Automatic retraction and extension control system for excavating device

Abstract

The present invention relates to an automatic retractable control system for an excavating device, and relates to the technical field of excavating machinery. The present invention comprises a slope excavating device body, an inclination sensor and a wire sensor 1 are arranged at the end of the slope excavating device body; a wire sensor 2 is arranged at one side of the slope excavating device body; a guide column cylinder is arranged at one end of the slope excavating device body, and a guide groove cylinder 1 and a guide groove cylinder 2 are arranged at one side of the slope excavating device body; the automatic control conditions of the excavating device of railway engineering vehicles can be met, so that the overall automation degree is more superior, and the mathematical model can display the vertex trajectory of the excavating device in real time, and improve the safety of operation and driving operations.

Description

Technical Field

[0001] The present invention relates to the technical field of excavating machinery, and in particular to an automatic retracting and extending control system of an excavating device. Background Art

[0002] The excavator is one of the core devices of large-scale road maintenance and screening machinery, which is related to the efficiency and quality of ballast cleaning. In order to ensure that the excavator can operate efficiently and stably, firstly, the driving system of the excavator adopts advanced hydraulic technology to ensure the flexible movement and strong power of the excavator arm. Secondly, the material of the excavator teeth has been specially treated to have extremely high wear resistance and impact resistance, thereby extending the service life and reducing maintenance costs. As the core component of large-scale road maintenance and screening machinery, the design and performance of the excavator are directly related to the success or failure of railway maintenance operations.

[0003] The excavation devices currently used on railways are designed with partial interlocking and protection functions for excavation control. The excavation position and excavation depth require human cooperation and have a low degree of automation. When in use, the position is manually observed and the excavation width is manually adjusted, which makes the auxiliary operation time long and the efficiency low. In addition, the method of manually observing the position requires high professionalism of the operator. Due to limited vision, the operator in the driver's cab cannot obtain the accurate operating position when identifying the real-time position of the excavation device, which is prone to misoperation and affects the operation efficiency. Summary of the invention

[0004] The present invention provides an automatic retracting and extending control system for an excavating device, which is used for the automated control conditions of an excavating device for railway engineering vehicles, making the overall automation level more superior, and displaying the vertex trajectory of the excavating device in real time through a mathematical model based on sensor data, thereby improving the safety of operation and driving operations.

[0005] The present invention provides an automatic retractable control system for an excavating device, comprising:

[0006] A slope excavation device body, wherein an inclination sensor and a cable sensor 1 are fixedly mounted at the end of the slope excavation device body, and the inclination sensor and the cable sensor 1 are located at the same end;

[0007] A second pull-wire sensor is fixedly installed on one side of the main body of the slope excavation device, and the second pull-wire sensor and the first pull-wire sensor are located on the same side of the main body of the slope excavation device;

[0008] A guide column oil is fixedly installed at one end of the slope excavation device body, and a guide groove cylinder 1 and a guide groove cylinder 2 are fixedly installed on one side of the slope excavation device body. The guide groove cylinder 1 and the guide groove cylinder 2 are arranged at the bottom of the slope excavation device body.

[0009] Preferably, the main body of the slope excavation device is mounted on the engineering vehicle by rotating the guide column;

[0010] The main body of the slope excavation device is installed on the corresponding position of the engineering vehicle through a set of rotating guide columns, which not only ensures the stability of the main body of the device during the excavation operation, but also gives it a certain flexibility, so that it can be properly adjusted and positioned according to the actual terrain and excavation needs;

[0011] Through this design, the excavation device can perform slope excavation operations more efficiently, while reducing dependence on engineering vehicles and improving the flexibility and adaptability of the overall operation.

[0012] Preferably, the inclination sensor is arranged at the rotating guide column of the main body of the slope excavation device, and the inclination sensor is used to measure the excavation angle, and calculate the excavation depth of the Z-direction projection through the excavation angle;

[0013] The main function of the inclinometer is to monitor and measure the angle of the excavation device during operation in real time. By accurately acquiring these angle data, the excavation depth can be further calculated, which not only ensures the accuracy of the excavation operation, but also improves the efficiency and safety of the entire operation process.

