A self-adaptive slag scraping and obstacle crossing device and a control method thereof

Abstract

The application discloses a self-adaptive obstacle-surmounting slag scooping device and a self-adaptive obstacle-surmounting slag scooping control method thereof, which comprises a basic movement platform, an arm support system, driving members and a self-adaptive obstacle-surmounting control system. The self-adaptive obstacle-surmounting control system continuously acquires multidimensional mechanical signals reflecting working resistance and real-time posture signals. Abnormal load mutation caused by suddenly encountering rigid obstacles is dynamically identified. According to the load distribution at the identification moment, the real-time posture and the intention trend of the operator control instruction, a limited fine adjustment action vector is generated, the control instruction corresponding to the fine adjustment action vector is executed, and the corresponding driving member is driven to complete an auxiliary fine adjustment action on the premise of keeping the artificial main control loop unblocked. The application helps the arm support system to adjust the stress posture without changing the original operation mode of the operator and without taking over the main control right of the equipment, so as to assist the operator to smoothly cross or bypass the obstacles, effectively protect the equipment, reduce the operation intensity and improve the working efficiency.

Description

Technical Field

[0001] This invention relates to the field of metallurgical and casting equipment technology, and in particular to an adaptive slag removal and obstacle-crossing device and its slag removal and obstacle-crossing control method. Background Technology

[0002] In the production processes of iron and steel metallurgy and metal casting, the surface of the molten metal after it is tapped from the furnace is covered with a large amount of slag, which must be removed by slag removal. This operation is usually carried out by a slag remover. The operator controls the boom system of the slag remover from the remote control or cab, driving the slag shovel at the front end to perform a series of actions such as cutting, collecting, lifting, and dumping.

[0003] The slag removal operation environment is extremely harsh: the temperature near the molten pool is extremely high, the slag composition and physical state are complex and uneven, and the edge of the molten pool often has rigid obstacles such as solidified cold steel (slag steel) or step-like protrusions formed by furnace lining erosion. Current operations rely entirely on the operator's personal experience and instantaneous reaction. When the slag removal shovel encounters such rigid obstacles during its movement or downward pressure, it generates a huge impact load instantly, causing severe equipment vibration and hydraulic system pressure spikes. Over time, this can easily lead to fatigue damage to structural components and failure of hydraulic components, significantly shortening the equipment's service life. At the same time, such sudden situations place extremely high demands on the operator's skills and psychological qualities. Novices are prone to causing the slag removal shovel to become completely stuck due to insufficient reaction or improper operation (such as reverse operation), or causing severe equipment shaking, threatening safety. Frequent collisions, jamming, and subsequent time-consuming unblocking operations severely disrupt the continuity of slag removal operations and reduce overall operational efficiency. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides an adaptive muck removal and obstacle crossing device and its muck removal and obstacle crossing control method. Without changing the operator's original operating mode or taking over the main control of the equipment, it helps the boom system adjust its force posture by precisely executing a small auxiliary action under strict constraints, thereby assisting the operator to smoothly cross or bypass obstacles, effectively protecting the equipment, reducing the intensity of operation, and improving the efficiency of operation.

[0005] Technical Solution: To achieve the above objectives, the present invention provides an adaptive muck removal and obstacle crossing device and its control method, comprising a basic motion platform, a boom system mounted on the basic motion platform, at least two drive components for adjusting the attitude of the boom system, and an adaptive obstacle crossing control system; the adaptive obstacle crossing control system is coupled to the at least two drive components and configured to: continuously acquire multi-dimensional mechanical signals reflecting the working resistance of the boom system and real-time attitude signals of the boom system, wherein the mechanical signals correspond to at least different drive components; dynamically identify abnormal load changes caused by encountering rigid obstacles based on the multi-dimensional mechanical signals, real-time attitude signals, and a preset mechanical model of the boom system; at the instant the abnormal load change is identified, based on the load distribution, real-time attitude, and the intention trend of the operator's control command at the time of identification, generate a time- and amplitude-constrained fine-tuning motion vector by inversely solving the kinematic model of the boom system, wherein the vector corresponds to the limited displacement of one or more of the at least two drive components; execute the control command corresponding to the fine-tuning motion vector, driving the corresponding drive component to complete an auxiliary fine-tuning motion while maintaining the smooth operation of the manual main control loop.

