Bucket tooth falling monitoring method and system

Abstract

The invention discloses a bucket tooth falling monitoring method and system. The method comprises the steps that when the shoveling equipment is in a working state, first attitude information of corresponding to-be-monitored bucket teeth is obtained through all first monitoring sensors and transmitted to wireless terminal equipment; second posture information of the bucket in the working state is obtained through the second monitoring sensor and transmitted to the wireless terminal equipment; and the wireless terminal equipment determines whether the bucket tooth to be monitored falls off or not based on the first attitude information and the second attitude information. According to the embodiment of the invention, the first attitude information of the corresponding to-be-monitored bucket tooth is obtained through each first monitoring sensor, and the second attitude information of the corresponding to-be-monitored bucket tooth is obtained through the second monitoring sensor, so that the wireless terminal equipment determines whether the to-be-monitored bucket tooth falls off or not based on the first attitude information and the second attitude information. The problem that detection is not timely when the bucket teeth fall off can be solved, whether the bucket teeth to be monitored fall off or not is monitored more accurately, and the fallen bucket teeth can be positioned and retrieved subsequently.

Description

Technical Field

[0001] The present invention relates to the technical field of mining machinery, and in particular to a bucket tooth shedding monitoring method and system. Background Art

[0002] During mining, bucket teeth of hydraulic excavators, electric hydraulic shovels, loaders and other equipment may fall off accidentally during excavation and loading. The fallen bucket teeth will enter the crushing equipment along with the unloading of mining trucks, causing damage to the crushing equipment and termination of production, resulting in huge economic losses.

[0003] In the prior art, visual inspection systems or thermal imaging inspection systems are usually used to monitor whether bucket teeth have fallen off. However, the visual inspection system requires very high installation standards because the camera is subjected to strong impact and vibration, and the installation must achieve stable video shooting. In addition, maintenance channels are also difficult, and there is additional complexity due to high-altitude operations. Moreover, the mine itself is dusty and the camera cannot use dirty lenses. Therefore, due to dust, weather and lighting, functional impacts often occur, resulting in unreliable tracking of bucket teeth and difficulty in finding them after they are lost; thermal imaging detection sensors are difficult to achieve a high level of accuracy and reliability; in this application, the ratio of viewing distance to object size is relatively large, which may make the situation more complicated. The bucket itself can operate at extreme temperatures, and hot spots will appear in the bucket and bucket teeth when digging, which undermines the ability of the thermal imager to accurately track the lost bucket teeth. Therefore, a bucket tooth shedding monitoring method is urgently needed to solve the above technical problems. Summary of the invention

[0004] In view of this, the present invention provides a bucket tooth falling off monitoring method and system, which can solve the problem of untimely detection when bucket teeth fall off, and more accurately monitor whether the bucket teeth to be monitored have fallen off, so as to subsequently locate and retrieve the fallen components.

[0005] According to one aspect of the present invention, an embodiment of the present invention provides a bucket tooth shedding monitoring method, which is applied to a bucket tooth shedding monitoring system, the system comprising: at least two first monitoring sensors corresponding to bucket teeth to be monitored, a second monitoring sensor corresponding to a bucket of a shovel loading device, and a wireless terminal device; wherein each of the first monitoring sensors is respectively installed in a groove on the bottom surface of an internal cavity of the bucket teeth to be monitored, and each of the first monitoring sensors corresponds to the bucket teeth to be monitored one by one; the installation position of the second monitoring sensor and the installation position of each of the first monitoring sensors are on the bucket of the same shovel loading device, and when the bucket is working, the second monitoring sensor and each of the first monitoring sensors rotate together with the bucket around a pin shaft; the bucket teeth to be monitored are connected to the bucket via a locking mechanism;

[0006] The bucket tooth falling monitoring method comprises:

[0007] In response to the shovel loading equipment being in a working state, first posture information of the bucket teeth to be monitored is respectively acquired through each of the first monitoring sensors, and each of the first posture information is respectively transmitted to the wireless terminal device;

[0008] Acquire second posture information of the bucket in a working state through the second monitoring sensor, and transmit the second posture information to the wireless terminal device;

[0009] The first posture information and the second posture information are received through the wireless terminal device, and based on the first posture information and the second posture information, it is determined whether the bucket tooth to be monitored is falling off.

[0010] According to another aspect of the present invention, an embodiment of the present invention further provides a bucket tooth shedding monitoring system, characterized in that the bucket tooth shedding monitoring system comprises: at least two first-type monitoring sensors respectively corresponding to bucket teeth to be detected, at least one second-type monitoring sensor, and a wireless terminal device;

[0011] Wherein, each of the first type monitoring sensors communicates with the wireless terminal device respectively, and is used for obtaining the first posture information of the bucket tooth to be monitored in response to the shovel loading device being in a working state, and transmitting each of the first posture information to the wireless terminal device respectively;

[0012] The second type monitoring sensor communicates with the wireless terminal device to obtain second posture information of the bucket in a working state and transmit the second posture information to the wireless terminal device;

[0013] The wireless terminal device is used to receive each of the first posture information and the second posture information, and determine whether the bucket tooth to be monitored is falling off based on each of the first posture information and the second posture information.