[0014] Preferably, the first and second wire sensors are arranged in the Y-axis direction of the guide groove of the main body of the slope excavation device, and the first and second wire sensors are used to measure the Y-axis movement distance of the main body of the slope excavation device;

[0015] The main functions of the draw-wire sensor 1 and the draw-wire sensor 2 are to accurately measure and monitor the moving distance of the slope excavation device body, and to obtain the displacement data of the slope excavation device body in real time, thereby further ensuring the accuracy and safety of the excavation operation.

[0016] Preferably, the guide column cylinder is used to control the Y-axis movement of the main body of the slope excavation device;

[0017] The guide cylinder is a key component for movement in the Y-axis direction. This guide cylinder can accurately adjust and control the lifting and lowering movement of the excavation device through its internal hydraulic system, thereby achieving the purpose of accurate excavation of the slope;

[0018] The use of guide cylinders not only improves the efficiency of excavation operations, but also ensures stability and safety during operations;

[0019] By precisely controlling the movement of the excavation device body in the Y-axis direction, the excavation depth and angle can be effectively adjusted to meet the excavation needs under different terrain and geological conditions.

[0020] Preferably, the guide groove cylinder 1 and the guide groove cylinder 2 are respectively used to realize the movement of the slope excavation device body in the Z-axis direction and the Y-axis direction.

[0021] Preferably, the sensor installation and selection are suitable for slope excavation devices or other similar devices.

[0022] Preferably, the guide groove cylinder 1 is arranged at the guide groove at the bottom of the slope excavation device body.

[0023] Preferably, the guide groove oil cylinder 2 is arranged at the guide groove of the slope excavation device body close to the rotating guide column.

[0024] Compared with the prior art, the advantages of the present invention are:

[0025] The present invention proposes an innovative automatic retraction and extension control system for an excavating device, which meets the demand for automated control of the excavating device in railway engineering vehicles, significantly improves the overall automation level, and makes it more efficient and superior; at the same time, it realizes precise control of the excavating device, thereby ensuring efficiency and safety during the operation. Through this automatic retraction and extension control system, the excavating device of the railway engineering vehicle can operate stably under various complex working conditions, greatly improving the operating efficiency and engineering quality.

[0026] The invention is a control scheme for an excavating device. The mathematical model can display the vertex track of the excavating device in real time, thereby improving the safety of operation and driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0028] Figure 1 It is a schematic diagram of the slope excavation device in the present invention;

[0029] Figure 2 It is a model for measuring the front view angle of the slope excavation device of the present invention;

[0030] Figure 3 It is a model for measuring the front view offset of the slope excavation device of the present invention;

[0031] Figure 4 It is a side view measurement model of the slope excavation device of the present invention;

[0032] Figure 5 The invention discloses a top-view measurement model of a slope excavation device.

[0033] Reference numerals:

[0034] The slope excavation device body 1, the inclination sensor 2, the guide column cylinder 3, the guide groove cylinder 1 4, the guide groove cylinder 2 5, the pull wire sensor 1 6, the pull wire sensor 2 7. DETAILED DESCRIPTION

[0035] In order to more clearly illustrate the overall concept of the present invention, a detailed description is given below in an exemplary manner in conjunction with the accompanying drawings.

[0036] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0037] In addition, in the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected bodies are not connected through an intermediate structure, but are only connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0039] In the present invention, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0040] The present invention provides an automatic retractable control system for an excavating device, comprising:

[0041] A side slope excavation device body 1, wherein the side slope excavation device body 1 is mounted on an engineering vehicle by rotating a guide column;

[0042] The main body of the slope excavation device is installed on the corresponding position of the engineering vehicle through a set of rotating guide columns, which not only ensures the stability of the main body of the device during the excavation operation, but also gives it a certain flexibility, so that it can be properly adjusted and positioned according to the actual terrain and excavation needs;

[0043] This design enables the excavation device to perform slope excavation operations more efficiently, while reducing dependence on engineering vehicles and improving the flexibility and adaptability of the overall operation;

[0044] The end of the slope excavation device body 1 is provided with an inclination sensor 2 and a wire sensor 6. The inclination sensor 2 is provided at the rotating guide column of the slope excavation device body 1. The inclination sensor 2 is used to measure the excavation angle and calculate the excavation depth of the Z-direction projection through the excavation angle.

[0045] The main function of the inclination sensor is to monitor and measure the angle of the excavation device in real time during operation. By accurately obtaining these angle data, the excavation depth can be further calculated, which not only ensures the accuracy of the excavation operation, but also improves the efficiency and safety of the entire operation process.