[0006] Furthermore, the boom system includes a support base on which a first driving component and a second driving component are mounted. The output ends of the first and second driving components are respectively connected to two independent driving points of a transmission mechanism. The driven point on the transmission mechanism is connected to the slag-removing arm. A slag-removing component is fixedly installed on the telescopic end of the slag-removing arm. The telescopic movement of the first driving component mainly drives the slag-removing arm to perform a composite translational motion of its overall height and horizontal position. The telescopic movement of the second driving component mainly drives the slag-removing arm to perform a pitching and swinging motion around a hinge point.

[0007] Furthermore, both the first and second driving components are hydraulic cylinders, and the transmission mechanism is a four-bar linkage; the first driving component is a translational lifting hydraulic cylinder, which extends to drive the slag-removing arm to translate backward and upward, and retracts to drive the slag-removing arm to translate forward and downward; the second driving component is a pitching lifting hydraulic cylinder, which extends to drive the slag-removing arm to pitch forward, and retracts to drive the slag-removing arm to pitch backward.

[0008] Furthermore, the adaptive obstacle crossing control system includes a load sensing module, a working condition sensing module, a controller, and a micro-motion execution module: the load sensing module is used to acquire the first pressure value P1 of the first drive component and the second pressure value P2 of the second drive component in real time; the working condition sensing module is used to acquire the key joint angles of the boom system and the trend of operator control commands in real time; the controller is communicatively connected to the load sensing module and the attitude sensing module, and is configured to: obtain the theoretical load reference value under the current attitude by querying or calculating based on the first pressure value P1, the second pressure value P2, and the key joint angle; when the deviation characteristics of the measured pressure and the theoretical reference value and the pressure change rate characteristics simultaneously meet the preset sudden obstacle encounter conditions, an abnormal load mutation is determined; at the moment of determination, a fine-tuning motion vector is generated by inverse kinematics solution based on the measured pressure, real-time attitude, and operator control command trend, and a fine-tuning control command is generated accordingly; the micro-motion execution module is connected to the controller and the first and second drive components, and is used to respond to the fine-tuning control command and drive the corresponding drive component to perform restricted fine-tuning actions.

[0009] Furthermore, the controller is configured such that the generation of the fine-tuning motion vector through inverse kinematics includes the following steps: estimating the main direction of the obstacle reaction force on the slag removal component based on the measured pressures P1 and P2 and the real-time attitude at the identification moment; determining a desired virtual micro-displacement direction of the slag removal component by combining the short-term trend of the operator's control commands, the direction being aimed at mitigating the obstacle reaction force and conforming to the operational trend; calculating the Jacobian matrix of the boom system from the drive component space to the slag removal component working space based on the real-time attitude at the identification moment; and mapping the desired virtual micro-displacement direction to the first displacement of the first drive component using the inverse or pseudo-inverse of the Jacobian matrix. The second displacement of the second driving element ,in and All are less than or equal to the preset amplitude threshold.

[0010] Furthermore, the micro-motion actuator module includes a high-frequency response proportional valve or servo valve connected in parallel with the oil circuit of the first and second driving components; the micro-adjustment control command is an electrical signal sent to the high-frequency response proportional valve or servo valve, with a duration T ≤ 0.5 seconds, and controlling the actuator to generate a displacement D ≤ 20 mm.

[0011] Furthermore, the preset obstacle encounter condition is that the absolute value of the rate of change of the first pressure value P1 and / or the second pressure value P2 per unit time exceeds a first threshold, and the deviation between the measured value and the theoretical reference value is significant. Exceeding the second threshold, and the deviation The combination of symbols conforms to the preset obstacle impact pattern.

[0012] Furthermore, an adaptive slag removal and obstacle crossing control method includes the following steps:

[0013] S1. Real-time synchronous acquisition of the pressure P1 of the first drive component, the pressure P2 of the second drive component, the key joint angle θ of the boom system, and the operator control command U.

[0014] S2. Calculate the theoretical reference value of the pressure under the current posture based on the joint angle θ, and calculate the rate of change of the measured pressure and the deviation from the theoretical value; when the rate of change and the deviation characteristics meet the composite conditions, it is determined that a rigid obstacle has been encountered.

[0015] S3. At the decision point, based on the measured pressure, real-time attitude, and operational command trends, a fine-tuned motion vector is generated through inverse kinematics. .

[0016] S4. Generate control commands based on the fine-tuning motion vector, and drive the corresponding drive component to perform a fine-tuning motion with strictly limited time and stroke.