[0014] The technical effect of the present invention is that the first posture information of the bucket teeth to be monitored is obtained by each first monitoring sensor, and the second posture information of the bucket in the working state is obtained by the second monitoring sensor, so that the wireless terminal device determines whether the bucket teeth to be monitored are falling off based on the first posture information and the second posture information, which can solve the problem of untimely detection when the bucket teeth fall off, and more accurately monitor whether the bucket teeth to be monitored are falling off, so as to locate and retrieve the fallen components later. .

[0015] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A flowchart of a bucket tooth falling monitoring method provided by one embodiment of the present invention;

[0018] Figure 2 A schematic diagram of the structure of the positional relationship between a bucket tooth and a first monitoring sensor corresponding to the bucket tooth, a bucket and a second monitoring sensor corresponding to the bucket in a bucket tooth shedding monitoring provided by an embodiment of the present invention;

[0019] Figure 3 A flow chart of another bucket tooth falling monitoring method provided by an embodiment of the present invention;

[0020] Figure 4 A structural block diagram of a bucket tooth falling monitoring system provided by one embodiment of the present invention;

[0021] Figure 5 A structural block diagram of another bucket tooth falling monitoring system provided by an embodiment of the present invention;

[0022] Figure 6 A structural block diagram of another bucket tooth falling monitoring system provided by an embodiment of the present invention;

[0023] Figure 7 A schematic diagram of the structure of a wireless terminal device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] In one embodiment, Figure 1 A flowchart of a bucket tooth fall-off monitoring method provided in one embodiment of the present invention. This embodiment is applicable to the case of monitoring the accidental fall-off of bucket teeth. The method can be executed by a bucket tooth fall-off monitoring system.

[0027] like Figure 1 As shown, the bucket tooth shedding monitoring method in this embodiment is applied to a bucket tooth shedding monitoring system, which includes: at least two first monitoring sensors corresponding to the bucket teeth to be monitored, a second monitoring sensor corresponding to the bucket of the shovel equipment, and a wireless terminal device; wherein each first monitoring sensor is respectively installed in a groove on the bottom surface of the internal cavity of the bucket teeth to be monitored, and each first monitoring sensor corresponds to the bucket teeth to be monitored one by one; the installation position of the second monitoring sensor and the installation position of each first monitoring sensor are on the bucket of the same shovel equipment, and when the bucket is working, the second monitoring sensor and each first monitoring sensor rotate around the pin together with the bucket; the bucket teeth to be monitored are connected to the bucket through a locking mechanism; in this embodiment, the bucket tooth shedding monitoring method specifically includes the following steps:

[0028] S110, in response to the shovel loading equipment being in a working state, first posture information of the bucket teeth to be monitored is respectively obtained through each first monitoring sensor, and each first posture information is respectively transmitted to the wireless terminal device.

[0029] Among them, the bucket teeth to be monitored can be understood as the bucket teeth connected to the bucket installed on the shovel loading equipment. A first monitoring sensor is installed in each bucket tooth to monitor the posture information of each bucket tooth. Since the number of bucket teeth is multiple, the number of first monitoring sensors is also multiple.

[0030] In this embodiment, the first monitoring sensor can be understood as a sensor installed in each bucket tooth. The types of the first monitoring sensor can include multiple types. For example, it can be a posture sensor or a vibration sensor, which is not limited in this embodiment. It should be noted that when the first monitoring sensor is uniformly used to monitor the bucket teeth in the same shoveling equipment, the same type of sensor needs to be used to make the monitoring result more accurate. In this embodiment, each first monitoring sensor is respectively installed in a groove on the bottom surface of the internal cavity of the bucket tooth to be monitored, and each first monitoring sensor corresponds to the bucket tooth to be monitored one by one. It can be understood that a sensor accommodating groove is provided at the bottom of the inner cavity of each bucket tooth of the bucket, and the sensor is installed in the groove. The number of first monitoring sensors is the same as the number of bucket teeth. In this embodiment, since there are multiple bucket teeth on the excavator or electric production bucket, in order to facilitate the distinction of the bucket teeth, each bucket tooth corresponds to a corresponding bucket tooth identification, and the bucket tooth identification of each bucket tooth is unique. Of course, the first monitoring sensor installed inside each bucket tooth also has a unique identification, so that when the bucket tooth falls off, the sensor identification of the fall off can be directly prompted, and then the corresponding bucket tooth identification can be found according to the sensor identification, so as to know the specific bucket tooth that has fallen off.

[0031] In this embodiment, each first monitoring sensor monitors the first posture information of the corresponding bucket teeth when the shovel loading equipment is in working state. The first posture information refers to the first posture information corresponding to each bucket tooth respectively monitored by each first monitoring sensor, and the first posture information at least includes: the first acceleration information and the first angular velocity information corresponding to the bucket teeth to be monitored; wherein the angular velocity information may include roll angle information, pitch angle information, yaw angle information, etc.

