Intelligent electro-hydraulic breaking hammer self-adaptive control system

Abstract

The invention discloses an intelligent electro-hydraulic breaking hammer self-adaptive control system which comprises a data acquisition module, a rigidity analysis module and a self-adaptive control module, the data acquisition module is used for transmitting sound waves, receiving reflected sound wave signals and extracting reflection time information, the rigidity analysis module is used for analyzing rigidity data, and the self-adaptive control module is used for controlling the rigidity data. The data acquisition module is used for monitoring the material rigidity change and dynamically adjusting working parameters to provide a basis for a crushing strategy, the self-adaptive control module is used for adjusting the striking force and frequency of the crushing hammer in real time according to the material rigidity, and the data acquisition module and the self-adaptive control module are both electrically connected with the rigidity analysis module. And the problem that a traditional breaking hammer encounters a rock stratum interface or hard minerals is effectively solved. The system has the advantages of being high in response speed, high in control precision, high in adaptability and the like, and has high practical value and popularization prospects.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent control of electro-hydraulic breaker, and in particular to an intelligent electro-hydraulic breaker adaptive control system. Background Art

[0002] In the field of mining, electro-hydraulic breaker, as a key crushing tool, undertakes the important task of crushing rocks. However, traditional breaker has exposed many serious problems in the actual operation process, which greatly limits its operating efficiency and equipment service life.

[0003] Traditional breakers lack the ability to sense changes in material properties in real time. During the crushing operation, when encountering a rock interface or inclusions of hard minerals, the stiffness of the material will change suddenly. However, traditional breakers are unable to detect this change in time and still perform the striking operation according to the preset fixed parameters. For example, when encountering a rock interface with higher hardness, the breaker may operate with a smaller striking force due to the inability to sense the increase in stiffness in real time, resulting in low crushing efficiency or even failure to effectively crush the target material; and when encountering inclusions of hard minerals, excessive striking force may cause excessive impact on the drill rod, causing equipment damage such as drill rod breakage.

[0004] In the prior art, the feedback mechanism that relies on pressure sensors has serious hysteresis. The hysteresis feedback time of pressure sensors is usually greater than 50ms, which means that after a sudden change in material stiffness, the system needs a long time to obtain feedback information and then adjust the operating parameters. In the case of sudden stiffness changes, this hysteresis makes it impossible for the system to adjust the impact force and frequency in time, resulting in serious energy waste and may also cause unnecessary damage to the surrounding environment and equipment.

[0005] In addition, the control method of traditional breaker is relatively simple and lacks intelligent adaptive control strategy. During the crushing process, different materials and operating conditions require different striking forces and frequencies, but traditional breaker cannot be adjusted in real time according to actual conditions, and it is difficult to meet complex and changing operating requirements. Therefore, it is of great practical significance to design an intelligent electro-hydraulic breaker adaptive control system that can sense the change of material stiffness in real time, respond quickly, and adaptively adjust the operating parameters. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent electro-hydraulic breaker adaptive control system to solve the problems raised in the above background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent electro-hydraulic breaker hammer adaptive control system, comprising a data acquisition module, a stiffness analysis module and an adaptive control module, wherein the data acquisition module is used to transmit sound waves and receive reflected sound wave signals, and extract reflection time information, the stiffness analysis module is used to analyze stiffness data to provide a basis for crushing strategies, and the adaptive control module is used to adjust the impact force and frequency of the breaker hammer in real time according to the stiffness of the material, and the data acquisition module and the adaptive control module are both electrically connected to the stiffness analysis module.