[0017] Beneficial effects: The adaptive slag removal and obstacle crossing device and its slag removal and obstacle crossing control method of the present invention have at least the following advantages:

[0018] (1) Through the fusion analysis of multi-dimensional mechanical signals and attitude models, normal operating loads and sudden obstacle impacts can be distinguished with high reliability, avoiding false triggering and ensuring the accuracy of intervention.

[0019] (2) The fine-tuning strategy is dynamically generated based on real-time physical state and operational intent. Its effect is similar to the instinctive fine-tuning made by experienced operators in times of crisis, truly realizing an intelligent supplement to manual operation.

[0020] (3) The auxiliary movements are small (millimeter level) and extremely short (millisecond level), and are completed in a way that the operator can hardly perceive. They never interfere with or deprive the operator of control, and maintain the original feel of operation.

[0021] (4) It effectively avoids equipment damage caused by rigid impact, reduces jamming accidents and processing time, and significantly improves the continuity, safety and overall efficiency of slag removal operations.

[0022] (5) It reduces the dependence of slag removal operations on the extreme experience of operators, which helps to shorten the training cycle and improve the overall skill level of the work team. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the adaptive obstacle-crossing and slag-removing device of the present invention.

[0024] Figure 2 for Figure 1 A schematic diagram of the main structure of the adaptive obstacle-crossing and slag-removing device.

[0025] Figure 3 This is a schematic diagram of the adaptive obstacle crossing control system of the present invention.

[0026] Figure 4 This is a flowchart illustrating the obstacle-crossing control method for removing slag according to the present invention. Detailed Implementation

[0027] The invention will now be further described with reference to the accompanying drawings.

[0028] As attached Figures 1-4 The adaptive slag removal and obstacle-crossing device and its control method include a basic motion platform 1, a boom system 2, a drive component, and an adaptive obstacle-crossing control system. The boom system 2 includes a support base 3, a first drive component 4, a second drive component 5, a transmission mechanism 6, a slag removal arm 7, and slag removal components 8. The extension and retraction of the first drive component 4 primarily drives the slag removal arm 7 to perform a combined translational motion of its overall height and horizontal position; the extension and retraction of the second drive component 5 primarily drives the slag removal arm 7 to perform a pitching and swinging motion around a hinge point.

[0029] In this embodiment, the first driving member 4 and the second driving member 5 are both hydraulic cylinders, and the transmission mechanism 6 is a four-bar linkage mechanism. The first link 61 of the four-bar linkage mechanism is hinged to the output end of the first driving member 4, and the second link 62 is hinged to the output end of the second driving member 5. The first link 61 and the second link 62 are adjacent links, and their hinge axis is fixedly installed on the support base 3. The link in the four-bar linkage mechanism that is parallel to the second link 62 is fixedly installed on the slag removal arm 7.

[0030] The first driving component 4 is a translational lifting hydraulic cylinder, which extends to drive the slag-removing arm 7 to translate backward and upward, and retracts to drive the slag-removing arm 7 to translate forward and downward; the second driving component 5 is a pitching lifting hydraulic cylinder, which extends to drive the slag-removing arm 7 to pitch forward, and retracts to drive the slag-removing arm 7 to pitch backward; the first driving component 4 and the second driving component 5 together drive the slag-removing arm 7 to achieve a composite slag-removing motion, and a slag-removing component 8 is fixedly installed at the telescopic end of the slag-removing arm 7, which is made of high-temperature resistant alloy bucket or scraper.

[0031] The basic motion platform 1 is a tracked or wheeled chassis, such as an AGV transport vehicle. In this embodiment, the boom system 2 also includes a rotating chassis 9, which is mounted on the basic motion platform 1 via a slewing support. The support base 3 is fixedly mounted on the upper surface of the rotating chassis 9, allowing the boom system 2 to rotate and adjust horizontally relative to the basic motion platform 1 to meet more complex slag removal requirements. A driver's cab 10 is mounted on the rotating chassis 9 on one side of the support base 3, facilitating the operator's active control of the boom system and the basic motion platform. The driver's cab rotates with the chassis, ensuring the operator's view is always facing the extension and retraction direction of the slag removal boom. The rotating chassis 9 is also equipped with a hydraulic station and its piping system 11, the main power system 12 of the boom system 2, and an electrical control cabinet 13. These three components are rationally distributed on the rotating chassis 9 to balance the forces on the rotating chassis, and are all housed within a custom-designed protective cover 14.

