A method and system for determining ground-breaking of deep excavation components based on sand and gravel

Abstract

The present invention relates to a method and system for determining the ground-breaking of excavation components in deep sand and gravel excavation, comprising the following steps: 1. obtaining the ground angle, horizontal precession distance, and vertical excavation thickness of the excavator's rotation axis; 2. obtaining the three-dimensional coordinates and three-dimensional plane angles of the excavation components on the excavator; 3. obtaining a homogenized sequence of excavation components on the excavator; 4. determining a first characteristic component based on the ground angle, the first characteristic component being the excavation component at the deepest excavation depth; 5. performing a sequence intersection test based on the horizontal precession distance to obtain the equivalent depth and critical depth of the excavation component; and 6. determining the ground-breaking state of the excavation component within the vertical excavation thickness range. The present invention has the advantages of simple method, accurate and efficient positioning, low cost, economical and practical, and wide application range.

Description

Technical Field

[0001] The present invention belongs to the technical field of excavating tools, and in particular relates to a method and system for determining the breaking of earth by a large-depth excavation component based on sand and gravel. Background Art

[0002] When excavating equipment is performing its tasks, its excavating components come into contact with sand and gravel. Although sand and gravel are softer than rock, they contain hard particles. As a result, the excavating components will be severely worn due to the heavy loads during excavation, necessitating frequent replacement. Furthermore, the excavation depths reached during excavation of sand and gravel are large, so a large portion of the excavating components will come into contact with the sand and gravel. This is particularly true of horizontally swinging rotary excavators, which use a drive device to break the soil through rotary cutting and a traction device to construct layer by layer through horizontal swinging. The movement of their excavating components is complex. After excavating a layer of rock and soil, the equipment moves down one layer to continue construction. Each horizontal swing requires a further advance, a typical layer-by-layer construction method. The forces on each excavating component are uneven and related to their position. Inappropriate construction layer thickness and advance can result in excessive torque and lateral pull on the equipment, resulting in some soil residue and impacting construction quality.

[0003] The movement of the excavation components of excavators is complex and varied. To determine the excavation status at a given moment, it is necessary to comprehensively consider the position information at the previous moment, the excavation status of the previous layer, and the excavation information from the previous footage. This is because the gravel boundaries at the previous moment, previous layer, and previous footage constitute the current construction boundary. However, existing methods, such as the "Dynamic Load Analysis of Ultra-Large Cutter Suction Dredgers Based on Rock Cutting Theory," use depth angle to determine the cutter tooth's groundbreaking status. However, this method treats the depth angle as a constant, which presents three problems: First, it fails to consider the cutter tooth's installation radius. The cutter tooth radius is largest at the large circle and then gradually decreases along the cutter arm. Different cutter tooth radii result in different depth angles; second, it fails to consider the cutter footage; different cutter footages should correspond to different depth angles; and third, it fails to account for the boundaries of the excavated rock and soil. Even if the cutter tooth is within the layer thickness, the rock and soil in that area may have already been removed.

[0004] In addition, there are many factors that affect excavation output, including direct parameters such as digging depth, footage, and traverse speed. When the traverse speed is the same, there are two construction methods for excavating the same amount of soil: large digging depth and small footage, and small digging depth and large footage. The wear on the cutter teeth is different. Actual construction conditions also show that the wear is lighter for the cutter teeth far away from the axis. Obviously, there are limitations in using the depth angle as a method to determine the state of the excavation component breaking through the soil, especially when operating at a great digging depth. This limitation is more significant. In order to more accurately determine the state of the cutter teeth breaking through the soil at a great digging depth, it is necessary to explore new methods that comprehensively consider more factors, such as the specific position of the cutter teeth, the thickness of the excavation layer, the footage, and the overall movement state of the machine, so as to achieve more precise control and optimize the excavation efficiency. Summary of the Invention

[0005] In order to solve the technical problems existing in the known technology, the present invention provides a method and system for determining the ground breaking of deep excavation components based on sand and gravel, which has the characteristics of simple method, accurate and efficient positioning, saving a lot of labor costs, improving design efficiency, being economical, practical and having a wide range of applications.