[0008] According to the above technical solution, the data acquisition module includes an acoustic wave transmitting submodule, an acoustic wave receiving submodule and a signal processing submodule, the acoustic wave transmitting submodule further includes an acoustic wave generator, a power amplifier, and a transmitting transducer, the acoustic wave transmitting submodule is used to generate and transmit an acoustic wave signal, the acoustic wave receiving submodule further includes a receiving transducer, a preamplifier, and a signal conditioning circuit, the acoustic wave receiving submodule is used to receive the reflected acoustic wave signal and convert it into an electrical signal, the signal processing submodule further includes an analog-to-digital converter and a digital signal processor, and the signal processing submodule is used to process the received acoustic wave signal and extract reflection time information.

[0009] According to the above technical solution, the stiffness analysis module includes a data acquisition submodule, a rock thickness calculation submodule, a crushing target information analysis submodule and a stiffness calculation submodule. The data acquisition submodule is used to acquire data related to the sound wave propagation velocity and material density. The rock thickness calculation submodule is used to calculate the thickness of the rock at the crushing position. The crushing target information analysis submodule is used to identify and analyze and determine the information of the new crushing target. The stiffness calculation submodule is used to calculate the stiffness of the new crushing target material based on the information of the new crushing target determined by analysis.

[0010] According to the above technical solution, the adaptive control module includes a stiffness monitoring submodule, a control strategy output submodule and an actuator control submodule. The stiffness monitoring submodule is used to monitor the stiffness changes of the crushed material in real time, the control strategy output submodule is used to formulate corresponding control strategies according to the stiffness changes, and the actuator control submodule is used to control the action of the actuator by adjusting the pressure and flow of the hydraulic system and the speed and torque parameters of the motor.

[0011] According to the above technical solution, the operation method of the data acquisition module includes the following steps:

[0012] Step S1, generating an acoustic wave signal by using an acoustic wave generator to generate an electrical signal of a preset frequency and amplitude;

[0013] Step S2: the generated electrical signal is amplified by a power amplifier, and the amplified electrical signal is transmitted to the transmitting transducer, and the transducer converts the electrical signal into an acoustic wave signal and transmits it;

[0014] Step S3, the sound wave signal penetrates the rock. When the sound wave encounters a change in the material interface, it will be reflected. The sound wave receiving submodule captures the reflected sound wave signal and preliminarily amplifies the signal strength through the preamplifier;

[0015] Step S4, the signal processing submodule then converts the analog signal into a digital signal, the digital signal processor filters and denoises the digital signal, and then performs feature extraction processing, and finally extracts the time feature and the reflected signal strength feature, and records the total time from transmission to reception, that is, the sound wave reflection time t and the reflected signal strength e.

[0016] According to the above technical solution, the operation method of the stiffness analysis module includes the following steps:

[0017] Step A1: during the crushing operation, input the basic parameters of the current crushed rock, wherein the basic parameters include the density ρ of the current crushed rock and the propagation speed c of the sound wave in the target rock;

[0018] Step A2, taking the current position of the excavator as the center point, the straight line overlapping with the initial direction of the excavator swing arm as the Y axis, and the straight line perpendicular to the Y axis and passing through the center point as the X axis, to establish a temporary position calibration coordinate system;

[0019] Step A3: calibrate the current position (x, y) of the breaker in the position calibration coordinate system, obtain the real-time sound wave reflection time t received by the data acquisition module, and then use the formula Calculate and obtain the thickness d of the rock at the current calibration position (x, y), where t is the sound wave reflection time value, and c is the sound wave propagation speed value in the target rock;

[0020] Step A4: During the crushing operation, the crushing depth of the breaker at the current calibration position is controlled to be lower than the calculated target rock thickness. Step A3 is repeated until the required crushing position exceeds the crushing range of the current excavator position, and a set of adjacent position calibration points {(x1, y1), (x2y2), ..., (x n ,y n )} under the corresponding rock thickness set D = {d1, d2, ..., d n};

[0021] Step A5: Then, in the temporary position calibration coordinate system, all rock depths within the temporary position calibration coordinate system are fitted to generate a rock depth detection fitting diagram;

[0022] Step A6: Identify the rock depth detection fitting graph and analyze the adjacent position calibration point set {(x1,y1), (x2y2), ..., (x n y n )} in the corresponding rock thickness set D = {d1, d2, ..., d n}There is new crushing target information after the material interface changes;

[0023] Step A7: Calculate the new crushing target stiffness after the material interface changes using the stiffness calculation submodule.