[0032] like Figure 3 As shown, the adaptive obstacle crossing control system is the core of this scheme. It operates in parallel with the main control loop of the system and is roughly divided into a perception layer, a control decision layer, and an execution layer. The perception layer includes a load perception module and a working condition perception module. The control decision layer is run by the core controller to identify and make decisions. The execution layer is composed of micro-motion execution modules.

[0033] The load sensing module includes a high dynamic pressure sensor installed on the oil lines of the first drive component 4 and the second drive component 5, which is used to collect pressure signals P1 and P2 in real time.

[0034] The working condition sensing module includes attitude sensors, such as tilt sensors or encoders, installed at the boom joints to obtain the real-time angle θ of the key boom joints; and operation intention sensors, such as reading the remote control output signal or pilot handle voltage, to obtain the operator's continuous control commands U.

[0035] The controller is the core processor, typically a high-performance PLC or industrial PC, and communicates with the aforementioned modules. The controller is configured to generate fine-tuned motion vectors through inverse kinematics solving. The vector is then converted into a fine-tuning control command, which is an electrical signal sent to the high-frequency response proportional valve or servo valve, with a duration T ≤ 0.5 seconds, and controlling the actuator to generate a displacement D ≤ 20 mm.

[0036] The micro-motion actuator module includes a high-frequency response proportional valve or servo valve connected in parallel between the main control valve group and the drive component oil circuit, which receives controller commands to achieve precise and rapid flow control.

[0037] As attached Figure 4As shown, the control logic executed by the internal software of the controller, namely an adaptive obstacle-crossing control method, specifically includes the following steps in its workflow:

[0038] S1. High-frequency synchronous sampling of pressures P1 and P2, joint angle θ, and operation command U, wherein the joint angle θ is used to calculate the real-time geometry of the boom system.

[0039] S2. Based on the real-time angle θ, the theoretical reference pressure (P1) of the two drive cylinders is calculated in real-time using the kinematic and static models of the boom system, considering only gravity, under the current posture. ref P2 ref ), calculate pressure deviation and instantaneous rate of change (d P1 / d t , d P2 / d t ).

[0040] Obstacle identification is triggered when the instantaneous rate of change exceeds a threshold and the pressure deviation pattern matches a library of typical obstacle impact patterns. This library of typical obstacle impact patterns is established through offline calibration and simulation. For example, when a shovel travels horizontally and collides with a vertical step, a sudden increase in positive pressure may occur at P1, while a specific change may occur at P2.

[0041] S3. After triggering recognition, lock the sensor state data set at the trigger moment (P1). s P2 s , θ s U s ) serves as the anchor point for decision-making, where P1 s P2 s θ s U s These represent P1, P2, θ, and U, respectively, corresponding to the triggering time.

[0042] First, based on θ s Accurately calculate the current position and orientation of the slag-removing shovel tip; then analyze the operation command U. s Based on historical trends, determine whether the operator's intention is "strong forward / downward pressure," "strong backward / upward pressure," or "holding"; then combine (P1) s P2 s The direction of the resultant force is determined by mapping the hydraulic cylinder pressure to the force on the shovel tip through a model, in order to estimate the direction of the reaction force of the obstacle on the shovel tip.

[0043] When generating a fine-tuning strategy, the core objective of fine-tuning is to produce a tiny virtual displacement of the shovel tip. The direction of this displacement should most effectively reduce the projection of the current obstacle reaction force onto the operator's intended movement direction, or in other words, create an escape path for the shovel tip that adapts to the situation.

[0044] By using the desired virtual displacement direction of the shovel tip and the current mechanism Jacobian matrix (velocity mapping matrix), the required minute displacements of the two drive cylinders can be calculated in reverse. .in, and The positive and negative signs indicate fine-tuning of the direction; positive means extending and negative means retracting.

[0045] Suppose an obstacle is detected exerting a downward and forward-facing force on the shovel tip, hindering the shovel head's forward downward movement, while the operator's intention is to continue forward and downward. A reasonable auxiliary strategy is to induce a slight upward and slightly retracted composite motion in the shovel tip. This involves first reducing the risk of a direct collision by changing the angle, and then adjusting the shovel head position to avoid the obstacle. Through the inverse Jacobian matrix, the corresponding adjustment strategy for this motion is: a slight retraction of the second drive component 5 to produce an upward motion, and an even smaller or zero retraction of the first drive component 4 to produce a slight retraction.