[0032] In this embodiment, the first monitoring sensor may include: an antenna unit and a control unit, wherein the antenna unit includes a communication antenna and a positioning antenna. It should be noted that the communication antenna and the positioning antenna may be the same antenna or two different antennas. It can be understood that if the antenna has a positioning function and a communication function, the communication antenna and the positioning antenna are the same antenna. In order to reduce power consumption, two antennas are generally used, namely a communication antenna and a positioning antenna. Exemplary, ultra-wideband wireless communication technology UWB, which not only has a communication function, but also has a positioning function. When the communication antenna and the positioning antenna in the antenna unit in this embodiment are the same antenna (UWB antenna), the UWB antenna is a UWB antenna that takes into account both wireless communication and positioning search functions, but because the UWB power consumption is relatively high and cannot meet the requirements of the sensor for long-term operation, low-power Bluetooth is used as daily communication to reduce power consumption and extend the use time of the sensor. Among them, the communication antenna includes but is not limited to wireless Bluetooth, ultra-wideband wireless communication technology UWB, wireless communication technology WIFI, ZigBee, etc. The positioning antenna is an antenna used to locate the fallen bucket tooth, and the positioning antenna can be a UWB antenna. In this embodiment, the antenna unit is inserted into the bucket tooth part near the bucket tooth seat; the control unit includes a six-axis gyroscope and a positioning tag module, a communication module, a microprocessor and a control circuit. Among them, the six-axis gyroscope can be an integrated circuit composed of three angular velocity sensors and three acceleration sensors, which is used to measure the rotation speed and acceleration of the object in three axes, and the posture, angle and motion state of the object can be determined by calculation of the microprocessor. The positioning tag module is used for positioning, and the communication module is used for communication. Exemplarily, the positioning tag module can be a UWB positioning tag, and the communication module can be a Bluetooth method, which is not limited in this embodiment.

[0033] In this embodiment, when the shovel loading equipment is in working state, each first monitoring sensor is in working state, monitors the first posture information of the corresponding bucket tooth in real time, and transmits each first posture information to the wireless terminal device, that is, when the shovel loading equipment is in working state, each first monitoring sensor communicates with the wireless terminal device via Bluetooth, and each first monitoring sensor sends the corresponding posture information to the wireless terminal device in real time. Of course, when the shovel loading equipment stops working, each first sensor acceleration is in a static state, and the control circuit controls the sensor to be in a dormant state according to the acceleration static data to achieve low power consumption.

[0034] S120. Acquire second posture information of the bucket in a working state through a second monitoring sensor, and transmit the second posture information to a wireless terminal device.

[0035] Among them, the second monitoring sensor can be understood as a sensor installed on the bucket.

[0036] In this embodiment, the second monitoring sensor communicates with the wireless terminal device via Bluetooth. The second monitoring sensor in this embodiment may also include: an antenna unit and a control unit, wherein the antenna unit includes a communication antenna; the control unit includes a six-axis gyroscope and a communication module, a microprocessor and a control circuit. It should be noted that in order to ensure the accuracy of the result of monitoring whether the bucket teeth fall off, the type of the second monitoring sensor in this embodiment is the same as the first monitoring sensor, and the second monitoring sensor is installed on the bucket. It can be understood that if each first monitoring sensor is a posture sensor, the second monitoring sensor is also a posture sensor.

[0037] In this embodiment, the second posture information can be understood as the posture information of the bucket monitored by the second monitoring sensor. Since the bucket teeth and the bucket are connected by a locking mechanism in the normal working state of the bucket, the relative position remains unchanged and can be regarded as a whole, the second posture information can be used as the standard of the posture information of each bucket tooth. In this embodiment, the second posture information can include but is not limited to: the second acceleration information and the second angular velocity information of the bucket in the working state; wherein the second angular velocity information includes at least one of the following: roll angle information, pitch angle information, and yaw angle information.

[0038] In this embodiment, when the bucket is working, the bucket attitude sensor and the bucket tooth attitude sensor rotate together with the bucket around the pin shaft, that is, when the bucket is digging and unloading, the movement angle is the same as that of the bucket sensor. In this embodiment, the pin shaft is a type of standardized fastener, which can be statically fixed or move relative to the connected part. It is mainly used at the hinge of two parts to form a hinge connection.

[0039] In one embodiment, the second monitoring sensor includes a main monitoring sensor and a slave monitoring sensor; when the main monitoring sensor is abnormal, the slave monitoring sensor is automatically switched to obtain the second posture information, and the second posture information is transmitted to the wireless terminal device. It can be understood that the number of the second monitoring sensor is generally one, but in order to prevent the installed second monitoring sensor from having unexpected problems and monitoring abnormal phenomena, two second monitoring sensors can be installed, one of which is used as a main sensor and the other as a slave sensor.

[0040] In this embodiment, when the shovel loading equipment is in working state, the second monitoring sensor is in working state, monitors the second posture information of the bucket in real time, and transmits the second posture information to the wireless terminal device respectively, that is, when the shovel loading equipment is in working state, the second monitoring sensor communicates with the wireless terminal device via Bluetooth, and the second monitoring sensor sends the second posture information to the wireless terminal device in real time. Of course, when the shovel loading equipment stops working, the acceleration of the second sensor is in a static state, and the control circuit controls the sensor to be in a dormant state according to the acceleration static data to achieve low power consumption.

[0041] S130, receiving each first posture information and second posture information through a wireless terminal device, and determining whether the bucket tooth to be monitored is fallen off based on each first posture information and second posture information.