[0006] The technical solution adopted by the present invention is: a method for determining the breaking of earth by an excavation component for deep digging of sand and gravel, wherein the excavator has a fixing ring and multiple supporting parts, one end of each supporting part is connected to the driving part of the excavator, and the other end is connected to the fixing ring; the driving part is a cylindrical structure with a driving thread inside, and the fixing ring is an annular structure, the fixing ring and the driving part are coaxial and maintain a fixed distance; each supporting part has multiple excavation components, and when breaking earth, the excavation components rotate around the rotating axis of the excavator to break earth;

[0007] The method for determining whether an excavation component has broken through the earth comprises the following steps:

[0008] Step 1: Obtain the excavator's rotation axis angle A, horizontal precession distance L, and vertical excavation thickness H;

[0009] Step 2: Obtain the three-dimensional coordinates and three-dimensional plane angles of the excavation component on the excavation tool;

[0010] Step 3: Obtain a uniform sequence of excavation components on the excavator;

[0011] Step 4: Determine the first characteristic component based on the angle to the ground. The first characteristic component is the excavation component at the deepest excavation depth.

[0012] Step 5: Perform sequence intersection test based on horizontal precession distance to obtain equivalent depth and critical depth of excavation components;

[0013] Step 6: Determine the breaking state of the excavation components within the vertical excavation thickness range.

[0014] Preferably, in the first step, the ground angle refers to the angle between the rotation axis and the horizontal plane, the horizontal precession distance refers to the distance the excavator moves forward horizontally, and the vertical excavation thickness refers to the distance the excavator moves downward vertically.

[0015] Preferably, in the second step, the three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane, the XOY plane is perpendicular to the rotation axis, the Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the excavation component, and the three-dimensional plane angles are the angles between the earth-breaking action surface of the excavation component and the X axis, Y axis and Z axis respectively.

[0016] Preferably, in the third step, the process of obtaining a uniform sequence of excavation components on the excavator is:

[0017] With the center of the upper surface of the fixed ring as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. The absolute value of the coordinate is the distance from the effective positioning point on the excavation component to the Q axis. The absolute value of the coordinate is the distance from the effective positioning point on the excavation component to the P axis, as shown in formula (1); the homogenized sequence is based on Sort the coordinate values ​​from large to small;

[0018] (1)

[0019] in, is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is a natural number;

[0020] Define the footage factor as

[0021] (2)

[0022] Define the influence depth as

[0023] (3)

[0024] in, is the total number of excavation components on the excavator, .

[0025] Preferably, in the fourth step, the angles between the adjacent excavation components and the rotation axis of the excavator in the homogenized sequence are calculated. , Expressed as

[0026] (4)

[0027] in, The first excavation elements coordinate; The homogenized sequence excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate;

[0028] Define the angle sequence as , is the total number of homogenized sequences of excavation components on the excavator, , the angle sequence is characterized by ;

[0029] Determine the position of the excavation component located on the excavation boundary in the angle sequence. Excavation components meet , No. The excavation component is the first characteristic component.

[0030] Preferably, in the fifth step, the intersection test of the current excavation component homogenization sequence and the previous footage excavation component homogenization sequence is performed, and the sequence number of the second characteristic component is defined as the sequence number of the excavation component at the intersection of the current homogenization sequence and the previous footage homogenization sequence, with the first characteristic component number as First, we determine the formula (5) one by one:

[0031] (5)

[0032] in

[0033] (6)

[0034] (7)

[0035] in, The first 、 、 Intersection factors determined by the three excavation components; The first 、 、 Intersection factors determined by the three excavation components; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; , ;

[0036] No. excavation element and The excavation component is located in the previous footage homogenization sequence, excavation element and The excavation component is located in the current homogenization sequence and satisfies formula (5), then the The excavation element and the The connecting line of the excavation components and the excavation element and There is a unique intersection point between the lines connecting the excavation components, and the coordinates of the intersection point are ,in Defined as the critical depth, Defined as the critical distance, expressed as

[0037] (8)

[0038] in, For the Hedi Position coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Position coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Inclination coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Inclination coefficient of two adjacent excavation components in the PQ coordinate system;

[0039] (9)

[0040] (10)

[0041] (11)

[0042] (12)

[0043] The equivalent depth is defined as

[0044] (13)

[0045] Step 6: Determine the breaking state of the excavation components within the vertical excavation thickness range. Moment The coordinates of the excavation components in the PQ coordinate system are , expressed as ;

[0046] in, , is the rotation frequency of the excavator, ; For Moment The azimuth angle of the excavation component relative to the Z axis, For the initial moment The azimuth of each excavation element relative to the Z axis;

[0047] For any excavation component, if the homogenized sequence satisfies the following formula, it is in the ground-breaking state

[0048] (14)

[0049] Among them, excavation element and The excavation components are two adjacent excavation components in the homogenized sequence. lie in and between; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate.