[0046] The solution process is subject to strict constraints: , And the total duration of the synthesized action T ≤ T max For example, L1 max =10mm, L2 max =15mm, T max =200ms.

[0047] S4, the controller will calculate the result. This is converted into a pulse control signal, with strictly limited amplitude and duration, sent to the corresponding high-frequency response proportional valve. The micro-motion actuator drives the hydraulic cylinder to precisely and rapidly complete this complex fine-tuning within the blink of an eye. The main control circuit remains open at all times, and operator commands are superimposed in real time. After the action is completed, the system resets and continues monitoring.

[0048] The following section provides a detailed explanation of the specific working process of the adaptive obstacle-crossing control system of this invention, using three typical operating conditions in aluminum refining slag removal operations. It is important to emphasize that the system plays only a momentary auxiliary role throughout the entire process, and the operator maintains absolute control at all times.

[0049] After the adaptive obstacle crossing control system is powered on, the load sensing module continuously collects the pressure P1 of the first drive component 4 and the pressure P2 of the second drive component 5. The attitude sensing module continuously collects the key angles θ1 and θ2 of the boom. The controller synchronously processes these signals at a frequency of no less than 1kHz and, based on a precise three-dimensional mechanical model of the boom system, calculates in real time the theoretical static balance pressure (P1) of the two drive components under the current attitude (θ1, θ2) and known load. ref P2 refMeanwhile, the controller continuously monitors the control commands (U1, U2) issued by the operator via the remote control.

[0050] Wherein, θ1 is the first joint angle, representing the rotation angle of the slewing chassis, defining the left-right swing direction of the boom system in the horizontal plane, and is measured by a rotary encoder mounted on the slewing support.

[0051] θ2 is the second joint angle, representing the core angle of the overall tilt of the slag-removing arm. It defines the pitch and swing direction of the slag-removing arm in the vertical plane and is measured by the tilt sensor installed on the slag-removing arm.

[0052] U1 is the first control channel signal, corresponding to the command to control the overall horizontal extension / retraction and lifting of the slag removal arm.

[0053] U2 is the second control channel signal, corresponding to the command to control the pitch of the slag shovel.

[0054] Operating Scenario 1: The operator adjusts the slag removal arm to a horizontal position and raises it to the estimated height, then drives the slag removal shovel horizontally towards the furnace opening. Due to perspective deviation or slight judgment error, the front or upper part of the slag removal shovel may scrape or collide with the upper edge of the furnace opening.

[0055] During operation, when the slag scraper or the front end of the boom collides with the upper edge of the furnace opening, the resistance mainly acts on the front end of the boom, causing the first drive component 4 to experience an additional backward thrust. This results in an abnormal decrease in pressure P1 because the external force offsets part of the hydraulic cylinder thrust. Simultaneously, it may cause fluctuations in pressure P2 of the second drive component 5. The system detects that P1 deviates from the theoretical value P1 within a very short time (e.g., 50ms). ref A negative threshold, and the rate of change conforms to collision characteristics.

[0056] The controller then instantly locks the data. Analysis shows that the obstacle force is directed backward, but the intention is forward (U1 indicates forward). To mitigate this head-on collision, a slight "diving + forward" motion of the shovel tip is expected to avoid the upper edge.

[0057] Through inverse kinematics analysis, this primarily corresponds to: a slight retraction of the first drive component 4, causing the arm to lower slightly and move forward slightly; and an even slight extension of the second drive component 5, causing the shovel head to tilt slightly forward. The system drives a high-frequency response valve to complete this millimeter-level composite micro-motion within 200ms. This allows the slag scraper to instantly and automatically attempt to lower its head and drill forward without the operator noticing, potentially allowing it to pass smoothly through the furnace opening and avoiding hard scraping and repeated adjustments by the operator.

[0058] Operating Scenario 2: After the slag scraper has entered the furnace to a certain depth, the operator manipulates the scraper arm to swing downwards, causing the scraper blade to cut into the slag layer on the surface of the molten aluminum. At this time, the scraper blade may collide with the steps or hard solidified material on the furnace side wall.

[0059] During the downward swing operation, when the blade strikes a vertical obstacle, it generates a significant instantaneous resistance on the second drive component 5, resulting in a sharp increase in pressure P2. Simultaneously, due to the lever arm relationship, P1 may also change accordingly. The system detects that the rate of change of P2 far exceeds the rate of change during normal downward pressure, and that P2 and P2... ref The positive deviation exceeds the threshold, which is consistent with the pattern of pressure encountering a hard object.