[0042] In this embodiment, the wireless terminal device communicates with each first monitoring sensor and the second monitoring sensor via Bluetooth to receive the first posture information corresponding to each bucket tooth and the second posture information corresponding to the bucket transmitted by each first monitoring sensor, so as to determine whether the bucket tooth to be monitored has fallen off according to the first posture information corresponding to each bucket tooth and the second posture information corresponding to the bucket; in other embodiments, when the shovel loading equipment is in working state, since each bucket tooth is on the same horizontal plane, the movement state of each bucket tooth is the same at this time, so it is also possible to judge whether a certain bucket tooth has fallen off according to the first posture information corresponding to each bucket tooth. However, since each bucket tooth may have soil accumulation in the gap between the bucket tooth and the tooth seat during operation, the immediacy of data transmission cannot be fully guaranteed, so that there is a certain misjudgment of the monitoring result. Therefore, in order to further improve the accuracy of monitoring the falling off, a second monitoring sensor of the same type is installed on the bucket. The second monitoring sensor is installed on the bucket at a higher position, so the second monitoring sensor will not be blocked by the bucket tooth body and the soil, and the signal transmission is smooth. Each bucket tooth is connected to the bucket through a locking mechanism. When the bucket is in normal working condition, the bucket tooth and the bucket are connected through a locking mechanism, and the relative position remains unchanged. They can be regarded as a whole. When a bucket tooth falls off, the posture relative to the bucket attitude sensor changes. Therefore, the bucket tooth installation status can be determined by comparing the bucket tooth attitude data with the bucket attitude sensor.

[0043] For example, in order to better understand the positional relationship between the bucket teeth and the first monitoring sensor corresponding to the bucket teeth, the bucket and the second monitoring sensor corresponding to the bucket in bucket tooth shedding monitoring, Figure 2 A schematic diagram of the structure of the positional relationship between a bucket tooth and a first monitoring sensor corresponding to the bucket tooth, a bucket and a second monitoring sensor corresponding to the bucket in a bucket tooth shedding monitoring provided by an embodiment of the present invention, such as Figure 2As shown, in this embodiment, the second monitoring sensor is a bucket posture sensor, and multiple first monitoring sensors are bucket tooth loss monitoring posture sensors as an example for explanation. In this embodiment, the bucket posture sensor is installed near the bucket ear close to the bucket at the connection between the bucket and the excavator arm; in this embodiment, the bucket tooth loss monitoring sensor is installed in the groove on the bottom surface of the internal cavity of the bucket tooth; the bucket posture sensor is installed on the bucket. Figure 2 The tooth adapter is used to connect the bucket and each bucket tooth.

[0044] The technical solution of the embodiment of the present invention obtains the first posture information of the corresponding bucket teeth to be monitored through each first monitoring sensor, and obtains the second posture information of the bucket in the working state through the second monitoring sensor, so that the wireless terminal device determines whether the bucket teeth to be monitored are falling off based on the first posture information and the second posture information. This can solve the problem of untimely detection when the bucket teeth are falling off, and more accurately monitor whether the bucket teeth to be monitored are falling off, so as to subsequently locate and retrieve the fallen components.

[0045] In one embodiment, the method further includes:

[0046] When the bucket tooth to be monitored falls off, the wireless terminal device communicates with the fallen bucket tooth through a preset communication method, so that the positioning tag module in the first monitoring sensor corresponding to the fallen bucket tooth is activated, and a position signal is sent to the handheld base station search device. After the handheld base station search device receives the position signal, it determines the relative distance information and angle information between the handheld base station search device and the fallen bucket tooth through the flight time of the position signal, and finds the fallen bucket tooth based on the relative distance information and angle information.

[0047] The handheld base station search device may be understood as a handheld terminal device, such as a mobile phone, iPad or other terminal device equipped with UWB.

[0048] In this embodiment, the preset communication method may include but is not limited to wireless Bluetooth, ultra-wideband wireless communication technology UWB, wireless communication technology WIFI, ZigBee, etc., and this embodiment does not limit this. The positioning tag module in this embodiment may be a UWB tag, and the location signal may be understood as a positioning signal sent by the positioning tag module, which includes but is not limited to an ultra-wideband UWB tag signal.

[0049] In this embodiment, when the bucket tooth to be monitored falls off, the wireless terminal device communicates with the bucket tooth that has fallen off through a Bluetooth signal, so that the positioning tag module in the first monitoring sensor corresponding to the bucket tooth that has fallen off is turned on and activated, and sends a position signal to the handheld base station search device. After the handheld base station search device receives the position signal, it can very accurately measure the flight time of the radio signal through the flight time of the position signal, thereby achieving centimeter-level precision distance / position measurement, that is, the relative distance information and angle information between the bucket tooth that has fallen off and the bucket tooth that has fallen off are determined through the flight time of the position signal, and the fallen bucket tooth is found based on the relative distance information and angle information. It can be understood that when the bucket tooth posture sensor determines that the bucket tooth has fallen off, the wireless terminal Bluetooth communicates with the bucket tooth posture sensor Bluetooth, and the positioning tag module in the sensor is awakened by the Bluetooth module. Through the communication between the handheld base station search device and the positioning tag module in the sensor, the relative distance and angle of the sensor from the handheld base station can be calculated, and the fallen bucket tooth can be quickly found based on the distance and angle information displayed by the handheld base station.

[0050] In one embodiment, when the bucket teeth to be monitored have not fallen off, it is determined that each bucket tooth to be monitored is in a normal state, the handheld base station search device communicates with each first monitoring sensor through a preset communication method, and controls the UWB tag in each first monitoring sensor to be in a sleep state to reduce the power consumption of each first monitoring sensor.