[0046] A pull-wire sensor 2 7 is provided on one side of the main body 1 of the side slope excavation device. The pull-wire sensor 1 6 and the pull-wire sensor 2 7 are provided in the Y-axis direction of the guide groove of the main body 1 of the side slope excavation device. The pull-wire sensor 1 6 and the pull-wire sensor 2 7 are used to measure the Y-axis moving distance of the main body 1 of the side slope excavation device.

[0047] The main functions of the cable sensor 1 and the cable sensor 2 are to accurately measure and monitor the moving distance of the main body of the slope excavation device, and to obtain the displacement data of the main body of the slope excavation device in real time, thereby further ensuring the accuracy and safety of the excavation operation;

[0048] A guide column cylinder 3 is provided at one end of the main body 1 of the side slope excavation device, and the guide column cylinder 3 is used to control the Y-axis movement of the main body 1 of the side slope excavation device;

[0049] The guide cylinder is a key component for movement in the Y-axis direction. This guide cylinder can accurately adjust and control the lifting and lowering movement of the excavation device through its internal hydraulic system, thereby achieving the purpose of accurate excavation of the slope;

[0050] The use of guide cylinders not only improves the efficiency of excavation operations, but also ensures stability and safety during operations;

[0051] By precisely controlling the movement of the excavation device body in the Y-axis direction, the excavation depth and angle can be effectively adjusted to meet the excavation needs under different terrain and geological conditions;

[0052] A guide groove cylinder 1 4 and a guide groove cylinder 2 5 are provided on one side of the main body 1 of the slope excavation device, and the guide groove cylinder 1 4 and the guide groove cylinder 2 5 are used to realize the movement of the main body 1 of the slope excavation device in the Z-axis direction and the Y-axis direction respectively;

[0053] The guide groove oil cylinder 1 is arranged at the guide groove at the bottom of the main body of the slope excavation device;

[0054] The guide groove oil cylinder 2 is arranged at the guide groove of the slope excavation device body close to the rotating guide column.

[0055] Embodiment 1:

[0056] refer to Figure 1 As shown, Figure 1 It is a schematic diagram of the slope excavation device in the present invention;

[0057] refer to Figure 2 As shown, Figure 2 It is a model for measuring the front view angle of the slope excavation device of the present invention;

[0058] In this embodiment, Figure 2 Taking the selected vertex as an example, the length of the hypotenuse of the main body 1 of the slope excavation device is fixed: L = 3489.5 mm, the mounting plate of the inclination sensor 2 forms a fixed angle (90 + 57) ° with the hypotenuse, when the main body 1 of the slope excavation device rotates, the angle detected by the inclination sensor 2 is set to θ1, and the angle between the hypotenuse of the main body 1 of the slope excavation device and the vertical line is set to α;

[0059] Then: the angle between the hypotenuse of the slope excavation device body 1 and the sensor surface is (θ1+α+90)=(90+57)°. Therefore, when the slope excavation device body 1 is parallel to the vehicle body, the vertical distance of the vertex relative to the extrapolation axis is set to z, and the horizontal distance is set to x, where X1 is the offset value of X.

[0060] z=lcos(α)=3489.5*cos(147-90-θ1)

[0061] x=lsin(α)=3489.5*cos(147-90-θ1)+X1

[0062] y=L2+Y1+LW

[0063] Embodiment 2:

[0064] refer to Figure 1 As shown, Figure 1 It is a schematic diagram of the slope excavation device in the present invention;

[0065] refer to Figure 3 As shown, Figure 3 It is a model for measuring the front view offset of the slope excavation device of the present invention;

[0066] Referring to the first embodiment, the length of the hypotenuse of the main body 1 of the slope excavation device is fixed: L = 3489.5 mm, the mounting plate of the inclination sensor 2 forms a fixed angle (90 + 57) ° with the hypotenuse, when the main body 1 of the slope excavation device rotates, the angle detected by the inclination sensor 2 is set to θ1, and the angle between the hypotenuse of the main body 1 of the slope excavation device and the vertical line is set to α;

[0067] Then: the angle between the hypotenuse of the slope excavation device body 1 and the sensor surface is (θ1+α+90)=(90+57)°. Therefore, when the slope excavation device body 1 is parallel to the vehicle body, the vertical distance of the vertex relative to the extrapolation axis is set to z, and the horizontal distance is set to x, where X1 is the offset value of X.