[0060] The controller immediately detects that the downward pressure is blocked. It reads the operator's intention as continuous downward pressure (U2 indicates downward pressure). A direct, forceful downward pressure may damage the blade. The ideal assist strategy is to create a slight "upward + pullback" motion at the blade tip to find a path to slide over the obstacle.

[0061] Through inverse kinematics analysis, this mainly corresponds to: a rapid and slight retraction of the second drive component 5, causing the shovel tip to tilt upwards, possibly accompanied by a slight retraction of the first drive component 4, causing the shovel to move slightly backwards and release pressure. This allows the shovel blade to automatically perform a dexterous lifting and slight retreating motion at the moment of impending hard impact. This often allows the shovel blade to glide over the top of the obstacle, thus smoothly cutting into the slag layer, protecting the equipment, and maintaining operational smoothness.

[0062] Operating Scenario 3: The operator is shoveling a slag-laden slag shovel back from inside the furnace towards the furnace opening. The slag buildup may obstruct the operator's view, making it impossible to see whether the slag blade is below the lower edge of the furnace opening, which could cause the slag blade or back to collide with the lower edge of the furnace opening.

[0063] During the back-pull operation, when the shovel blade strikes the lower edge of the furnace opening, it generates an upward pushing force on the boom. This may cause an abnormal increase in the pressure P1 of the first drive component 4, as the boom tends to be lifted upwards, while the pressure P2 of the second drive component 5 may undergo complex changes. The system detects an abnormal positive change in P1 that does not match the expected load pattern under the back-pull command (U1 indicates backward).

[0064] The controller then determines that the retraction path is blocked from below. The operator's intention is to move backward and upward. Directly forcing a pullback may cause the shovel to jam. The auxiliary strategy should be to allow the shovel to produce a slight "sinking + retrying pullback" or "adjusting the pitch to reduce the overall height" movement.

[0065] Through inverse kinematics calculations, this might correspond to: a slight extension of the first drive component 4, attempting to raise the boom slightly higher to cross the lower edge; or a slight extension of the second drive component 5, causing the shovel to tilt further forward and reduce the shovel back height. The specific combination is precisely calculated based on real-time attitude. Ultimately, the system's minute attitude adjustment at the moment of collision helps the shovel adapt more smoothly to the geometry of the furnace opening's lower edge, preventing the shovel from getting stuck on the threshold and allowing the scraping motion to be completed continuously.

[0066] As demonstrated by its application in the three typical operating conditions described above, the adaptive obstacle-crossing control system of this invention acts like an experienced assistant. When the operator encounters subtle rigid obstacles that cannot be fully predicted, it provides precisely timed millimeter-level or millisecond-level motion assistance based on accurate mechanical sensing and real-time model calculation. This assistance fully conforms to the operator's macroscopic intentions, aiming to mitigate instantaneous local resistance rather than altering the operational objective. This significantly reduces equipment impact and operational difficulty while truly achieving deep integration and collaboration between human and machine intelligence.

[0067] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the above principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An adaptive muck-removing and obstacle-crossing device, comprising a basic motion platform (1), a boom system (2) mounted on the basic motion platform (1), and at least two driving components for driving the boom system (2) to perform attitude adjustments, characterized in that, Also includes: An adaptive obstacle-crossing control system, coupled to and configured with the at least two actuators, is as follows: Continuously acquire multi-dimensional mechanical signals reflecting the working resistance of the boom system (2) and the real-time attitude signals of the boom system (2), wherein the mechanical signals correspond to at least different drive components; Based on the multi-dimensional mechanical signals, real-time attitude signals, and the preset boom system mechanical model, abnormal load changes caused by encountering rigid obstacles are dynamically identified. At the instant the abnormal load change is detected, based on the load distribution, real-time attitude, and the intention trend of the operator's control command at the time of detection, a fine-tuning motion vector constrained by time and amplitude is generated by inversely solving the kinematic model of the boom system. This vector corresponds to the limited displacement of one or more of the at least two drive components. Execute the control command corresponding to the fine-tuning action vector, and drive the corresponding drive component to complete an auxiliary fine-tuning action while keeping the manual main control loop open.