[0051] In this embodiment, when the bucket teeth to be monitored have not fallen off, it is determined that each bucket tooth to be monitored is in a normal state, and the handheld base station search device can communicate with each first monitoring sensor through multiple wireless communication methods such as wireless Bluetooth and ultra-wideband wireless communication technology UWB, and control the UWB tags in each first monitoring sensor to be in a dormant state to reduce the power consumption of each first monitoring sensor. It can be understood that when the bucket teeth are normally installed, the Bluetooth module in the sensor is connected through a UWB handheld base station with Bluetooth function or a portable Bluetooth device, so that the positioning tag module in the sensor is in a dormant state, reducing power consumption and extending the use time of the sensor.

[0052] In one embodiment, each first monitoring sensor is respectively configured with a corresponding sensor identifier, and accordingly, the method further includes:

[0053] When the bucket tooth to be monitored falls off, the wireless terminal device displays the sensor logo corresponding to the fallen bucket tooth and issues an alarm reminder through the alarm device.

[0054] In this embodiment, when the bucket teeth to be monitored fall off, the wireless terminal device displays the sensor identification corresponding to the fallen bucket teeth, and issues an alarm reminder through the alarm device. That is, the wireless terminal of each excavator or electric production has a unique independent number, and the sensor in each bucket tooth also has a unique independent number. Through software operation, multiple bucket teeth of a single excavator are bound to the wireless terminal. When a bucket tooth falls off, the bucket tooth number can be clearly known for rapid location and search, and data support is also provided for background management.

[0055] In one embodiment, the method further includes:

[0056] In response to the shovel loading equipment being in a working state, each first monitoring sensor and the second monitoring sensor are both in an activated state, each first monitoring sensor communicates with the wireless terminal device through a preset communication method, and the second monitoring sensor communicates with the wireless terminal device through a preset communication method;

[0057] In response to the shovel loading equipment being in a stopped state, each first monitoring sensor and the second monitoring sensor are in a dormant state to reduce power consumption.

[0058] In this embodiment, in response to the shovel loading equipment being in a working state, each first monitoring sensor and the second monitoring sensor are in an activated state, and the wireless terminal device communicates wirelessly with each first monitoring sensor through a variety of wireless communication methods such as wireless Bluetooth, ultra-wideband wireless communication technology UWB, and wireless communication technology WIFI. Of course, the second monitoring sensor and the wireless terminal device also communicate using a variety of wireless communication methods; in response to the shovel loading equipment being in a stopped state, each first monitoring sensor and the second monitoring sensor are in a sleep state to reduce power consumption.

[0059] In one embodiment, the wireless terminal device is pre-set with angle comparison values ​​corresponding to the bucket performing the rolling-in action and the rolling-out action; wherein the angle comparison values ​​include: a first angle value of the bucket rotating around the pin axis when digging, and a second angle value of the bucket rotating around the pin axis when unloading;

[0060] Accordingly, the method further includes:

[0061] The bucket rotation angle transmitted by the second monitoring sensor is obtained through the wireless terminal device, and the digging times and unloading times corresponding to the bucket are determined according to the bucket rotation angle and the angle ratio value;

[0062] Determine the production value based on the number of excavations, the number of unloading times, and the preset bucket capacity;

[0063] The wear cycle of each bucket tooth is estimated based on the number of excavations, unloading times, and production values, so as to remind the user to replace the bucket teeth when the wear cycle exceeds the preset cycle threshold.

[0064] The preset cycle threshold may be a threshold set based on experience, and a reminder to replace the bucket teeth is given when the wear cycle exceeds the preset cycle threshold. The preset bucket capacity may be a configured standard capacity. For example, the bucket capacity of the excavator is configured as a standard when it leaves the factory, and the background may operate the software to set the bucket capacity information.

[0065] In this embodiment, when the bucket is digging, there is an angle (range value) between the bucket teeth and the material when the bucket just starts cutting the material. At this time, the second monitoring sensor will correspond to an angle value, and when the material excavation is completed, it will correspond to another angle value. These two values ​​constitute the action monitoring of excavation. Therefore, when the bucket is turned over, that is, when the bucket is unloading, the bucket rotation value when the excavation is completed is used as the initial value of the bucket unloading. When the bucket is turned over to a certain extent, that is, the corresponding value of the unloading is completed, the two values ​​monitor the action monitoring of the bucket turning over.

[0066] In this embodiment, when the shovel loading equipment is working, the bucket rotates around the pin shaft. At this time, the six-axis gyroscope in the second monitoring sensor obtains the rotation angles corresponding to the bucket's reeling action and flipping action, and transmits each of the rotation angles to the wireless terminal. The wireless terminal software is provided with angle comparison values ​​corresponding to the bucket's reeling action and flipping action. According to the rotation angles corresponding to the bucket's reeling action and flipping action, and the angle comparison values ​​corresponding to the bucket's reeling action and flipping action, the number of working cycles of the bucket (excavation and unloading is a working cycle) is calculated, and the output value is obtained in combination with the bucket capacity. In this embodiment, since the service life of the bucket teeth is inseparable from the working cycle of the bucket, the replacement cycle of the bucket teeth can be predicted based on this data, and the output and bucket tooth wear rate data are associated to make the bucket tooth wear cycle more refined and manage the production cost.

[0067] In one embodiment, Figure 3 A flow chart of another bucket tooth falling-off monitoring method provided for an embodiment of the present invention. Based on the above embodiments, this embodiment further refines the method of receiving each first posture information and second posture information through a wireless terminal device, and determining whether the bucket tooth to be monitored has fallen off based on each first posture information and second posture information.

