Trench digger control method, control device and trench digger based on stratum terrain recognition

Abstract

The present invention discloses a trenching machine control method, a control device and a trenching machine based on stratum terrain recognition, and belongs to the technical field of trenching machines. The control method comprises obtaining the stratum terrain category of trenching machine construction; matching corresponding working parameters in a pre-constructed database according to the obtained stratum terrain category; and controlling the trenching machine according to the obtained working parameters. The present invention automatically matches by identifying the stratum terrain category, controls the trenching machine according to the working parameters, does not rely on the operator's experience, reduces the difficulty of operation, enables the trenching machine to match the engine performance, and improves the construction efficiency, quality and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of trenching machines, and in particular to a trenching machine control method, a control device and a trenching machine based on stratum terrain recognition. Background Art

[0002] A trencher is a trenching machine used in earthwork construction. It relies on the rotation of the cutterhead to dig trenches while moving. It is used to lay various pipelines and is widely used in water conservancy construction, communications, and the laying of oil pipelines. The advantages of trenchers are that they can operate continuously, with little surface damage, high construction efficiency, and can also dig trenches in rock formations. They are widely used. In the traditional trenching construction process, the operator often needs to manually adjust the feed speed and cutterhead speed of the trencher according to the hardness of the construction formation and the terrain. This operation method is relatively inefficient and highly dependent on the operator's experience, requiring the operator to have rich driving experience. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a trencher control method, a control device and a trencher based on stratum terrain recognition, so as to solve the technical problem that the control of the existing trencher depends on the driving experience of the operator and is difficult to control.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a trenching machine control method based on stratum terrain recognition, comprising: Get the terrain type of the trenching machine; Matching corresponding working parameters in a pre-built database according to the acquired stratum terrain category; The trencher is controlled according to the obtained working parameters.

[0005] Optionally, the obtaining of the stratum terrain category for trenching construction includes: Obtain the body posture, travel speed, cutter head torque, cutter head hydraulic system pressure and engine load of the trencher during construction, and perform preprocessing; Determining the terrain category according to the fuselage posture, including uphill, downhill and flat ground; The formation type is determined according to the travel speed, the cutter disc torque, the cutter disc hydraulic system pressure and the engine load, including soft soil formation, hard soil formation and rock formation.

[0006] Optionally, the preprocessing includes filtering, noise reduction and normalization.

[0007] Optionally, determining the formation category according to the travel speed, the cutter head torque, the cutter head hydraulic system pressure and the engine load includes: If the cutter torque , and the change in cutter torque , then the stratum type is determined to be soft soil stratum; is the proportionality factor, It is directly proportional to the walking speed. is a preset first torque threshold and a first torque change; If the cutter torque , engine load , then the stratum type is determined to be hard soil stratum; is a preset second torque threshold, A first engine load threshold and a second engine load threshold are preset; If the cutter torque , engine load , Cutter hydraulic system pressure , then the stratum type is determined to be rock stratum; is a preset first pressure threshold.

[0008] Optionally, the working parameters include control currents of output valves of a cutterhead hydraulic system and a travel hydraulic system of the trenching machine.

[0009] In a second aspect, the present invention provides a trenching machine control device based on stratum terrain recognition, comprising: A stratum terrain recognition module is configured to obtain a stratum terrain category for trenching construction; A processor module is configured to pair corresponding working parameters in a pre-built database according to the acquired formation terrain category; The power control module is configured to control the trencher according to the acquired working parameters.

[0010] Optionally, also include: The terrain and stratum setting model includes a touch display screen for manually inputting the terrain and stratum category when the terrain and stratum recognition module fails to work properly; or manually modifying the terrain and stratum category when the terrain and stratum recognition module makes an error in recognition.