[0050] Preferably, the excavating member has one or more effective positioning points.

[0051] Preferably, the three-dimensional coordinates adopt a right-handed coordinate system.

[0052] A ground-breaking determination system for deep excavation components in sand and gravel, comprising a construction parameter module, a component information module, a sequence component module, an inclination determination module, a cutting thickness determination module, and a footage determination module;

[0053] The construction parameter module is used to obtain the ground angle, horizontal precession distance, vertical excavation thickness, rotation speed, and movement speed of the excavator's rotation axis. The ground angle refers to the angle between the rotation axis and the horizontal plane. The horizontal precession distance refers to the distance the excavator moves horizontally forward. The vertical excavation thickness refers to the distance the excavator moves vertically downward.

[0054] The component information module is used to obtain the three-dimensional coordinates and three-dimensional plane angles of the excavating component on the excavating tool. The three-dimensional coordinate system uses the upper surface of the fixed ring as the XOY plane, the XOY plane is perpendicular to the rotation axis, the Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning point of the excavating component, and the three-dimensional plane angles are the angles between the earth-breaking surface of the excavating component and the X axis, Y axis, and Z axis respectively;

[0055] The sequence component module is used to obtain the homogenized sequence of the excavation components on the excavator. The center of the upper surface of the fixed ring is the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. The homogenized sequence is based on Sort the coordinate values ​​from largest to smallest to determine the advance factor and impact depth of the excavation component;

[0056] The inclination angle determination module is used to calculate the angles between adjacent excavation components and the rotation axis of the excavator in the homogenized sequence to form an angle sequence, and determine the position number of the rotation axis inclination angle in the angle sequence, and the excavation component with this number is defined as the first characteristic component;

[0057] The footage determination module determines the intersection of the normalized sequence of the excavator state and the previous footage normalized sequence, and determines the sequence number at the intersection, which is defined as the second characteristic component and is used to determine the equivalent depth and critical depth of the excavation component according to the normalized sequence in the sequence component module;

[0058] The cutting thickness determination module calculates the position of the excavation component at any moment, and is used to determine the ground-breaking status of all the excavation components.

[0059] The advantages and positive effects of the present invention are:

[0060] 1. This invention can accurately determine the spatial position and posture of the excavation components of an excavator during excavation. This allows for accurate determination of the excavation status of the excavation components at different footages and excavation depths, providing accurate data for the construction and design of the excavator.

[0061] 2. The present determination method includes a first determination and a second determination, which respectively consider the key parameters of ground angle, horizontal precession distance, and vertical excavation thickness, and determine the impact depth, equivalent depth, and critical depth. This method can obtain information on the first and second characteristic components. The first characteristic component is the deepest excavated component, making determination simple and direct. The second determination determines the location of the second characteristic component. The determination method is accurate and efficient, and can be compiled into a database to provide guidance for on-site construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a flow chart of the earth-breaking determination system of the earth-moving component of the earth-moving machine of the present invention;

[0063] Figure 2 It is a structural schematic diagram of the excavator tool of the present invention;

[0064] Figure 3 3. It is a schematic diagram of a three-dimensional coordinate system of an excavating component of an excavator tool according to the present invention;

[0065] Figure 4 is a schematic diagram of the inclination angle, excavation thickness and horizontal precession distance of the excavator of the present invention;

[0066] Figure 5 is a schematic diagram of an excavation component at the intersection of a current homogenization sequence and a previous footage homogenization sequence of the present invention;

[0067] Figure 6 Schematic diagram of the excavation component cutting thickness determination module of the present invention.

[0068] In the figure: 1. Excavator; 2. Support part; 3. Drive part; 4. Fixed ring; 5. Excavating member; 6. Rotating axis; 7. Positioning point; 8. Cavity. DETAILED DESCRIPTION

[0069] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0070] Example

[0071] See Figures 1 to 6 , a method for determining the breaking of earth by large-depth excavation components based on sand and gravel, an excavator 1 has a fixing ring 4 and a plurality of supporting parts 2, a fixed distance is maintained between the supporting parts 2, one end of each supporting part 2 is connected to the driving part 3 of the excavator 1, and the other end is connected to the fixing ring 4, and the supporting parts 2 surround each other to form a cavity 8; the driving part 3 is a cylindrical structure with a driving thread inside, the fixing ring 4 is a circular ring structure, the fixing ring 4 is coaxial with the driving part 3 and maintains a fixed distance; each supporting part 2 has a plurality of excavating components 5, the excavating components 5 are located on the side of the supporting part 2 and point to the outside of the cavity 8, and a distance is maintained between adjacent excavating components 5. When breaking the earth, the excavating components 5 rotate around the rotating shaft 6 of the excavator 1 and break the earth.