[0068] like Figure 3 As shown, the bucket tooth falling monitoring method in this embodiment may specifically include the following steps:

[0069] S310, in response to the shovel loading equipment being in a working state, first posture information of the bucket teeth to be monitored is respectively obtained through each first monitoring sensor, and each first posture information is respectively transmitted to the wireless terminal device.

[0070] S320. Acquire second posture information of the bucket in the working state through a second monitoring sensor, and transmit the second posture information to the wireless terminal device.

[0071] S330: Compare each of the first acceleration information and the first angular velocity information with the second acceleration information and the second angular velocity information respectively to obtain corresponding comparison results.

[0072] In this embodiment, each of the first acceleration information and the first angular velocity information is compared with the second acceleration information and the second angular velocity information, respectively, to obtain a corresponding comparison result, which may include that the difference between one or at least two of the first acceleration information and the second acceleration information is not within a preset range, and the difference between one or at least two of the first angular velocity information and the second angular velocity information is not within a preset range. The difference not being within the preset range may include: the difference between the first acceleration information and the second acceleration information is large, or one is in motion and the other is stationary.

[0073] S340. Determine whether the bucket tooth to be monitored has fallen off based on the comparison result.

[0074] In this embodiment, if the comparison result is that the difference between one or at least two of the first acceleration information and the second acceleration information is not within the preset range, it is determined that the bucket tooth to be monitored has fallen off, wherein the difference not within the preset range may include that the difference between the first acceleration information and the second acceleration information is large, or one is in motion and the other is stationary; if the difference between one or at least two of the first angular velocity information and the second angular velocity information is not within the preset range, it is determined that the bucket tooth to be monitored has fallen off; wherein the difference not within the preset range means that the difference between the first angular velocity information and the second angular velocity information is large. If the difference between one or at least two of the first acceleration information and the second acceleration information is within the preset range, it is determined that the bucket tooth to be monitored has not fallen off, and if the difference between one or at least two of the first angular velocity information and the second angular velocity information is within the preset range, it is determined that the bucket tooth to be monitored has not fallen off.

[0075] In this embodiment, when one or more bucket teeth fall off, the equipment is still in working state, the bucket attitude sensor is in motion state, and the acceleration of the bucket tooth attitude sensor after falling off is in a static state, which is different from the bucket attitude sensor data; if the first acceleration information is in motion state, the second acceleration information is also in motion state, which is normal; if the bucket works normally, the second acceleration information is in motion state, and a certain first acceleration information is in a static state, then the bucket tooth corresponding to the first acceleration falls off. It can be understood that the attitude data of the bucket attitude sensor is synchronized with the attitude data of the sensor in the bucket tooth. When a bucket tooth falls off, its sensor attitude data changes compared with the attitude data of the bucket attitude sensor. Specifically, when the bucket tooth falls off, the attitude data of the fallen bucket tooth is different from the attitude data of the bucket attitude sensor. The falling of bucket teeth occurs accidentally during the construction process. Therefore, when one or more bucket teeth fall off, the equipment is still in working state, the bucket attitude sensor is in motion state, and the acceleration of the bucket tooth attitude sensor after falling off is in a static state, which is different from the bucket attitude sensor data, so it is judged that the bucket tooth falls off and an alarm is issued.

[0076] The technical solution of the embodiment of the present invention is to obtain the first posture information of the corresponding bucket teeth to be monitored through each first monitoring sensor, obtain the second posture information of the bucket in the working state through the second monitoring sensor, and compare the first acceleration information and the first angular velocity information with the second acceleration information and the second angular velocity information, respectively, to obtain corresponding comparison results; based on the comparison results, it is determined whether the bucket teeth to be monitored have fallen off, which can further solve the problem of untimely detection when the bucket teeth fall off, and more accurately monitor whether the bucket teeth to be monitored have fallen off, so as to subsequently locate and retrieve the fallen components.

[0077] In one embodiment, Figure 4 This is a structural block diagram of a bucket tooth fall-off monitoring system provided by an embodiment of the present invention. The system is suitable for monitoring the situation when bucket teeth fall off unexpectedly.

[0078] like Figure 4 As shown, the system, the bucket tooth shedding monitoring system, comprises: at least two first monitoring sensors 410 corresponding to the bucket teeth to be detected, at least one second monitoring sensor 420 and a wireless terminal device 430; wherein, each of the first monitoring sensors is respectively installed in a groove on the bottom surface of the internal cavity of the bucket tooth to be monitored, and each of the first monitoring sensors corresponds to the bucket tooth to be monitored one by one; the installation position of the second monitoring sensor and the installation position of each of the first monitoring sensors are on the bucket of the same shoveling equipment, and when the bucket is working, the second monitoring sensor and each of the first monitoring sensors rotate together with the bucket around the pin shaft; the bucket tooth to be monitored is connected to the bucket through a locking mechanism;

[0079] Wherein, each of the first monitoring sensors 410 communicates with the wireless terminal device 430 respectively, and is used to obtain the first posture information of the bucket tooth to be monitored in response to the shovel loading device being in a working state, and transmit each of the first posture information to the wireless terminal device 430 respectively;

[0080] The second monitoring sensor 420 communicates with the wireless terminal device 430 to obtain second posture information of the bucket in a working state and transmit the second posture information to the wireless terminal device 430;

[0081] The wireless terminal device 430 is used to receive each of the first posture information and the second posture information, and determine whether the bucket tooth to be monitored is falling off based on each of the first posture information and the second posture information.