[0024] According to the above technical solution, step A6 further includes:

[0025] Step A61, establishing a broken rock material interface change feature database, recording all new broken target information after the material interface changes that occurred in the historical broken process of the current rock into the feature database, wherein the new broken target information includes: area classification, projection shape characteristics, sound wave reflection performance, density, and sound wave propagation speed;

[0026] Step A62: based on the same depth plane, identify the rock depth detection fitting graph, extract the cross-sectional area characteristics and cross-sectional shape characteristics of the new crushing target in the identified depth plane, and then perform feature similarity matching in the broken rock material interface change feature database based on the above characteristics;

[0027] Step A63, screen out new crushing targets whose feature similarity matches reach a threshold value w%, then obtain the acoustic wave reflection performance of the screened new crushing targets, substitute the acoustic wave reflection performance into the simulated reflection intensity e′ when the thickness of the calibration position is d when the rock layer was previously crushed, and compare and verify it with the received reflection signal intensity e;

[0028] Step A64, finally selecting the target information with the smallest comparison verification error as the new crushing target, and outputting the analysis result and the corresponding calibrated position of the result in the temporary position calibration coordinate system;

[0029] Step A65, execute steps A62-A64 in sequence, analyze different depth planes until all calibrated positions have corresponding output analysis results.

[0030] According to the above technical solution, step A7 further includes:

[0031] Step A71: Obtain the analysis results of step A6, determine the new crushing target, and retrieve the database of interface change characteristics of the crushed rock layer material to obtain the density ρ of the new crushing target. x , the propagation speed of the sound wave in the new crushing target c x ;

[0032] Step A72: By formula Calculate the material stiffness of the new crushing target, where E x is the stiffness value of the new crushing target, ρ x The density value of the new crushing target, c x is the propagation velocity value in the new crushing target, λ and μ are Lame constants, which are related to the elastic properties of the material.

[0033] According to the above technical solution, the operating method of the adaptive control module includes the following steps:

[0034] Step B1: monitor the calculation result of the material stiffness value of the new crushing target, and calculate the optimal control parameter according to the stiffness value. The calculation expression is: And output control instructions based on the calculation results F and f, where F and f are the hammer striking force and striking frequency adjusted in real time, F0 and f0 are the current striking force and striking frequency, ΔF and Δf are the range of adjustable parameters corresponding to the current striking force and striking frequency, E x is the stiffness value of the new crushing target, E0 is the stiffness value of the current crushed rock, and E max is the maximum crushing stiffness value, which is obtained by comprehensively analyzing the crushing performance of the current breaker;

[0035] Step B2: The actuator adjusts the striking force F and frequency f of the breaker according to the control instruction.

[0036] According to the above technical solution, in step B1, when E x >E max When the control strategy output submodule outputs an audible and visual alarm command, prompting the staff to avoid the new crushing target below the current position, and giving suggestions for replacing the crushing equipment with stronger crushing capacity.

[0037] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0038] (1) By setting up a data acquisition module, the reflection time information can be accurately extracted. Combined with the stiffness analysis module, the stiffness of the material at the crushing position can be calculated in real time. This real-time perception capability enables the system to promptly detect sudden changes in material stiffness, overcoming the defect that traditional breakers cannot perceive changes in material properties in real time. When encountering a rock interface or inclusions of hard minerals, the system can respond quickly and adjust the operating parameters to avoid drill rod breakage or energy waste caused by sudden changes in stiffness;

[0039] (2) By calculating the optimal control parameters, when the stiffness value of the new crushing target increases compared to the stiffness of the current crushed rock, the impact force is increased to improve the crushing efficiency, and the impact frequency is reduced to reduce the impact load of the drill rod; conversely, when the stiffness value of the crushing target decreases, the impact force is reduced to save energy, and the impact frequency is increased to increase the crushing speed. This intelligent adaptive control strategy ensures that the breaker can maintain the best working state on different materials, greatly improving the crushing efficiency and equipment life.