[0072] Before breaking ground, the excavator 1 is placed on the gravel surface. The excavator's rotation axis 6 forms a certain angle A with the horizontal plane, typically greater than 0°. In other words, the excavator 1 is tilted downward on the gravel surface. Under the influence of gravity, the excavator 1 penetrates the gravel surface, controlling its penetration depth. This penetration depth generally does not exceed the characteristic dimensions of the excavator 1, which are its length, width, and height. As the excavator 1 rotates about its rotation axis 6, the excavating member 5 also rotates about its rotation axis 6 and breaks ground. Obviously, only the excavating member 5 located within the gravel participates in breaking ground and experiences resistance from the gravel.

[0073] The excavator 1 rotates around the X axis, and its transformation matrix can be expressed as

[0074] (15)

[0075] The excavator 1 rotates around the Y axis, and its transformation matrix can be expressed as

[0076] (16)

[0077] The excavator 1 rotates around the Z axis, and its transformation matrix can be expressed as

[0078] (17)

[0079] The exact position of each excavating component 5 on the excavator 1 can be obtained according to formulas (15) to (17). Figure 2 As shown, the arrangement of the excavating components 5 on the excavator 1 is very complex, and the spatial position of each excavating component 5 determines its ground-breaking judgment.

[0080] The method for determining whether the excavation component 5 breaks the ground comprises the following steps:

[0081] Step 1: Obtain the ground angle A, horizontal precession distance L, and vertical excavation thickness H of the excavator 1's rotating shaft 6. The ground angle refers to the angle between the rotating shaft 6 and the horizontal plane. The horizontal precession distance refers to the distance the excavator 1 moves forward horizontally, also known as the horizontal footage. The vertical excavation thickness refers to the distance the excavator 1 moves downward vertically. The direction of horizontal forward movement of the excavator 1 refers to the direction from the fixed ring to the drive unit when the ground angle A is zero. The horizontal forward movement of the excavator 1 is relative to the construction. While rotating, the excavator 1 also swings around a specific axis perpendicular to the horizontal plane. Obviously, the arc of the swing lies in the same horizontal plane.

[0082] At any given moment, the excavating member 5 of the excavator 1 is in various states, including position and posture, as well as the groundbreaking state. During operation, the excavating member 5 swings about the specific axis. The distance between the excavator 1 and the specific axis is much greater than the excavator's characteristic dimensions, and the excavator's rotational speed is also much greater than the angular velocity of the excavator's swing about the specific axis. This simplifies the excavator's 1 motion into horizontal movement and rotation.

[0083] Step 2: Obtain the three-dimensional coordinates and three-dimensional plane angles of the excavating component 5 on the excavating tool 1. The three-dimensional coordinate system takes the upper surface of the fixing ring 4 as the XOY plane, the XOY plane is perpendicular to the rotation axis 6, the Z axis of the coordinate system is along the rotation axis 6, and the positive direction of the Z axis points to the driving part 3. The three-dimensional coordinates are the coordinates of the effective positioning point 7 of the excavating component 5, and the three-dimensional plane angles are the angles between the earth-breaking surface of the excavating component 5 and the X axis, Y axis and Z axis respectively.

[0084] In a preferred embodiment, the coordinate system is a Cartesian coordinate system, with the upper surface of the fixing ring 4 as the XOY plane and the positive direction of the Z axis pointing toward the drive unit 3. For any excavating member 5 on the support portion 2, the excavating member 5 located at the drive unit 3 end is closer to the rotation axis 6 than the excavating member 5 at the fixing ring 4 end. Of course, a cylindrical coordinate system can also be used to obtain the three-dimensional coordinates of the excavating member 5 on the excavator 1.

[0085] Step 3: Obtain the homogenized sequence of the excavation component 5 on the excavator; take the center of the upper surface of the fixed circle as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. The absolute value of the coordinate is the distance from the effective positioning point on the excavation component to the Q axis. The absolute value of the coordinate is the distance from the effective positioning point on the excavating component to the P axis. When the ground angle A is 0, the Q axis coincides with the rotation axis 6 of the excavator. At this time, the P axis is located on the upper surface of the fixed ring. The coordinate origin O is the intersection of the upper surface of the fixed ring 4 and the rotation axis 6. The coordinates of any excavating component 5 are as follows:

[0086] (18)

[0087] in, is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is a natural number.