[0082] In one embodiment, the system further comprises: a handheld base station search device and an alarm device;

[0083] Wherein, the handheld base station search device communicates with the first monitoring sensor corresponding to each bucket tooth to be monitored, so that when the bucket tooth to be monitored falls off, the wireless terminal device communicates with the bucket tooth that has fallen off, so that the positioning tag module of the first monitoring sensor corresponding to the bucket tooth that has fallen off is activated, and sends a position signal to the handheld base station search device. After receiving the position signal, the handheld base station search device determines the relative distance information and angle information between the handheld base station search device and the bucket tooth that has fallen off through the flight time of the position signal, and finds the fallen bucket tooth based on the relative distance information and angle information;

[0084] The alarm device communicates with the wireless terminal device and is used for issuing an alarm reminder when receiving an alarm prompt sent by the wireless terminal device.

[0085] The bucket tooth fall-off monitoring system provided in the embodiment of the present invention can execute the bucket tooth fall-off monitoring method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0086] In one embodiment, in order to better understand the bucket tooth falling monitoring system, Figure 5 A structural block diagram of another bucket tooth fall-off monitoring system provided in one embodiment of the present invention. Figure 6 A structural block diagram of another bucket tooth falling monitoring system provided by an embodiment of the present invention, Figure 5 compared to, Figure 6The various units included in the bucket tooth sensor are described. The system is suitable for monitoring the situation when the bucket teeth accidentally fall off. In this embodiment, at least two bucket teeth to be detected, the first monitoring sensor corresponding to each bucket tooth to be detected is a bucket tooth fall-off monitoring sensor, the second monitoring sensor is a bucket attitude sensor, and the antenna unit includes a Bluetooth antenna and a UWB antenna, two antennas are used as an example, and the control unit includes a Bluetooth module and a UWB tag module as an example for description.

[0087] like Figure 5 As shown, the bucket tooth shedding monitoring system includes: a bucket tooth shedding monitoring sensor 510, a bucket posture sensor 520, a wireless terminal device 530, a handheld base station search device 540 and an alarm device 550. Among them, the bucket tooth shedding monitoring sensor 510 includes: an antenna unit and a control unit, and the antenna unit includes two antennas. The antenna unit is inserted into the bucket tooth part close to the bucket tooth seat; the control unit includes a six-axis gyroscope module, a Bluetooth module and a UWB tag module, a microprocessor and an auxiliary circuit. The bucket posture sensor 520 includes: an antenna unit and a control unit. The control unit includes a six-axis gyroscope module and a Bluetooth module, a microprocessor and an auxiliary circuit.

[0088] In this embodiment, a wireless sensor is embedded in the groove on the bottom surface of the inner cavity of the bucket tooth. The wireless sensor continuously monitors the posture change of the bucket tooth and sends the posture change information to the wireless terminal device to determine the installation status of the bucket tooth, realize the bucket tooth shedding monitoring and sound and light alarm reminder. After the bucket tooth falls off, it can be quickly located and retrieved through a handheld portable UWB base station device.

[0089] In one embodiment, Figure 7 A schematic diagram of the structure of a wireless terminal device provided by an embodiment of the present invention. The wireless terminal device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0090] like Figure 7As shown, the wireless terminal device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0091] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0092] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a bucket tooth shedding monitoring method.

[0093] In some embodiments, the bucket tooth shedding monitoring method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the bucket tooth shedding monitoring method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the bucket tooth shedding monitoring method in any other appropriate manner (e.g., by means of firmware).

[0094] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] The computer programs for implementing the method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable bucket tooth shedding monitoring device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0096] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0097] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0098] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0099] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0100] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0101] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bucket tooth falling monitoring method, characterized in that: Applied to a bucket tooth shedding monitoring system, the system comprises: at least two first monitoring sensors corresponding to bucket teeth to be monitored, a second monitoring sensor corresponding to the bucket of a shovel loading device, and a wireless terminal device; wherein each of the first monitoring sensors is respectively installed in a groove on the bottom surface of an internal cavity of the bucket tooth to be monitored, and each of the first monitoring sensors corresponds to the bucket tooth to be monitored one by one; the installation position of the second monitoring sensor and the installation position of each of the first monitoring sensors are on the bucket of the same shovel loading device, and when the bucket is working, the second monitoring sensor and each of the first monitoring sensors rotate together with the bucket around a pin shaft; the bucket tooth to be monitored is connected to the bucket via a locking mechanism; The bucket tooth falling monitoring method comprises: In response to the shovel loading equipment being in a working state, first posture information of the bucket teeth to be monitored is respectively acquired through each of the first monitoring sensors, and each of the first posture information is respectively transmitted to the wireless terminal device; Acquire second posture information of the bucket in a working state through the second monitoring sensor, and transmit the second posture information to the wireless terminal device; The first posture information and the second posture information are received through the wireless terminal device, and based on the first posture information and the second posture information, it is determined whether the bucket tooth to be monitored is falling off.

2. The method according to claim 1, characterized in that The method further comprises: In the case where the bucket tooth to be monitored falls off, the wireless terminal device communicates with the bucket tooth that has fallen off through a preset communication method, so that the positioning tag module in the first monitoring sensor corresponding to the bucket tooth that has fallen off is activated, and a position signal is sent to a handheld base station search device. After receiving the position signal, the handheld base station search device determines the relative distance information and angle information between the bucket tooth that has fallen off and the handheld base station search device through the flight time of the position signal, and finds the fallen bucket tooth based on the relative distance information and angle information.