[0040] (3) By setting up a stiffness analysis module, it is not only possible to calculate the material stiffness, but also to identify and analyze the rock depth detection fitting map, and accurately identify the new crushing target information after the material interface changes; and by establishing a broken rock layer material interface change feature database, feature similarity matching and comparative verification can be performed, so that new crushing targets can be accurately screened out, and the analysis results and their corresponding calibrated positions in the temporary position calibration coordinate system can be output, providing strong support for the full-process monitoring and accurate decision-making of the crushing operation, so that the operator can understand the operation status in a timely manner and make corresponding adjustments;

[0041] (4) By setting up an equipment protection and early warning mechanism, when it is detected that the stiffness value of the new crushing target exceeds the maximum crushing stiffness value, the control strategy output submodule of the adaptive control module will output an audible and visual alarm instruction, prompting the staff to avoid the new crushing target below the current position, and give suggestions for replacing the crushing equipment with stronger crushing capacity, thereby effectively avoiding equipment damage caused by materials being too hard and ensuring the safety of operators and the normal operation of equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0043] In the attached picture:

[0044] Figure 1 It is a schematic diagram of the system module composition of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] See also Figure 1The present invention provides a technical solution: an intelligent electro-hydraulic breaker hammer adaptive control system, including a data acquisition module, a stiffness analysis module and an adaptive control module. The data acquisition module is used to transmit sound waves and receive reflected sound wave signals to extract reflection time information. The stiffness analysis module is used to analyze stiffness data to provide a basis for crushing strategies. The adaptive control module is used to adjust the impact force and frequency of the breaker hammer in real time according to the stiffness of the material. The data acquisition module and the adaptive control module are both electrically connected to the stiffness analysis module.

[0047] The data acquisition module includes an acoustic wave transmitting submodule, an acoustic wave receiving submodule and a signal processing submodule. The acoustic wave transmitting submodule further includes an acoustic wave generator, a power amplifier, and a transmitting transducer. The acoustic wave transmitting submodule is used to generate and transmit acoustic wave signals. The acoustic wave receiving submodule further includes a receiving transducer, a preamplifier, and a signal conditioning circuit. The acoustic wave receiving submodule is used to receive the reflected acoustic wave signal and convert it into an electrical signal. The signal processing submodule further includes an analog-to-digital converter and a digital signal processor. The signal processing submodule is used to process the received acoustic wave signal and extract reflection time information.

[0048] The stiffness analysis module includes a data acquisition submodule, a rock thickness calculation submodule, a crushing target information analysis submodule and a stiffness calculation submodule. The data acquisition submodule is used to obtain data related to the sound wave propagation velocity and material density. The rock thickness calculation submodule is used to calculate the thickness of the rock at the crushing position. The crushing target information analysis submodule is used to identify and analyze the information of the new crushing target. The stiffness calculation submodule is used to calculate the stiffness of the new crushing target material based on the information of the new crushing target determined by analysis.

[0049] The adaptive control module includes a stiffness monitoring submodule, a control strategy output submodule and an actuator control submodule. The stiffness monitoring submodule is used to monitor the stiffness changes of the crushed material in real time. The control strategy output submodule is used to formulate corresponding control strategies according to the stiffness changes. The actuator control submodule is used to control the action of the actuator by adjusting the pressure and flow of the hydraulic system and the speed and torque parameters of the motor.