[0088] The normalization sequence is as follows The coordinate values ​​are sorted in ascending order or descending order. Obviously, for any digging member 5 on the support portion 2, the digging member 5 at the end of the driving portion 3 is located earlier in the homogenized sequence than the digging member 5 at the end of the fixing ring 4.

[0089] Define the footage factor as

[0090] (19)

[0091] Define the influence depth as

[0092] (20)

[0093] in, is the total number of excavation components 5 on the excavator, .

[0094] Step 4: Calculate the angles between adjacent excavation components 5 and the rotation axis 6 of the excavator 1 in the homogenized sequence , Expressed as

[0095] (twenty one)

[0096] in, The first excavation elements coordinate; The homogenized sequence excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate;

[0097] Define the angle sequence as , is the total number of homogenized sequences of excavation components on the excavator, , the angle sequence is characterized by .

[0098] Determine the position of the excavation component located on the excavation boundary in the angle sequence. Excavation components meet , then The excavation component is the first characteristic component.

[0099] Step 5: Perform intersection test between the homogenized sequence of the current excavation component and the homogenized sequence of the previous footage excavation component. Define the sequence number of the second characteristic component as the sequence number of the excavation component at the intersection of the current homogenized sequence and the previous footage homogenized sequence. First, we determine the formula (22) one by one:

[0100] (twenty two)

[0101] in

[0102] (twenty three)

[0103] (twenty four)

[0104] in, The first 、 、 Intersection factors determined by the three excavation components; The first 、 、 Intersection factors determined by the three excavation components; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; , ; , .

[0105] ( , ) is the first in the homogenized sequence of the excavation component of the previous footage. The coordinates of the excavation components in the current coordinate system. The previous footage coordinate system is translated ( , ) and then coincide with the current coordinate system, the coordinates of the excavation component of the previous footage in the current coordinate system are obtained, that is, the coordinates of the excavation component of the previous footage in the coordinate system The coordinates remain unchanged, Coordinates plus Then the coordinates of the excavation component of the previous advance in the current coordinate system are obtained.

[0106] The said The first excavation component is relative to the previous footage. Each excavation component is also relative to the previous footage. excavation element and The excavation component is located in the previous footage homogenization sequence, excavation element and The excavation component is located in the current homogenization sequence and satisfies formula (22), then the The excavation element and the The connecting line of the excavation components and the excavation element and There is a unique intersection point between the lines connecting the excavation components. The coordinates of the intersection point of the two line segments are marked as ,in Defined as the critical depth, Defined as the critical distance, expressed as

[0107] (25)

[0108] in, For the Hedi Position coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Position coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Inclination coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Inclination coefficient of two adjacent excavation components in the PQ coordinate system;

[0109] (26)

[0110] (27)

[0111] (28)

[0112] (29)

[0113] The equivalent depth is defined as ,See Figure 6 .

[0114] (30)

[0115] Step 6: Determine the breaking state of the excavation components within the vertical excavation thickness range. Moment The coordinates of the excavation components in the PQ coordinate system are , expressed as ;

[0116] in, , is the rotation frequency of the excavator, ; For Moment The azimuth angle of the excavation component relative to the Z axis, For the initial moment The azimuth angle of each excavating component relative to the Z axis. This azimuth angle is the azimuth angle of any excavating component relative to the rotation axis, and this azimuth angle gradually increases as the excavator rotates. It is worth noting that, as time increases, the azimuth angle can also be described as a function with a period of 2π.

[0117] For any excavation component, if the homogenized sequence satisfies the following formula, it is in the ground-breaking state

[0118] (31)

[0119] Among them, excavation element and The excavation components are two adjacent excavation components in the homogenized sequence. lie in and between; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate. hour, ; hour, , .

[0120] When any excavation component Coordinates are located at the critical depth With the impact depth When the excavation component The coordinates are based on the excavation contour of the current excavator 1 as the front and rear boundaries. Coordinates are located at the critical depth With the equivalent depth When the excavation component The coordinates are based on the current excavation profile of the excavator 1 as the front boundary, and the excavation profile of the excavator 1 at the previous footage as the front boundary. Although the current excavation profile of the excavator 1 is very complex, the uniform sequence constructed by formula (18) can be used to construct the current excavation profile of the excavator 1 for all the excavation component 5 coordinates, and a sufficient excavation status judgment can be made.