[0068] z=lcos(α)=3489.5*cos(147-90-θ1)

[0069] x=lsin(α)=3489.5*cos(147-90-θ1)+X1

[0070] y=L2+Y1+LW

[0071] Based on the first embodiment, in this embodiment, Figure 3 As shown, the projection distance detected by the wire sensor 1 6 is L2; ​​the projection distance detected by the wire sensor 2 7 is L3; when in an ideal parallel state, the measured distance is the projection distance; the projection distance between the two sensor wire points is Lx; the device width (i.e., the sensor measurement difference) is Lw=730mm; the offset distance of the wire sensor 2 7 is Ly; the offset angle of the main body 1 of the slope excavation device is θ2;

[0072] According to the motion relationship, the measurement point of the wire sensor 27 moves in a sector-shaped area, which can be calculated using a triangular relationship;

[0073] When the main body 1 of the slope excavation device is parallel to the vehicle body, L2-L3=Lw=730mm;

[0074] When an offset occurs, L2-L3=Lw+Ly;

[0075] (If Ly is negative, it means the device is biased externally)

[0076] Ly=L3y+L2y

[0077] The triangle relationship can be obtained:

[0078] sin(θ2)=(L3y / L3x)

[0079] θ2=arcsin(L3y / L3x)

[0080] According to the value of θ2, the vertex offset can be calculated:

[0081] x1=4596(1-cos(θ2))

[0082] y1=4596*sin(θ2)

[0083] Embodiment three:

[0084] refer to Figure 1 As shown, Figure 1 It is a schematic diagram of the slope excavation device in the present invention;

[0085] refer to Figure 4 As shown, Figure 4 It is a side view measurement model of the slope excavation device of the present invention;

[0086] refer to Figure 5 As shown, Figure 5 It is a top-view measurement model of the slope excavation device of the present invention;

[0087] Referring to the first embodiment, the length of the hypotenuse of the main body 1 of the slope excavation device is fixed: L = 3489.5 mm, the mounting plate of the inclination sensor 2 forms a fixed angle (90 + 57) ° with the hypotenuse, when the main body 1 of the slope excavation device rotates, the angle detected by the inclination sensor 2 is set to θ1, and the angle between the hypotenuse of the main body 1 of the slope excavation device and the vertical line is set to α;

[0088] Then: The angle between the slope excavation device body 1 and the sensor surface is (θ1+α+90)=

[0089] (90+57)°, so when the main body 1 of the slope excavation device is parallel to the vehicle body, the vertical distance of the vertex relative to the extrapolated axis is set to z, and the horizontal distance is set to x, where X1 is the offset value of X.

[0090] z=lcos(α)=3489.5*cos(147-90-θ1)

[0091] x=lsin(α)=3489.5*cos(147-90-θ1)+X1

[0092] y=L2+Y1+LW

[0093] Referring to the second embodiment, the projection distance detected by the wire sensor 1 6 is L2; ​​the projection distance detected by the wire sensor 2 7 is L3; when in an ideal parallel state, the measured distance is the projection distance; the projection distance between the two sensor wire points is Lx; the device width (i.e., the sensor measurement difference) is Lw=730mm;

[0094] The offset distance of the wire sensor 2 7 is Ly; the offset angle of the slope excavation device body 1 is θ2;

[0095] According to the motion relationship, the measurement point of the wire sensor 27 moves in a sector-shaped area, which can be calculated using a triangular relationship;

[0096] When the main body 1 of the slope excavation device is parallel to the vehicle body, L2-L3=Lw=730mm;

[0097] When an offset occurs, L2-L3=Lw+Ly;

[0098] (If Ly is negative, it means the device is biased externally)

[0099] Ly=L3y+L2y

[0100] The triangle relationship can be obtained:

[0101] sin(θ2)=(L3y / L3x)

[0102] θ2=arcsin(L3y / L3x)

[0103] According to the value of θ2, the vertex offset can be calculated:

[0104] x1=4596(1-cos(θ2))

[0105] y1=4596*sin(θ2)