[0050] The operation method of the data acquisition module includes the following steps:

[0051] Step S1, generating an acoustic wave signal by using an acoustic wave generator to generate an electrical signal of a preset frequency and amplitude;

[0052] Step S2: the generated electrical signal is amplified by a power amplifier, and the amplified electrical signal is transmitted to the transmitting transducer, and the transducer converts the electrical signal into an acoustic wave signal and transmits it;

[0053] Step S3, the sound wave signal penetrates the rock. When the sound wave encounters a change in the material interface, it will be reflected. The sound wave receiving submodule captures the reflected sound wave signal and preliminarily amplifies the signal strength through the preamplifier;

[0054] Step S4, the signal processing submodule then converts the analog signal into a digital signal, the digital signal processor filters and denoises the digital signal, and then performs feature extraction processing, and finally extracts the time feature and the reflected signal strength feature, and records the total time from transmission to reception, that is, the sound wave reflection time t and the reflected signal strength e.

[0055] The operation method of the stiffness analysis module includes the following steps:

[0056] Step A1: during the crushing operation, input the basic parameters of the current crushed rock, wherein the basic parameters include the density ρ of the current crushed rock and the propagation speed c of the sound wave in the target rock;

[0057] Step A2, taking the current position of the excavator as the center point, the straight line overlapping with the initial direction of the excavator swing arm as the Y axis, and the straight line perpendicular to the Y axis and passing through the center point as the X axis, to establish a temporary position calibration coordinate system;

[0058] Step A3: calibrate the current position (x, y) of the breaker in the position calibration coordinate system, obtain the real-time sound wave reflection time t received by the data acquisition module, and then use the formula Calculate and obtain the thickness d of the rock at the current calibration position (x, y), where t is the sound wave reflection time value, and c is the sound wave propagation speed value in the target rock;

[0059] Step A4: During the crushing operation, the crushing depth of the breaker at the current calibration position is controlled to be lower than the calculated target rock thickness. Step A3 is repeated until the required crushing position exceeds the crushing range of the current excavator position, and a set of adjacent position calibration points {(x1, y1), (x2y2), ..., (x n y n )} under the corresponding rock thickness set D = {d1, d2, ..., d n};

[0060] Step A5, then in the temporary position calibration coordinate system, all rock depths within the temporary position calibration coordinate system are fitted to generate a rock depth detection fitting diagram; by establishing the temporary position calibration coordinate system and calculating the rock thickness, the geometric distribution of rocks in the crushing area can be accurately understood, and the rock depth detection fitting diagram intuitively shows the change of rock depth, which provides an important basis for subsequent material interface change analysis and new crushing target identification; the above detailed analysis method improves the understanding of the rock structure in the crushing area, which helps to improve the accuracy and effectiveness of the crushing strategy;

[0061] Step A6: Identify the rock depth detection fitting graph and analyze the adjacent position calibration point set {(x1,y1), (x2y2), …, {x n y n )} in the corresponding rock thickness set D = {d1, d2, ..., d n}There is new crushing target information after the material interface changes;

[0062] Step A7: Calculate the new crushing target stiffness after the material interface changes using the stiffness calculation submodule.

[0063] Step A6 further comprises:

[0064] Step A61, establishing a broken rock material interface change feature database, recording all new broken target information after the material interface changes that occurred in the historical broken process of the current rock into the feature database, wherein the new broken target information includes: area classification, projection shape characteristics, sound wave reflection performance, density, and sound wave propagation speed;

[0065] Step A62: based on the same depth plane, identify the rock depth detection fitting graph, extract the cross-sectional area characteristics and cross-sectional shape characteristics of the new crushing target in the identified depth plane, and then perform feature similarity matching in the broken rock material interface change feature database based on the above characteristics;

[0066] Step A63, screen out new crushing targets whose feature similarity matches reach a threshold value w%, then obtain the acoustic wave reflection performance of the screened new crushing targets, substitute the acoustic wave reflection performance into the simulated reflection intensity e′ when the thickness of the calibration position is d when the rock layer was previously crushed, and compare and verify it with the received reflection signal intensity e;

[0067] Step A64, finally selecting the target information with the smallest comparison verification error as the new crushing target, and outputting the analysis result and the corresponding calibrated position of the result in the temporary position calibration coordinate system;

[0068] Step A65, execute steps A62-A64 in sequence, analyze different depth planes until all calibrated positions have corresponding output analysis results.