[0121] The homogenized sequence constructed by formula (18) can be used to construct the horizontal precession distance between the excavation profile of the current excavation tool 1 and the excavation profile of the previous footage in the Q-axis direction for all the excavation component 5 coordinates. In other words, the horizontal precession distance of the excavation profile of the current excavator 1 is The remaining sand and gravel have been mined and no longer need to be mined.

[0122] A system for determining the breaking of earth components in deep excavation of sand and gravel, including construction parameter module, component information module, sequence component module, inclination angle determination module, cutting thickness determination module and footage determination module, see Figure 1 .

[0123] The construction parameter module obtains the ground angle, horizontal precession distance, vertical excavation thickness, rotation speed, and movement speed of the rotating shaft 6 of the excavator 1. The ground angle A refers to the angle between the rotating shaft 6 and the horizontal plane. The horizontal precession distance refers to the distance the excavator 1 moves forward horizontally. The vertical excavation thickness refers to the distance the excavator 1 moves downward vertically. Figure 4 shown.

[0124] The component information module obtains the three-dimensional coordinates and three-dimensional plane angles of the excavating component 5 on the excavating tool 2. The three-dimensional coordinate system takes the upper surface of the fixing ring 4 as the XOY plane, and the XOY plane is perpendicular to the rotation axis 6. The Z axis of the coordinate system is along the rotation axis 6, and the positive direction of the Z axis points to the driving part 3. The three-dimensional coordinates are the coordinates of the effective positioning point 7 of the excavating component 5, and the three-dimensional plane angles are the angles between the earth-breaking action surface of the excavating component 5 and the X axis, Y axis and Z axis respectively.

[0125] The sequence component module obtains the homogenized sequence of the excavation components on the excavator, with the center of the upper surface of the fixed ring as the origin O, the POQ plane perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. When the ground angle A is 0, the Q axis coincides with the rotation axis 6 of the excavator, the P axis is located on the upper surface of the fixed ring 4 and vertically downward, and the coordinate origin O is the intersection of the upper surface of the fixed ring 4 and the rotation axis 6. The homogenized sequence is based on The coordinate values ​​are sorted from largest to smallest to determine the advance factor and impact depth of the excavation component, which are used to define the cutting area of ​​the excavation component.

[0126] The inclination angle determination module calculates the angles between adjacent excavation components 5 and the rotation axis 6 of the excavator 1 in the homogenized sequence to form an angle sequence, and determines the position number of the inclination angle of the rotation axis 6 in the angle sequence. The excavation component 5 with this number is defined as the first characteristic component.

[0127] The footage determination module determines the intersection of the homogenized sequence of the current excavation equipment state and the homogenized sequence of the previous footage according to the horizontal footage, determines the sequence number at the intersection, and determines the second characteristic component, which is used to determine the equivalent depth and critical depth of the excavation component according to the homogenized sequence in the sequence component module.

[0128] The cutting thickness judgment module calculates the position of the excavation component at any time, determines the judgment model based on construction parameters such as equivalent depth, critical depth, impact depth and horizontal precession distance, and judges the ground-breaking status of all excavation components.

[0129] The excavation component 5 has one or more effective positioning points, and the position of each effective positioning point is also different. Before determining the coordinate system, the position of the effective positioning point 7 should be determined in advance, and each excavation component 5 should determine the effective positioning point at the same position.

[0130] The present invention has been rigorously deduced and can accurately obtain the spatial position and posture of the excavating component 5 of the excavating tool 1 in the excavation state, which is used to accurately determine the breaking state of the excavating component 5 at different feed rates and different excavation depths, and provide accurate data for the construction and design of the excavating tool 1.

[0131] In gravel operations, the excavator 1 often cuts at a greater depth, resulting in a greater gravel excavation yield. The determination of the cutting state of each excavating component 5 is not an isolated event, but is closely linked to multiple factors, including wear, cutting force, torque, horizontal pulling equipment, and ground pressure. Gravel is hard and contains a large number of hard particles. During operation, the excavator 1 will constantly rub and collide with these particles, causing the cutting edge of the excavating component 5 to gradually wear. As wear intensifies, the cutting ability of the excavator 1 decreases. Forcibly increasing the cutting depth will not only make it difficult to achieve the desired effect, but will also accelerate damage to the excavator 1 and shorten its service life.