[0011] In a third aspect, the present invention provides a trencher, which is controlled by the above-mentioned trencher control method based on stratum terrain recognition.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a trencher control method, a control device and a trencher based on stratum terrain recognition, which obtain matching working parameters by identifying the stratum terrain type of the trencher construction, and control the trencher according to the working parameters, without relying on the operator's experience, reducing the difficulty of operation, and at the same time being able to improve construction efficiency, quality and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a flow chart of a trencher control method based on stratum terrain recognition provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of a trencher control device based on stratum terrain recognition provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0014] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0015] Embodiment 1:

[0016] like Figure 1 As shown, an embodiment of the present invention provides a trenching machine control method based on stratum terrain recognition, comprising the following steps: Step S1, obtaining the terrain type of the stratum to be constructed by the trencher.

[0017] Specifically in this embodiment, obtaining the stratum terrain category for trenching construction includes: S1.1. Obtain the body posture, travel speed, cutter head torque, cutter head hydraulic system pressure and engine load of the trenching machine during construction, and perform preprocessing.

[0018] The fuselage posture can be obtained through the inclination sensor installed on the fuselage, the walking speed can be obtained through the speed sensor installed on the fuselage, and the cutter torque can be calculated by the formula: , is the displacement of the cutterhead pump, It is the cutter disc pressure. The cutter disc hydraulic system pressure can be obtained through the pressure sensor set on the cutter disc hydraulic system, and the engine load can be read through the engine management system EMS.

[0019] Preprocessing includes filtering, noise reduction and normalization. The preprocessing steps can eliminate mechanical vibration interference and make parameters dimensionless, which facilitates further processing of the data.

[0020] S1.2. Determine the terrain category based on the aircraft posture, including uphill, downhill and flat ground.

[0021] According to actual needs, more terrain categories may be added, such as steep slope, gentle slope, etc., which are not listed one by one in this embodiment.

[0022] S1.3. Determine the formation type based on the travel speed, cutter head torque, cutter head hydraulic system pressure and engine load, including soft soil formation, hard soil formation and rock formation.

[0023] The specific judgment rules are: If the cutter torque , and the change in cutter torque , then the stratum type is determined to be soft soil stratum; is the proportionality factor, It is directly proportional to the walking speed. is a preset first torque threshold and a first torque change; If the cutter torque , engine load , then the stratum type is determined to be hard soil stratum; is a preset second torque threshold, A first engine load threshold and a second engine load threshold are preset; If the cutter torque , engine load , Cutter hydraulic system pressure , then the stratum type is determined to be rock stratum; is a preset first pressure threshold.

[0024] If the cutter torque , and the change in cutter torque , then the stratum type is determined to be soft soil stratum; is a preset first torque threshold and a first torque change; If the cutter torque , engine load , then the stratum type is determined to be hard soil stratum; is a preset second torque threshold, A first engine load threshold and a second engine load threshold are preset; If the cutter torque , engine load , Cutter hydraulic system pressure , then the stratum type is determined to be rock stratum; is a preset first pressure threshold.

[0025] Step S2: Pair corresponding working parameters in a pre-built database according to the acquired stratum terrain category.

[0026] Taking the above terrain categories including upslope, downslope and flat land, and the stratum categories including soft soil stratum, hard soil stratum and rock soil stratum as an example, a total of 9 stratum terrain categories can be formed, including soft soil stratum upslope, soft soil stratum downslope, soft soil stratum flat land, hard soil stratum upslope, hard soil stratum downslope, hard soil stratum flat land, rock soil stratum upslope, rock soil stratum downslope, rock soil stratum flat land. The corresponding working parameters are set for these 9 stratum terrain categories in advance and saved in the database. During the construction process, the stratum terrain categories are directly matched and called in the database after they are obtained.

[0027] Step S3: Control the trencher according to the acquired working parameters.

[0028] Specifically in this embodiment, the working parameters include the control current of the output valves of the cutterhead hydraulic system and the travel hydraulic system of the trenching machine. The cutterhead torque and cutterhead speed are adjusted by the control current of the cutterhead hydraulic system, and the feed speed of the trenching machine is adjusted by the control current of the travel hydraulic system.

