual control. Despite the continuous advancement of technology, there are still the following shortcomings:

[0003] 1. Low operating accuracy: Due to differences in the skill levels of operators, manual operation results in low accuracy of the bucket when performing excavation tasks, which may cause uneven excavation depth and even damage underground facilities.

[0004] 2. Poor environmental adaptability: In complex terrain and special environments (such as slippery, loose or hard soil), the operating efficiency of traditional excavators is limited and it is difficult to make timely adjustments.

[0005] 3. High labor costs: Traditional operation methods require highly skilled operators, which increases labor costs. In addition, manual operation is prone to fatigue during long hours of operation, further affecting operating efficiency and safety.

[0006] 4. Safety hazards: During manual operation, operators work around the equipment and are vulnerable to accidents, especially in limited vision or complex working environments.

[0007] In order to solve the above problems, the industry has put forward higher requirements for the automation and intelligent control of excavators. In recent years, with the rapid development of sensor technology and automatic control technology, some high-end excavators have begun to introduce automatic tilt control systems. However, the existing technologies are mostly focused on operations in static environments, with insufficient adaptive capabilities, and fail to meet the needs of dynamic operating conditions.

[0008] Therefore, there is an urgent need for a new, adaptive bucket control system that can sense the working environment and soil characteristics in real time, automatically adjust the bucket's tilt angle and digging force, improve operating efficiency and safety, and adapt to various complex excavation operation requirements. Summary of the invention

[0009] The purpose of the present invention is to provide an adaptive tilting excavator bucket system and a control method thereof, and the specific technical scheme is as follows:

[0010] An adaptive tilting excavator bucket system includes a bucket, a tilt sensor, a laser range sensor, a soil property sensor, a main controller and an actuator;

[0011] The bucket is used for excavation operations;

[0012] The tilt sensor is mounted on the rear side of the bucket and is used to monitor the tilt angle of the bucket in real time;

[0013] The laser distance measuring sensor is installed at the front edge of the bucket and is used to measure the distance between the bucket and the ground;

[0014] The soil property sensor is mounted on the bucket teeth of the bucket and is in full contact with the soil, so as to obtain the physical property information of the soil in real time;

[0015] The main controller is electrically connected to the tilt sensor, laser ranging sensor, soil property sensor and actuator, and is used to receive and process data from the three sensors in real time and issue control commands to the actuator;

[0016] The actuator includes a hydraulic system and a servo motor, which are used to receive control commands from the main controller in real time and automatically adjust the tilt angle and digging force of the bucket.

[0017] Furthermore, the soil property sensor is a conductivity sensor.

[0018] Furthermore, the tilt sensor is a MEMS sensor.

[0019] Furthermore, the laser distance measuring sensor is a high-precision laser distance measuring instrument with a measuring range of 10 cm to 30 m.

[0020] Furthermore, the physical property information of the soil includes soil moisture and hardness.

[0021] A control method for an adaptive tilting excavator bucket system, specifically comprising:

[0022] Before the excavation task begins, the soil property sensor obtains the moisture and hardness data of the soil in the area to be excavated, and the main controller calculates the working parameters of the bucket after analysis;

[0023] During the excavation process, the main controller receives data from the tilt sensor, laser ranging sensor, and soil property sensor in real time, and filters and processes the sensor data; the operating parameters of the bucket are dynamically adjusted according to the tilt angle of the bucket detected by the tilt sensor, the distance between the bucket and the ground measured by the laser ranging sensor, and the physical property information of the soil obtained by the soil property sensor, and the system generates new control instructions, including the optimal tilt angle and excavation force of the bucket, and transmits them to the actuator; the hydraulic system in the actuator controls the tilt of the bucket through real-time changing pressure and valves, and the servo motor fine-tunes the angle of the bucket according to the instructions, thereby realizing real-time closed-loop adjustment.