[0132] Accurately determining the cutting state also helps determine the cutting force and torque of excavator 1, as well as the selection of external equipment. Due to the large cutting depth, the cutting force and torque of excavator 1 can reach the design limits of the equipment, and the accompanying wear is also very significant. The magnitude of the cutting force directly determines the difficulty of excavator 1 in cutting into the sand and gravel, while torque is the key power parameter that drives excavator 1 to rotate to overcome the cutting force. The pulling force provided by the horizontal pulling device affects the cutting direction and stability of excavator 1, while the ground pressure determines the closeness of contact between excavator 1 and the sand and gravel.

[0133] This invention proposes a comprehensive and precise determination method that integrates the first and second determinations, taking into account key parameters such as ground angle, horizontal precession distance, and vertical excavation thickness, to systematically determine key parameters such as impact depth, equivalent depth, and critical depth. This method conveniently obtains detailed information about the first and second characteristic components. The first characteristic component is clearly defined as the deepest component in the excavation operation. This intuitive and efficient determination process significantly simplifies the complexity of traditional determination procedures.

[0134] The second judgment goes a step further and accurately captures the specific position of the second characteristic component. This step not only improves the accuracy of the judgment, but also ensures the efficiency of the entire process. The data and information obtained by the present invention can be organized and mapped into a detailed database, thereby providing scientific, intuitive and easy-to-operate guidance for on-site construction. This innovative judgment method not only improves engineering efficiency, but also provides strong technical support for ensuring construction quality, and has extremely high practical value and application prospects. This embodiment has the advantages of simple method, accurate and efficient positioning, saving a lot of labor costs, improving design efficiency, and having positive effects such as being economical, practical and having a wide range of applications.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the breaking of earth by deep excavation components based on sand and gravel, characterized in that: The excavator has a fixing ring and a plurality of supporting parts, one end of each supporting part is connected to the driving part of the excavator, and the other end is connected to the fixing ring; the driving part is a cylindrical structure with a driving thread inside, and the fixing ring is an annular structure, the fixing ring and the driving part are coaxial and maintain a fixed distance; each supporting part has a plurality of excavating members, and when breaking the ground, the excavating members rotate around the rotating axis of the excavator to break the ground; The method for determining whether an excavation component has broken through the earth comprises the following steps: Step 1: Obtain the excavator's rotation axis angle A, horizontal precession distance L, and vertical excavation thickness H; Step 2: Obtain the three-dimensional coordinates and three-dimensional plane angles of the excavation component on the excavation tool; The three-dimensional coordinate system uses the upper surface of the fixed ring as the XOY plane, the XOY plane is perpendicular to the rotation axis, the Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the excavation component, and the three-dimensional plane angles are the angles between the earth-breaking surface of the excavation component and the X axis, Y axis, and Z axis respectively; Step 3: Obtain a uniform sequence of excavation components on the excavator; With the center of the upper surface of the fixed ring as the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. The absolute value of the coordinate is the distance from the effective positioning point on the excavation component to the Q axis. The absolute value of the coordinate is the distance from the effective positioning point on the excavation component to the P axis, as shown in formula (1); the homogenized sequence is based on Sort the coordinate values ​​from large to small; （1） in, is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is the first excavation elements coordinate; is a natural number; Define the footage factor as （2） Define the influence depth as （3） in, is the total number of excavation components on the excavator, ; Step 4: Determine the first characteristic component based on the angle to the ground. The first characteristic component is the excavation component at the deepest excavation depth. Calculate the angles between adjacent excavation components and the rotation axis of the excavator in a homogenized sequence , Expressed as （4） in, The first excavation elements coordinate; The homogenized sequence excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; Define the angle sequence as , is the total number of homogenized sequences of excavation components on the excavator, , the angle sequence is characterized by ; Determine the position of the excavation component located on the excavation boundary in the angle sequence. Excavation components meet , No. The excavation component is the first characteristic component; Step 5: Perform sequence intersection test based on horizontal precession distance to obtain equivalent depth and critical depth of excavation components; Step 6: Determine the breaking state of the excavation components within the vertical excavation thickness range.

2. The method for determining ground breaking of a deep excavation component based on sand and gravel according to claim 1, characterized in that: In the first step, the ground angle refers to the angle between the rotation axis and the horizontal plane, the horizontal precession distance refers to the distance the excavator moves forward horizontally, and the vertical excavation thickness refers to the distance the excavator moves downward vertically.