[0069] Step A7 further comprises:

[0070] Step A71: Obtain the analysis results of step A6, determine the new crushing target, and retrieve the database of interface change characteristics of the crushed rock layer material to obtain the density ρ of the new crushing target. x , the propagation speed of the sound wave in the new crushing target c x ;

[0071] Step A72: By formula Calculate the material stiffness of the new crushing target, where E x is the stiffness value of the new crushing target, ρ x The density value of the new crushing target, c x is the propagation velocity value in the new crushing target, λ and μ are both Lame constants, which are related to the elastic properties of the material;

[0072] In the formula, by calculating the stiffness of the material of the new crushing target, the crushing difficulty and the required energy of the material can be predicted, thereby optimizing the crushing process, improving efficiency and reducing energy waste, laying the foundation for the breaker to formulate different crushing strategies.

[0073] The method of operating the adaptive control module comprises the following steps:

[0074] Step B1: monitor the calculation result of the material stiffness value of the new crushing target, and calculate the optimal control parameter according to the stiffness value. The calculation expression is: And output control instructions based on the calculation results F and f, where F and f are the hammer striking force and striking frequency adjusted in real time, F0 and f0 are the current striking force and striking frequency, ΔF and Δf are the range of adjustable parameters corresponding to the current striking force and striking frequency, E x is the stiffness value of the new crushing target, E0 is the stiffness value of the current crushed rock, and E max is the maximum crushing stiffness value, which is obtained by the crushing performance of the current crushing hammer. In the formula, when the stiffness value of the new crushing target increases compared with the current crushing rock stiffness, the striking force is increased to improve the crushing efficiency, and the striking frequency is reduced to reduce the impact load of the drill rod to avoid breakage; on the contrary, when the stiffness value of the crushing target decreases compared with the current crushing rock stiffness, the striking force is reduced to save energy, and the striking frequency is increased to increase the crushing speed, so that the crushing hammer can maintain the best working state on different materials through the adaptive control strategy, thereby improving the crushing efficiency and equipment life;

[0075] Step B2: The actuator adjusts the striking force F and frequency f of the breaker according to the control instruction.

[0076] In step B1, when E x >E maxWhen the stiffness value of the new crushing target exceeds the maximum crushing stiffness value, the control strategy output submodule of the adaptive control module will output an audible and visual alarm command to prompt the staff to avoid the new crushing target below the current position, and give a suggestion to replace the crushing equipment with a stronger crushing capability. By setting up an equipment protection and early warning mechanism, when the stiffness value of the new crushing target is monitored to exceed the maximum crushing stiffness value, the control strategy output submodule of the adaptive control module will output an audible and visual alarm command to prompt the staff to avoid the new crushing target below the current position, and give a suggestion to replace the crushing equipment with a stronger crushing capability, thereby effectively avoiding equipment damage caused by materials being too hard and ensuring the safety of operators and the normal operation of equipment.

[0077] 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.

[0078] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0080] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An intelligent electro-hydraulic breaker adaptive control system, comprising a data acquisition module, a stiffness analysis module and an adaptive control module, characterized in that: The data acquisition module is used to transmit sound waves and receive reflected sound wave signals to extract reflection time information. The stiffness analysis module is used to analyze stiffness data to provide a basis for crushing strategies. The adaptive control module is used to adjust the impact force and frequency of the crushing hammer in real time according to the stiffness of the material. The data acquisition module and the adaptive control module are both electrically connected to the stiffness analysis module.