[0024] Further, when the soil property sensor detects that the soil moisture in the excavation area exceeds the optimal excavation moisture range in the area, the adaptive tilt excavator bucket system actively adjusts the excavation operation to avoid excavation difficulties caused by excessive moisture;

[0025] When the soil property sensor detects that the salinity of the soil exceeds a set threshold, which may cause increased wear of the equipment, the adaptive tilt excavator bucket system reduces the impact on the bucket and the working parts of the equipment by reducing the digging force of the bucket;

[0026] When the soil property sensor detects that the soil in the excavation area begins to become harder when the excavation depth is reached, the adaptive tilt excavator bucket system adjusts the angle of the bucket to ensure that the required depth can be accurately reached without affecting the surrounding structure;

[0027] When the soil property sensor detects a change in the soil type or hardness of the excavation area, the adaptive tilt excavator bucket system adjusts the angle and excavation force of the bucket to adapt to the new soil conditions, ensuring that the excavation operation is not affected;

[0028] When a sudden increase in soil moisture is detected by the soil property sensor, the adaptive tilt excavator bucket system indicates that there may be a potential risk, immediately issues an alarm and adjusts the bucket operation, reduces the operating depth or temporarily stops the excavation operation to ensure safety.

[0029] The beneficial effects of the present invention are as follows:

[0030] The present invention improves the efficiency, accuracy and safety of excavation operations by integrating sensor technology, automatic control technology and hydraulic drive technology. The adaptive tilting excavator bucket system of the present invention can monitor the working environment in real time and automatically adjust the bucket's tilt angle and excavation depth according to different conditions, solving the problems of low operating accuracy, poor adaptability and safety hazards in the prior art, and further improving excavation accuracy and operating efficiency. Especially under complex terrain and changing environmental conditions, the present invention can significantly reduce the risks and errors of human operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of an overall adaptive tilting excavator bucket system according to an embodiment of the present invention.

[0032] In the figure, 1 is a bucket, 2 is a tilt sensor, 3 is a laser ranging sensor, 4 is a soil property sensor, 5 is a main controller, and 6 is an actuator.

[0033] Figure 2 A flow chart of a control method for an adaptive tilt excavator bucket system. DETAILED DESCRIPTION

[0034] The present invention will be described in detail below based on the accompanying drawings and preferred embodiments, and the purpose and effects of the present invention will become more clear. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] like Figure 1 As shown, the adaptive tilting excavator bucket system of this embodiment includes a bucket 1, an actuator 6, a main controller 5, and a tilt sensor 2, a laser ranging sensor 3, and a soil property sensor 4 installed on the bucket 1.

[0036] Among them, the bucket 1 is used for excavation operations. The tilt sensor 2 is installed on the rear side of the bucket 1, and is used to monitor the tilt angle of the bucket 1 in real time. The tilt sensor 2 has a protective structure to prevent collision with external objects and environmental influences. The laser ranging sensor 3 is installed on the front edge of the bucket, and is used to measure the distance between the bucket 1 and the ground. The laser ranging sensor 3 can change its measurement height in real time to adapt to different working environments and terrains. The soil property sensor 4 is installed on the bucket teeth of the bucket 1 and is in full contact with the soil. The soil property sensor 4 is a conductivity sensor, which is used to obtain the physical property information of the soil in real time, so as to evaluate the moisture and hardness of the soil accordingly.

[0037] The actuator 6 includes a hydraulic system and a servo motor, which is used to execute the control command issued by the main controller 5 and adjust the working state of the bucket 1. The main controller 5 is electrically connected to the tilt sensor 2, the laser ranging sensor 3, the soil property sensor 4 and the actuator 6, and is used to receive and process the data of the three sensors in real time, and issue control commands to the actuator 6 to automatically adjust the tilt angle and digging force of the bucket 1. In addition, the tilt sensor 2, the laser ranging sensor 3, and the soil property sensor 4 are also transmitted to the remote monitoring system through a wireless network to facilitate real-time monitoring and management of the working status.