3. The method according to any one of claims 1-2, characterized in that: When the bucket teeth to be monitored have not fallen off, it is determined that each of the bucket teeth to be monitored is in a normal state. The handheld base station search device communicates with each of the first monitoring sensors through a preset communication method, and controls the positioning tag modules in each of the first monitoring sensors to be in a sleep state to reduce the power consumption of each of the first monitoring sensors.

4. The method according to claim 1, characterized in that: Each of the bucket teeth corresponds to a corresponding bucket tooth identifier, each of the first monitoring sensors is configured with a corresponding sensor identifier, and the sensor identifier of the first monitoring sensor installed inside each of the bucket teeth corresponds to the bucket tooth identifier one by one. Accordingly, the method further includes: In the case where the bucket tooth to be monitored falls off, the wireless terminal device displays the bucket tooth identifier of the fallen bucket tooth and the sensor identifier corresponding to the bucket tooth identifier, and issues an alarm reminder through the alarm device.

5. The method according to claim 1, characterized in that The first posture information at least includes: first acceleration information and first angular velocity information corresponding to the bucket tooth to be monitored; the second posture information at least includes: second acceleration information and second angular velocity information of the bucket in a working state; The first monitoring sensor includes: an antenna unit and a control unit, wherein the antenna unit includes a communication antenna and a positioning antenna, and the antenna unit is inserted into the bucket tooth part close to the bucket tooth seat; the control unit includes a six-axis gyroscope and a positioning tag module, a communication module, a microprocessor and a control circuit.

6. The method according to claim 5, characterized in that Receiving each of the first posture information and the second posture information through the wireless terminal device, and determining whether the bucket tooth to be monitored is falling off based on each of the first posture information and the second posture information, includes: Comparing each of the first acceleration information and the first angular velocity information with the second acceleration information and the second angular velocity information respectively to obtain corresponding comparison results; Based on the comparison result, determine whether the bucket tooth to be monitored has fallen off.

7. The method according to claim 1, characterized in that The method further comprises: In response to the shovel loading equipment being in a working state, each of the first monitoring sensors and the second monitoring sensor are both in an activated state, each of the first monitoring sensors communicates with the wireless terminal device through a preset communication method, and the second monitoring sensor communicates with the wireless terminal device through the preset communication method; In response to the shovel loading equipment being in a stopped state, each of the first monitoring sensors and the second monitoring sensor is in a dormant state to reduce power consumption.

8. The method according to claim 1, characterized in that The second monitoring sensor includes a main monitoring sensor and a slave monitoring sensor; when an abnormality occurs in the main monitoring sensor, the slave monitoring sensor is automatically switched to obtain the second posture information, and the second posture information is transmitted to the wireless terminal device.

9. The method according to claim 1, characterized in that: The wireless terminal device is pre-set with angle comparison values ​​corresponding to the bucket performing the rolling-in action and the rolling-out action; wherein the angle comparison values ​​include: a first angle value of the bucket rotating around the pin shaft when digging, and a second angle value of the bucket rotating around the pin shaft when unloading; Accordingly, the method further includes: Acquire the bucket rotation angle transmitted by the second monitoring sensor through the wireless terminal device, and determine the number of excavation times and the number of unloading times corresponding to the bucket according to the bucket rotation angle and the angle ratio value; Determining the output value according to the number of excavations, the number of unloading operations, and a preset bucket capacity; The wear cycle of each bucket tooth is estimated according to the excavation times, the unloading times, and the production value, so as to remind the user to replace the bucket teeth when the wear cycle exceeds a preset cycle threshold.

10. A bucket tooth falling monitoring system, characterized in that: The bucket tooth shedding monitoring system comprises: at least two first-type monitoring sensors corresponding to the bucket teeth to be detected, at least one second-type monitoring sensor and a wireless terminal device; Wherein, each of the first type monitoring sensors communicates with the wireless terminal device respectively, and is used to obtain the first posture information of the bucket tooth to be monitored in response to the shovel loading device being in a working state, and transmit each of the first posture information to the wireless terminal device respectively; The second type monitoring sensor communicates with the wireless terminal device to obtain second posture information of the bucket in a working state and transmit the second posture information to the wireless terminal device; The wireless terminal device is used to receive each of the first posture information and the second posture information, and determine whether the bucket tooth to be monitored is falling off based on each of the first posture information and the second posture information.

11. The system according to claim 10, characterized in that The system also includes: a handheld base station search device and an alarm device; Wherein, the handheld base station search device communicates with the first monitoring sensor corresponding to each bucket tooth to be monitored, so that when the bucket tooth to be monitored falls off, the wireless terminal device communicates with the bucket tooth that has fallen off, so that the positioning tag module of the first monitoring sensor corresponding to the bucket tooth that has fallen off is activated, and sends a position signal to the handheld base station search device. After receiving the position signal, the handheld base station search device determines the relative distance information and angle information between the handheld base station search device and the bucket tooth that has fallen off through the flight time of the position signal, and finds the fallen bucket tooth based on the relative distance information and angle information; The alarm device communicates with the wireless terminal device and is used for issuing an alarm reminder when receiving an alarm prompt sent by the wireless terminal device.

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