2. The intelligent electro-hydraulic breaker adaptive control system according to claim 1 is characterized by: The data acquisition module includes an acoustic wave transmitting submodule, an acoustic wave receiving submodule and a signal processing submodule. The acoustic wave transmitting submodule further includes an acoustic wave generator, a power amplifier, and a transmitting transducer. The acoustic wave transmitting submodule is used to generate and transmit an acoustic wave signal. The acoustic wave receiving submodule further includes a receiving transducer, a preamplifier, and a signal conditioning circuit. The acoustic wave receiving submodule is used to receive the reflected acoustic wave signal and convert it into an electrical signal. The signal processing submodule further includes an analog-to-digital converter and a digital signal processor. The signal processing submodule is used to process the received acoustic wave signal and extract reflection time information.

3. The intelligent electro-hydraulic breaker adaptive control system according to claim 1 is characterized in that: The stiffness analysis module includes a data acquisition submodule, a rock thickness calculation submodule, a crushing target information analysis submodule and a stiffness calculation submodule. The data acquisition submodule is used to acquire data related to the sound wave propagation velocity and material density. The rock thickness calculation submodule is used to calculate the thickness of the rock at the crushing position. The crushing target information analysis submodule is used to identify and analyze the information of the new crushing target. The stiffness calculation submodule is used to calculate the stiffness of the new crushing target material based on the information of the new crushing target determined by analysis.

4. The intelligent electro-hydraulic breaker adaptive control system according to claim 1 is characterized in that: The adaptive control module includes a stiffness monitoring submodule, a control strategy output submodule and an actuator control submodule. The stiffness monitoring submodule is used to monitor the stiffness changes of the crushed material in real time. The control strategy output submodule is used to formulate corresponding control strategies according to the stiffness changes. The actuator control submodule is used to control the action of the actuator by adjusting the pressure and flow of the hydraulic system and the speed and torque parameters of the motor.

5. The intelligent electro-hydraulic breaker adaptive control system according to claim 2 is characterized in that: The operation method of the data acquisition module comprises the following steps: Step S1, generating an acoustic wave signal by using an acoustic wave generator to generate an electrical signal of a preset frequency and amplitude; Step S2: the generated electrical signal is amplified by a power amplifier, and the amplified electrical signal is transmitted to the transmitting transducer, and the transducer converts the electrical signal into an acoustic wave signal and transmits it; Step S3, the sound wave signal penetrates the rock. When the sound wave encounters a change in the material interface, it will be reflected. The sound wave receiving submodule captures the reflected sound wave signal and preliminarily amplifies the signal strength through the preamplifier; Step S4, the signal processing submodule then converts the analog signal into a digital signal, the digital signal processor filters and denoises the digital signal, and then performs feature extraction processing, and finally extracts the time feature and the reflected signal strength feature, and records the total time from transmission to reception, that is, the sound wave reflection time t and the reflected signal strength e.

6. The intelligent electro-hydraulic breaker adaptive control system according to claim 3 is characterized by: The operation method of the stiffness analysis module comprises the following steps: Step A1: during the crushing operation, input the basic parameters of the current crushed rock, wherein the basic parameters include the density ρ of the current crushed rock and the propagation speed c of the sound wave in the target rock; Step A2, taking the current position of the excavator as the center point, the straight line overlapping with the initial direction of the excavator swing arm as the Y axis, and the straight line perpendicular to the Y axis and passing through the center point as the X axis, to establish a temporary position calibration coordinate system; Step A3: calibrate the current position (x, y) of the breaker in the position calibration coordinate system, obtain the real-time sound wave reflection time t received by the data acquisition module, and then use the formula Calculate and obtain the thickness d of the rock at the current calibration position (x, y), where t is the sound wave reflection time value, and c is the sound wave propagation speed value in the target rock; Step A4: During the crushing operation, the crushing depth of the breaker at the current calibration position is controlled to be lower than the calculated target rock thickness. Step A3 is repeated until the required crushing position exceeds the crushing range of the current excavator position, and a set of adjacent position calibration points {(x1, y1), (x2y2), ..., (x n y n )} under the corresponding rock thickness set D = {d1, d2, ..., d n }; Step A5: Then, in the temporary position calibration coordinate system, all rock depths within the temporary position calibration coordinate system are fitted to generate a rock depth detection fitting diagram; Step A6: Identify the rock depth detection fitting graph and analyze the adjacent position calibration point set {(x1,y1), (x2y2), ..., (x n y n )} in the corresponding rock thickness set D = {d1, d2, ..., d n }There is new crushing target information after the material interface changes; Step A7: Calculate the new crushing target stiffness after the material interface changes using the stiffness calculation submodule.