[0038] In this embodiment, bucket 1 uses a standard model bucket, which can withstand a digging force of more than 500kg and is made of high-strength alloy steel to ensure wear resistance and service life. Tilt sensor 2 uses a MEMS sensor with a measurement accuracy of ±2°. Laser distance sensor 3 is a high-precision laser distance meter with a measurement range of 10cm to 30m and a measurement accuracy of ±1cm. It can accurately measure the distance between the bucket and the ground to dynamically adjust the digging depth.

[0039] The main controller 5 adopts an embedded control unit equipped with a high-speed processor and a built-in control algorithm, which can realize data filtering, state estimation and model predictive control (MPC).

[0040] The hydraulic system in the actuator 6 uses a dual-circuit hydraulic pump that can provide a working pressure of 2000psi to ensure the quick response of the bucket. The servo motor uses a high-precision servo motor to achieve fine adjustment of the bucket angle and meet the adjustment accuracy of ±1°.

[0041] like Figure 2 As shown, the control method of the adaptive tilting excavator bucket system of this embodiment includes the following process:

[0042] Before the excavation task begins, the soil property sensor 4 obtains the moisture and hardness data of the soil in the area to be excavated, and the main controller 5 calculates the working parameters of the bucket after analysis;

[0043] During the excavation process, the main controller 5 receives the data sent by the tilt sensor 2, the laser ranging sensor 3, and the soil property sensor 4 in real time, and filters and processes the sensor data; the operating parameters of the bucket are dynamically adjusted through the tilt angle of the bucket detected by the tilt sensor 2, the distance between the bucket and the ground measured by the laser ranging sensor 3, and the physical property information of the soil obtained by the soil property sensor 4, and the system generates new control instructions, including the optimal tilt angle and excavation force of the bucket, and transmits them to the actuator 6; the hydraulic system in the actuator 6 controls the tilt of the bucket through real-time changes in pressure and valves, and the servo motor fine-tunes the angle of the bucket according to the instructions, thereby realizing real-time closed-loop adjustment.

[0044] For example, when the adaptive tilting excavator bucket system of this embodiment detects that the soil moisture in the excavation area exceeds the optimal excavation moisture range of the area through the soil property sensor 4, the adaptive tilting excavator bucket system actively adjusts the excavation operation to avoid excavation difficulties caused by excessive humidity; or, when the soil salt content is detected to exceed the set threshold, it may cause increased equipment wear. At this time, the adaptive tilting excavator bucket system reduces the impact on the bucket and the working parts of the equipment by reducing the digging force of the bucket. Or, when the soil in the excavation area begins to become harder when the excavation depth is reached, the adaptive tilting excavator bucket system adjusts the angle of the bucket to ensure that the required depth can be accurately reached without affecting the surrounding structure. Or, when it is detected that the soil type or hardness of the excavation area changes, such as a sudden change from loose sand to hard clay, the adaptive tilting excavator bucket system adjusts the angle and digging force of the bucket to adapt to the new soil conditions to ensure that the excavation operation is not affected. Or, when the soil moisture suddenly rises, the adaptive tilting excavator bucket system prompts that there may be potential risks, such as landslides or collapses, and immediately issues an alarm and adjusts the bucket operation, reduces the operating depth or temporarily stops the excavation operation to ensure safety.

[0045] In addition, because of the monitoring of the soil property sensor 4, the seasonal changes in soil moisture throughout the year can be recorded, so that the construction plan can be adjusted before the next construction season to ensure that operations are carried out under suitable conditions and improve efficiency.

[0046] Those skilled in the art can understand that the above are only preferred examples of the invention and are not intended to limit the invention. Although the invention is described in detail with reference to the above examples, those skilled in the art can still modify the technical solutions recorded in the above examples or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, etc. made within the spirit and principle of the invention shall be included in the protection scope of the invention.