[0106] Based on the first and second embodiments, in this embodiment, Figure 4 , Figure 5 As shown in FIG. 1 , when the main body 1 of the slope excavation device rotates, the wire sensor 1 6 and the wire sensor 2 7 will generate a circular motion around the axis, as shown in FIG. Figure 2 As shown, the rotation amount can be calculated based on the right triangle:

[0107] That is, the detection angle of the inclination sensor is θ1, and the projection distances between the wire drawing points of the wire drawing sensor 1 6 and the wire drawing sensor 2 7 and the axis are L2x and L3x as shown in the figure;

[0108] Then we can get: L2h = L2x*sin(θ1); L3h = L3x*sin(θ1);

[0109] Projecting this angle relationship to the left view, the detection projection distances of the wire sensor 1 6 and the wire sensor 2 7 are L2 and L3, which form a right triangle relationship with the offsets L2h and L3h. Assuming that the measured distances of the two sensors after the offset are L2l and L3l, we can get:

[0110] (L2L)2=L22+L2h2

[0111] (L3L)2=L32+L3h2

[0112] In this embodiment, based on the above mathematical model, the real-time position coordinates of the vertex of the slope excavation device relative to the initial parking position can be obtained, and the excavation and vehicle retracting and release control can be completed. The real-time motion trajectory of the device is determined by the model, and the retracting and release logic is judged; the excavation depth and swing angle of the slope excavation device are obtained according to the measurement model.

[0113] Embodiment 4:

[0114] refer to Figure 1 As shown, Figure 1 It is a schematic diagram of the slope excavation device in the present invention;

[0115] refer to Figure 4 As shown, Figure 4 It is a side view measurement model of the slope excavation device of the present invention;

[0116] refer to Figure 5 As shown, Figure 5 It is a top-view measurement model of the slope excavation device of the present invention;

[0117] Referring to the first embodiment, the length of the hypotenuse of the main body 1 of the slope excavation device is fixed: L = 3489.5 mm, the mounting plate of the inclination sensor 2 forms a fixed angle (90 + 57) ° with the hypotenuse, when the main body 1 of the slope excavation device rotates, the angle detected by the inclination sensor 2 is set to θ1, and the angle between the hypotenuse of the main body 1 of the slope excavation device and the vertical line is set to α;

[0118] Then: the angle between the hypotenuse of the slope excavation device body 1 and the sensor surface is (θ1+α+90)=(90+57)°. Therefore, when the slope excavation device body 1 is parallel to the vehicle body, the vertical distance of the vertex relative to the extrapolation axis is set to z, and the horizontal distance is set to x, where X1 is the offset value of X.

[0119] z=lcos(α)=3489.5*cos(147-90-θ1)

[0120] x=lsin(α)=3489.5*cos(147-90-θ1)+X1

[0121] y=L2+Y1+LW

[0122] Referring to the second embodiment, the projection distance detected by the wire sensor 1 6 is L2; ​​the projection distance detected by the wire sensor 2 7 is L3; when in an ideal parallel state, the measured distance is the projection distance; the projection distance between the two sensor wire points is Lx; the device width (i.e., the sensor measurement difference) is Lw=730mm; the offset distance of the wire sensor 2 7 is Ly; the offset angle of the slope excavation device body 1 is θ2;

[0123] According to the motion relationship, the measurement point of the wire sensor 27 moves in a sector-shaped area, which can be calculated using a triangular relationship;

[0124] When the main body 1 of the slope excavation device is parallel to the vehicle body, L2-L3=Lw=730mm;

[0125] When an offset occurs, L2-L3=Lw+Ly;

[0126] (If Ly is negative, it means the device is biased externally)

[0127] Ly=L3y+L2y

[0128] The triangle relationship can be obtained:

[0129] sin(θ2)=(L3y / L3x)

[0130] θ2=arcsin(L3y / L3x)

[0131] According to the value of θ2, the vertex offset can be calculated:

[0132] x1=4596(1-cos(θ2))

[0133] y1=4596*sin(θ2)

[0134] Referring to Example 3, in this embodiment, Figure 4 , Figure 5 As shown in FIG. 1 , when the main body 1 of the slope excavation device rotates, the wire sensor 1 6 and the wire sensor 2 7 will generate a circular motion around the axis, as shown in FIG. Figure 2 As shown, the rotation amount can be calculated based on the right triangle:

[0135] That is, the detection angle of the inclination sensor is θ1, and the projection distances between the wire drawing points of the wire drawing sensor 1 6 and the wire drawing sensor 2 7 and the axis are L2x and L3x as shown in the figure;

[0136] Then we can get: L2h = L2x*sin(θ1); L3h = L3x*sin(θ1);

[0137] Projecting this angle relationship to the left view, the detection projection distances of the wire sensor 1 6 and the wire sensor 2 7 are L2 and L3, which form a right triangle relationship with the offsets L2h and L3h. Assuming that the measured distances of the two sensors after the offset are L2l and L3l, we can get:

[0138] (L2L)2=L22+L2h2

[0139] (L3L)2=L32+L3h2

[0140] In this embodiment, based on the above mathematical model, the real-time position coordinates of the vertex of the slope excavation device relative to the initial parking position can be obtained, and the excavation and vehicle retracting and release control can be completed. The real-time motion trajectory of the device is determined by the model, and the retracting and release logic is judged; the excavation depth and swing angle of the slope excavation device are obtained according to the measurement model.

[0141] On the basis of the third embodiment, the coding of the inclination sensor is modified in this embodiment, and the inclination sensor is installed on the rotating guide column so as to accurately locate the rotation angle of the guide column. The remaining features are the same as those of the third embodiment.

[0142] Embodiment five:

[0143] refer to Figure 1 As shown, Figure 1 It is a schematic diagram of the slope excavation device in the present invention;

[0144] refer to Figure 4 As shown, Figure 4 It is a side view measurement model of the slope excavation device of the present invention;

[0145] refer to Figure 5 As shown, Figure 5 It is a top-view measurement model of the slope excavation device of the present invention;

[0146] Referring to the first embodiment, the length of the hypotenuse of the main body 1 of the slope excavation device is fixed: L = 3489.5 mm, the mounting plate of the inclination sensor 2 forms a fixed angle (90 + 57) ° with the hypotenuse, when the main body 1 of the slope excavation device rotates, the angle detected by the inclination sensor 2 is set to θ1, and the angle between the hypotenuse of the main body 1 of the slope excavation device and the vertical line is set to α;

[0147] Then: The angle between the slope excavation device body 1 and the sensor surface is (θ1+α+90)=

[0148] (90+57)°, so when the main body 1 of the slope excavation device is parallel to the vehicle body, the vertical distance of the vertex relative to the extrapolated axis is set to z, and the horizontal distance is set to x, where X1 is the offset value of X.

[0149] z=lcos(α)=3489.5*cos(147-90-θ1)

[0150] x=lsin(α)=3489.5*cos(147-90-θ1)+X1

[0151] y=L2+Y1+LW

[0152] Referring to the second embodiment, the projection distance detected by the wire sensor 1 6 is L2; ​​the projection distance detected by the wire sensor 2 7 is L3; when in an ideal parallel state, the measured distance is the projection distance; the projection distance between the two sensor wire points is Lx; the device width (i.e., the sensor measurement difference) is Lw=730mm;

[0153] The offset distance of the wire sensor 2 7 is Ly; the offset angle of the slope excavation device body 1 is θ2;

[0154] According to the motion relationship, the measurement point of the wire sensor 27 moves in a sector-shaped area, which can be calculated using a triangular relationship;

[0155] When the main body 1 of the slope excavation device is parallel to the vehicle body, L2-L3=Lw=730mm;

[0156] When an offset occurs, L2-L3=Lw+Ly;

[0157] (If Ly is negative, it means the device is biased externally)

[0158] Ly=L3y+L2y

[0159] The triangle relationship can be obtained:

[0160] sin(θ2)=(L3y / L3x)

[0161] θ2=arcsin(L3y / L3x)

[0162] According to the value of θ2, the vertex offset can be calculated:

[0163] x1=4596(1-cos(θ2))

[0164] y1=4596*sin(θ2)

[0165] Based on the first and second embodiments, in this embodiment, Figure 4 , Figure 5 As shown in FIG. 1 , when the main body 1 of the slope excavation device rotates, the wire sensor 1 6 and the wire sensor 2 7 will generate a circular motion around the axis, as shown in FIG. Figure 2 As shown, the rotation amount can be calculated based on the right triangle:

[0166] That is, the detection angle of the inclination sensor is θ1, and the projection distances between the wire drawing points of the wire drawing sensor 1 6 and the wire drawing sensor 2 7 and the axis are L2x and L3x as shown in the figure;