7. The intelligent electro-hydraulic breaker adaptive control system according to claim 6 is characterized by: The step A6 further comprises: Step A61, establishing a broken rock material interface change feature database, recording all new broken target information after the material interface changes that occurred in the historical broken process of the current rock into the feature database, wherein the new broken target information includes: area classification, projection shape characteristics, sound wave reflection performance, density, and sound wave propagation speed; Step A62: based on the same depth plane, identify the rock depth detection fitting graph, extract the cross-sectional area characteristics and cross-sectional shape characteristics of the new crushing target in the identified depth plane, and then perform feature similarity matching in the broken rock material interface change feature database based on the above characteristics; Step A63, screen out new crushing targets whose feature similarity matches reach a threshold value w%, then obtain the acoustic wave reflection performance of the screened new crushing targets, substitute the acoustic wave reflection performance into the simulated reflection intensity e′ when the thickness of the calibration position is d when the rock layer was previously crushed, and compare and verify it with the received reflection signal intensity e; Step A64, finally selecting the target information with the smallest comparison verification error as the new crushing target, and outputting the analysis result and the corresponding calibrated position of the result in the temporary position calibration coordinate system; Step A65, execute steps A62-A64 in sequence, analyze different depth planes until all calibrated positions have corresponding output analysis results.

8. The intelligent electro-hydraulic breaker adaptive control system according to claim 6 is characterized by: The step A7 further comprises: Step A71: Obtain the analysis results of step A6, determine the new crushing target, and retrieve the database of interface change characteristics of the crushed rock layer material to obtain the density ρ of the new crushing target. x , the propagation speed of the sound wave in the new crushing target c x ; Step A72: By formula Calculate the material stiffness of the new crushing target, where E x is the stiffness value of the new crushing target, ρ x The density value of the new crushing target, c x is the propagation velocity value in the new crushing target, λ and μ are Lame constants, which are related to the elastic properties of the material.

9. The intelligent electro-hydraulic breaker adaptive control system according to claim 4, characterized in that: The operating method of the adaptive control module comprises the following steps: Step B1: monitor the calculation result of the material stiffness value of the new crushing target, and calculate the optimal control parameter according to the stiffness value. The calculation expression is: And output control instructions based on the calculation results F and f; where F and f are the hammer striking force and striking frequency adjusted in real time, F0 and f0 are the current striking force and striking frequency, ΔF and Δf are the range of adjustable parameters corresponding to the current striking force and striking frequency, E x is the stiffness value of the new crushing target, E0 is the stiffness value of the current crushed rock, and E max is the maximum crushing stiffness value, which is obtained by comprehensively analyzing the crushing performance of the current breaker; Step B2: The actuator adjusts the striking force F and frequency f of the breaker according to the control instruction.

10. The intelligent electro-hydraulic breaker adaptive control system according to claim 9, characterized in that: In step B1, when E x >E max When the control strategy output submodule outputs an audible and visual alarm command, prompting the staff to avoid the new crushing target below the current position, and giving suggestions for replacing the crushing equipment with stronger crushing capacity.

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