Claims

1. An adaptive tilting excavator bucket system, characterized in that: It comprises a bucket (1), a tilt sensor (2), a laser distance sensor (3), a soil property sensor (4), a main controller (5) and an actuator (6); The bucket (1) is used for excavation operations; The tilt sensor (2) is installed on the rear side of the bucket (1) and is used to monitor the tilt angle of the bucket (1) in real time; The laser distance measuring sensor (3) is installed at the front edge of the bucket (1) and is used to measure the distance between the bucket (1) and the ground; The soil property sensor (4) is mounted on the bucket teeth of the bucket (1) and is in full contact with the soil, and is used to obtain physical property information of the soil in real time; The main controller (5) is electrically connected to the tilt sensor (2), the laser distance sensor (3), the soil property sensor (4) and the actuator (6), and is used to receive and process data from the three sensors in real time and issue control commands to the actuator (6); The actuator 6 comprises a hydraulic system and a servo motor, and is used to receive control commands from the main controller (5) in real time and automatically adjust the tilt angle and digging force of the bucket (1).

2. The adaptive tilt excavator bucket system according to claim 1, characterized in that: The soil property sensor (4) is a conductivity sensor.

3. The adaptive tilt excavator bucket system according to claim 1, characterized in that: The tilt sensor (2) is a MEMS sensor.

4. The adaptive tilt excavator bucket system according to claim 1, characterized in that: The laser distance measuring sensor (3) is a high-precision laser distance measuring instrument with a measuring range of 10 cm to 30 m.

5. The adaptive tilt excavator bucket system according to claim 1, characterized in that: The physical property information of the soil includes soil moisture and hardness.

6. A control method for an adaptive tilting excavator bucket system according to any one of claims 1 to 5, characterized in that: Specifically include: Before the excavation task begins, the soil property sensor (4) obtains the moisture and hardness data of the soil in the area to be excavated, and the main controller (5) calculates the working parameters of the bucket (1) after analysis; During the excavation process, the main controller (5) receives data sent by the tilt sensor (2), the laser distance sensor (3), and the soil property sensor (4) in real time, and filters and processes the sensor data; the operating parameters of the bucket (1) are dynamically adjusted based on the tilt angle of the bucket (1) detected by the tilt sensor (2), the distance between the bucket and the ground measured by the laser distance sensor (3), and the physical property information of the soil obtained by the soil property sensor (4); the system generates new control instructions, including the optimal tilt angle and excavation force of the bucket (1), and transmits them to the actuator (6); the hydraulic system in the actuator (6) controls the tilt of the bucket (1) through real-time changes in pressure and valves, and the servo motor fine-tunes the angle of the bucket (1) according to the instructions, thereby achieving real-time closed-loop adjustment.

7. The control method of the adaptive tilting excavator bucket system according to claim 6, characterized in that: When the soil property sensor (4) detects that the soil moisture in the excavation area exceeds the optimal excavation moisture range in the area, the adaptive tilt excavator bucket system actively adjusts the excavation operation to avoid excavation difficulties caused by excessive moisture; When the soil property sensor (4) detects that the soil salinity exceeds a set threshold, which may cause increased wear of the equipment, the adaptive tilt excavator bucket system reduces the impact on the bucket and the working parts of the equipment by reducing the digging force of the bucket (1); When the soil property sensor (4) detects that the soil in the excavation area begins to become harder when the excavation depth is reached, the adaptive tilt excavator bucket system adjusts the angle of the bucket (1) to ensure that the required depth can be accurately reached without affecting the surrounding structure; When the soil property sensor (4) detects that the soil type or hardness of the excavation area has changed, the adaptive tilting excavator bucket system adjusts the angle and excavation force of the bucket (1) to adapt to the new soil conditions, thereby ensuring that the excavation operation is not affected; When the soil property sensor (4) detects a sudden increase in soil moisture, the adaptive tilt excavator bucket system prompts that there may be a potential risk, immediately issues an alarm and adjusts the operation of the bucket (1), reduces the operating depth or temporarily stops the excavation operation to ensure safety.

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