[0029] Embodiment 2:

[0030] like Figure 2 As shown, an embodiment of the present invention provides a trenching machine control device based on stratum terrain recognition, comprising: A stratum terrain recognition module is configured to obtain a stratum terrain category for trenching construction; A processor module is configured to pair corresponding working parameters in a pre-built database according to the acquired formation terrain category; The power control module is configured to control the trencher according to the acquired working parameters.

[0031] The terrain and stratum setting model includes a touch display screen for manually inputting the terrain and stratum category when the terrain and stratum recognition module fails to work properly; or manually modifying the terrain and stratum category when the terrain and stratum recognition module makes an error in recognition.

[0032] Embodiment three:

[0033] An embodiment of the present invention provides a trencher, and the trencher is controlled by using the above-mentioned trencher control method based on stratum terrain recognition.

[0034] In summary, the present invention provides a trencher control method, a control device and a trencher based on stratum terrain recognition, which obtain matching working parameters by identifying the stratum terrain type of the trencher construction, and controls the trencher according to the working parameters. It does not rely on the operator's experience, reduces the difficulty of operation, and can improve construction efficiency, quality and safety.

[0035] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take 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 code.

[0036] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 produce 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.

[0037] 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 including 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.

[0038] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0039] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A trenching machine control method based on stratum terrain recognition, characterized in that: include: Get the terrain type of the trenching machine; Matching corresponding working parameters in a pre-built database according to the acquired stratum terrain category; The trencher is controlled according to the obtained working parameters.

2. The trencher control method based on stratum terrain recognition according to claim 1 is characterized in that: The stratum terrain categories for trenching construction include: Obtain the body posture, travel speed, cutter head torque, cutter head hydraulic system pressure and engine load of the trencher during construction, and perform preprocessing; Determining the terrain category according to the fuselage posture, including uphill, downhill and flat ground; The formation type is determined according to the travel speed, the cutter head torque, the cutter head hydraulic system pressure and the engine load, including soft soil formation, hard soil formation and rock formation.

3. The trencher control method based on stratum terrain recognition according to claim 2 is characterized in that: The preprocessing includes filtering, noise reduction and normalization.

4. The trencher control method based on stratum terrain recognition according to claim 2 is characterized in that: Determining the formation category according to the travel speed, the cutter head torque, the cutter head hydraulic system pressure and the engine load comprises: If the cutter torque , and the change in cutter torque , then the stratum type is determined to be soft soil stratum; is the proportionality factor, It is directly proportional to the walking speed. is a preset first torque threshold and a first torque change; If the cutter torque , engine load , then the stratum type is determined to be hard soil stratum; is a preset second torque threshold, A first engine load threshold and a second engine load threshold are preset; If the cutter torque , engine load , Cutter hydraulic system pressure , then the stratum type is determined to be rock stratum; is a preset first pressure threshold.

5. The trenching machine control method based on stratum terrain recognition according to claim 1 is characterized in that: The working parameters include control currents of output valves of the cutter head hydraulic system and the travel hydraulic system of the trenching machine.

6. A trenching machine control device based on stratum terrain recognition, characterized in that: include: A stratum terrain recognition module is configured to obtain a stratum terrain category for trenching construction; A processor module is configured to pair corresponding working parameters in a pre-built database according to the acquired formation terrain category; The power control module is configured to control the trencher according to the acquired working parameters.

7. The trenching machine control device based on stratum terrain recognition according to claim 6 is characterized in that: Also includes: The terrain and stratum setting model includes a touch display screen for manually inputting the terrain and stratum category when the terrain and stratum recognition module fails to work properly; or manually modifying the terrain and stratum category when the terrain and stratum recognition module makes an error in recognition.

8. A trenching machine, characterized in that: The trencher is controlled by using the trencher control method based on stratum terrain recognition as described in any one of claims 1-5.

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