[0167] Then we can get: L2h = L2x*sin(θ1); L3h = L3x*sin(θ1);

[0168] Projecting this angle relationship to the left view, the detection projection distances of the wire sensor 1 6 and the wire sensor 2 7 are L2 and L3, which form a right triangle relationship with the offsets L2h and L3h. Assuming that the measured distances of the two sensors after the offset are L2l and L3l, we can get:

[0169] (L2L)2=L22+L2h2

[0170] (L3L)2=L32+L3h2

[0171] In this embodiment, based on the above mathematical model, the real-time position coordinates of the vertex of the slope excavation device relative to the initial parking position can be obtained, and the excavation and vehicle retracting and release control can be completed. The real-time motion trajectory of the device is determined by the model, and the retracting and release logic is judged; the excavation depth and swing angle of the slope excavation device are obtained according to the measurement model.

[0172] Embodiment 4:

[0173] refer to Figure 1 As shown, Figure 1 It is a schematic diagram of the slope excavation device in the present invention;

[0174] refer to Figure 4 As shown, Figure 4 It is a side view measurement model of the slope excavation device of the present invention;

[0175] refer to Figure 5 As shown, Figure 5 It is a top-view measurement model of the slope excavation device of the present invention;

[0176] Referring to the first embodiment, the length of the hypotenuse of the main body 1 of the slope excavation device is fixed: L = 3489.5 mm, the mounting plate of the inclination sensor 2 forms a fixed angle (90 + 57) ° with the hypotenuse, when the main body 1 of the slope excavation device rotates, the angle detected by the inclination sensor 2 is set to θ1, and the angle between the hypotenuse of the main body 1 of the slope excavation device and the vertical line is set to α;

[0177] Then: the angle between the hypotenuse of the slope excavation device body 1 and the sensor surface is (θ1+α+90)=(90+57)°. Therefore, when the slope excavation device body 1 is parallel to the vehicle body, the vertical distance of the vertex relative to the extrapolation axis is set to z, and the horizontal distance is set to x, where X1 is the offset value of X.

[0178] z=lcos(α)=3489.5*cos(147-90-θ1)

[0179] x=lsin(α)=3489.5*cos(147-90-θ1)+X1

[0180] y=L2+Y1+LW

[0181] Referring to the second embodiment, the projection distance detected by the wire sensor 1 6 is L2; ​​the projection distance detected by the wire sensor 2 7 is L3; when in an ideal parallel state, the measured distance is the projection distance; the projection distance between the two sensor wire points is Lx; the device width (i.e., the sensor measurement difference) is Lw=730mm; the offset distance of the wire sensor 2 7 is Ly; the offset angle of the slope excavation device body 1 is θ2;

[0182] According to the motion relationship, the measurement point of the wire sensor 27 moves in a sector-shaped area, which can be calculated using a triangular relationship;

[0183] When the main body 1 of the slope excavation device is parallel to the vehicle body, L2-L3=Lw=730mm;

[0184] When an offset occurs, L2-L3=Lw+Ly;

[0185] (If Ly is negative, it means the device is biased externally)

[0186] Ly=L3y+L2y

[0187] The triangle relationship can be obtained:

[0188] sin(θ2)=(L3y / L3x)

[0189] θ2=arcsin(L3y / L3x)

[0190] According to the value of θ2, the vertex offset can be calculated:

[0191] x1=4596(1-cos(θ2))

[0192] y1=4596*sin(θ2)

[0193] Referring to Example 3, in this embodiment, Figure 4 , Figure 5 As shown in FIG. 1 , when the main body 1 of the slope excavation device rotates, the wire sensor 1 6 and the wire sensor 2 7 will generate a circular motion around the axis, as shown in FIG. Figure 2 As shown, the rotation amount can be calculated based on the right triangle:

[0194] That is, the detection angle of the inclination sensor is θ1, and the projection distances between the wire drawing points of the wire drawing sensor 1 6 and the wire drawing sensor 2 7 and the axis are L2x and L3x as shown in the figure;

[0195] Then we can get: L2h = L2x*sin(θ1); L3h = L3x*sin(θ1);

[0196] Projecting this angle relationship to the left view, the detection projection distances of the wire sensor 1 6 and the wire sensor 2 7 are L2 and L3, which form a right triangle relationship with the offsets L2h and L3h. Assuming that the measured distances of the two sensors after the offset are L2l and L3l, we can get:

[0197] (L2L)2=L22+L2h2

[0198] (L3L)2=L32+L3h2

[0199] In this embodiment, based on the above mathematical model, the real-time position coordinates of the vertex of the slope excavation device relative to the initial parking position can be obtained, and the excavation and vehicle retracting and release control can be completed. The real-time motion trajectory of the device is determined by the model, and the retracting and release logic is judged; the excavation depth and swing angle of the slope excavation device are obtained according to the measurement model.