3. The method for determining ground breaking of a deep excavation component based on sand and gravel according to claim 1, characterized in that: In the fifth step, the intersection test of the homogenized sequence of the current excavation component and the homogenized sequence of the previous footage excavation component is performed, and the sequence number of the second characteristic component is defined as the sequence number of the excavation component at the intersection of the current homogenized sequence and the previous footage homogenized sequence, with the sequence number of the first characteristic component being the first characteristic component. First, we determine the formula (5) one by one: （5） in （6） （7） in, The first 、 、 Intersection factors determined by the three excavation components; The first 、 、 Intersection factors determined by the three excavation components; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; , ; No. excavation element and The excavation component is located in the previous footage homogenization sequence, excavation element and The excavation component is located in the current homogenization sequence and satisfies formula (5), then the The excavation element and the The connecting line of the excavation components and the excavation element and There is a unique intersection point between the lines connecting the excavation components, and the coordinates of the intersection point are ,in Defined as the critical depth, Defined as the critical distance, expressed as （8） in, For the Hedi Position coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Position coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Inclination coefficient of two adjacent excavation components in the PQ coordinate system; For the Hedi Inclination coefficient of two adjacent excavation components in the PQ coordinate system; （9） （10） （11） （12） The equivalent depth is defined as （13）。 4. The method for determining ground breaking of a deep excavation component based on sand and gravel according to claim 3, characterized in that: In the sixth step, the breaking state of the excavation components within the vertical excavation thickness range is determined. Moment The coordinates of the excavation components in the PQ coordinate system are , expressed as ; in, , is the rotation frequency of the excavator, ; For Moment The azimuth angle of the excavation component relative to the Z axis, For the initial moment The azimuth of each excavation element relative to the Z axis; For any excavation component, if the homogenized sequence satisfies the following formula, it is in the ground-breaking state （14） Among them, excavation element and The excavation components are two adjacent excavation components in the homogenized sequence. lie in and between; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate; The first excavation elements coordinate.

5. The method for determining ground breaking of a deep excavation component based on sand and gravel according to claim 1, characterized in that: The cutting member has one or more effective positioning points.

6. The method for determining ground breaking of a deep excavation component based on sand and gravel according to claim 1, characterized in that: The three-dimensional coordinates adopt a right-handed coordinate system.

7. A system for determining the breaking of earth by deep excavation components based on sand and gravel for implementing the method according to any one of claims 1 to 6, characterized in that: It includes construction parameter module, component information module, sequence component module, inclination angle determination module, cutting thickness determination module, and footage determination module; The construction parameter module is used to obtain the ground angle, horizontal precession distance, vertical excavation thickness, rotation speed, and movement speed of the excavator's rotation axis. The ground angle refers to the angle between the rotation axis and the horizontal plane. The horizontal precession distance refers to the distance the excavator moves horizontally forward. The vertical excavation thickness refers to the distance the excavator moves vertically downward. The component information module is used to obtain the three-dimensional coordinates and three-dimensional plane angles of the excavating component on the excavating tool. The three-dimensional coordinate system uses the upper surface of the fixed ring as the XOY plane, the XOY plane is perpendicular to the rotation axis, the Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning point of the excavating component, and the three-dimensional plane angles are the angles between the earth-breaking surface of the excavating component and the X axis, Y axis, and Z axis respectively; The sequence component module is used to obtain the homogenized sequence of the excavation components on the excavator. The center of the upper surface of the fixed ring is the origin O, the POQ plane is perpendicular to the horizontal plane, the positive direction of the P axis is the vertical downward direction, and the positive direction of the Q axis is the horizontal forward direction. The homogenized sequence is based on Sort the coordinate values ​​from largest to smallest to determine the advance factor and impact depth of the excavation component; The inclination angle determination module is used to calculate the angles between adjacent excavation components and the rotation axis of the excavator in the homogenized sequence to form an angle sequence, and determine the position number of the rotation axis inclination angle in the angle sequence, and the excavation component with this number is defined as the first characteristic component; The footage determination module determines the intersection of the normalized sequence of the excavator state and the previous footage normalized sequence, and determines the sequence number at the intersection, which is defined as the second characteristic component and is used to determine the equivalent depth and critical depth of the excavation component according to the normalized sequence in the sequence component module; The cutting thickness determination module calculates the position of the excavation component at any moment, and is used to determine the ground-breaking status of all the excavation components.

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