[0200] On the basis of the third embodiment, the wire sensor is replaced with an ultrasonic sensor in this embodiment to measure the Y-direction motion trajectory in real time. The vertex position of the slope excavation device can still be obtained through the model, and the remaining features are the same as those of the third embodiment.

[0201] The present invention provides an automatic retraction and extension control system for an excavating device, aiming to solve the problems mentioned in the analysis of the prior art, and to provide a prerequisite for the automated operation of the excavating device of railway engineering vehicles. By arranging sensors on the slope excavating device, the position of the device can be observed in real time on the HMI, and automatic retraction and extension and other controls can be performed according to the position parameters, thereby improving the safety performance design to a greater extent and making the operation performance more convenient.

[0202] The present invention is implemented through the following technical solutions: an automatic retracting and releasing control system for an excavation device, taking a slope excavation device as an example, including sensor selection and layout, detection model and scheme, and applicable control scheme. Sensor selection and layout include: the layout and installation measures of the selected inclination sensor and displacement sensor on the device; the detection control model includes: detecting the lateral displacement position of the guide column of the slope excavation device, detecting the depth and swing angle of the guide groove;

[0203] The control scheme includes: based on the detection model, it is suitable for the retraction and extension control of the device, the excavation control of the device

[0204] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automatic retractable control system for an excavating device, characterized in that: include: A slope excavation device body, wherein an inclination sensor and a cable sensor 1 are fixedly mounted at the end of the slope excavation device body, and the inclination sensor and the cable sensor 1 are located at the same end; A second pull-wire sensor is fixedly installed on one side of the main body of the slope excavation device, and the second pull-wire sensor and the first pull-wire sensor are located on the same side of the main body of the slope excavation device; A guide column oil is fixedly installed at one end of the slope excavation device body, and a guide groove cylinder 1 and a guide groove cylinder 2 are fixedly installed on one side of the slope excavation device body. The guide groove cylinder 1 and the guide groove cylinder 2 are arranged at the bottom of the slope excavation device body.

2. The automatic retraction and extension control system of the excavating device according to claim 1, characterized in that: The main body of the slope excavation device is installed on the engineering vehicle through a rotating guide column.

3. The automatic retractable control system for the excavating device according to claim 1, characterized in that: The inclination sensor is arranged on the rotating guide column of the main body of the slope excavation device.

4. The automatic retraction and extension control system of the excavating device according to claim 1, characterized in that: The inclination sensor is used to measure the digging angle and calculate the digging depth according to the digging angle.

5. The automatic retractable control system for an excavating device according to claim 1, characterized in that: The first pull-wire sensor and the second pull-wire sensor are arranged in the Y-axis direction of the main guide groove of the slope excavation device.

6. The automatic retracting and extending control system of the excavating device according to claim 1, characterized in that: The first and second pull-wire sensors are used to measure the Y-direction moving distance of the main body of the slope excavation device.

7. The automatic retractable control system for an excavating device according to claim 1, characterized in that: The guide column cylinder is used to control the Y-axis movement of the slope excavation device body.

8. The automatic retractable control system for an excavating device according to claim 1, characterized in that: The guide groove cylinder 1 and the guide groove cylinder 2 are respectively used to realize the movement of the slope excavation device body in the Z-axis direction and the Y-axis direction.

9. The automatic retracting and extending control system of the excavating device according to claim 1, characterized in that: The guide groove oil cylinder 1 is arranged at the guide groove at the bottom of the main body of the slope excavation device.

10. The automatic retracting and extending control system of the excavating device according to claim 1, characterized in that: The guide groove oil cylinder 2 is arranged at the guide groove of the slope excavation device body close to the rotating guide column.

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