2. The adaptive muck-removing and obstacle-crossing device according to claim 1, characterized in that: The boom system (2) includes a support base (3), on which a first drive member (4) and a second drive member (5) are installed. The output ends of the first drive member (4) and the second drive member (5) are respectively connected to two independent drive points of a transmission mechanism (6). The driven point on the transmission mechanism (6) is connected to the slag removal arm (7). The telescopic end of the slag removal arm (7) is fixedly installed with a slag removal component (8). The extension and retraction of the first driving member (4) mainly drives the slag-removing arm (7) to perform a composite translational motion of overall height and horizontal position; the extension and retraction of the second driving member (5) mainly drives the slag-removing arm (7) to perform pitching and swinging motion around a hinge point.

3. The adaptive muck-removing and obstacle-crossing device according to claim 2, characterized in that: The first driving component (4) and the second driving component (5) are both hydraulic cylinders, and the transmission mechanism (6) is a four-bar linkage mechanism; the first driving component (4) is a translational lifting hydraulic cylinder, which extends to drive the slag-removing arm (7) to move backward and upward, and retracts to drive the slag-removing arm (7) to move forward and downward; the second driving component (5) is a pitch lifting hydraulic cylinder, which extends to drive the slag-removing arm (7) to tilt forward, and retracts to drive the slag-removing arm (7) to tilt backward.

4. The adaptive muck-removing and obstacle-crossing device according to claim 3, characterized in that, The adaptive obstacle-crossing control system includes: The load sensing module is used to acquire the first pressure value P1 of the first driving component (4) and the second pressure value P2 of the second driving component (5) in real time. The working condition sensing module is used to acquire the key joint angles of the boom system (2) and the trend of operator control commands in real time; The controller is communicatively connected to the load sensing module and the attitude sensing module, and is configured to: obtain the theoretical load reference value under the current attitude by querying or calculating based on the first pressure value P1, the second pressure value P2 and the key joint angle; determine that an abnormal load change has occurred when the deviation characteristics of the measured pressure and the theoretical reference value and the pressure change rate characteristics simultaneously meet the preset obstacle encounter conditions; at the moment of determination, generate a fine-tuning motion vector by solving inverse kinematics according to the measured pressure, real-time attitude and operator control command trend, and generate a fine-tuning control command accordingly; The micro-motion execution module is connected to the controller and the first drive (4) and the second drive (5) and is used to respond to the micro-adjustment control command and drive the corresponding drive to perform restricted micro-adjustment actions.

5. The adaptive muck-removing and obstacle-crossing device according to claim 4, characterized in that: The controller is configured such that generating the fine-tuned motion vector through inverse kinematics solution includes the following steps: Based on the measured pressures P1 and P2 and the real-time attitude at the identification time, the main direction of the obstacle reaction force on the slag removal component (8) is estimated by reverse calculation. Based on the short-term trend of the operator's control instructions, a desired virtual micro-displacement direction of the slag removal component (8) is determined, which aims to resolve the obstacle reaction force and conform to the operation trend; Based on the real-time attitude at the moment of identification, calculate the Jacobian matrix of the boom system from the drive component space to the slag removal component workspace; Using the inverse or pseudo-inverse of the Jacobian matrix, the desired virtual micro-displacement direction is mapped and solved as the first displacement of the first driving element (4). The second displacement of the second driving member (5) ,in and All are less than or equal to the preset amplitude threshold.

6. The adaptive muck-removing and obstacle-crossing device according to claim 5, characterized in that: The micro-motion actuator module includes a high-frequency response proportional valve or servo valve connected in parallel with the oil circuit of the first drive (4) and the second drive (5); the micro-adjustment control command is an electrical signal sent to the high-frequency response proportional valve or servo valve, with a duration T≤0.5 seconds and controlling the actuator to generate a displacement D≤20 mm.

7. The adaptive muck-removing and obstacle-crossing device according to claim 4, characterized in that: The preset obstacle encounter condition is that the absolute value of the rate of change of the first pressure value P1 or the second pressure value P2 per unit time exceeds a first threshold, and the deviation between the measured value and the theoretical reference value is... Exceeding the second threshold, and the deviation The combination of symbols conforms to the preset obstacle impact pattern.

8. A method for controlling the muck removal and obstacle crossing of an adaptive obstacle-crossing muck-removing device according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Real-time synchronous acquisition of the pressure P1 of the first drive component (4), the pressure P2 of the second drive component (5), the key joint angle θ of the boom system (2), and the operator control command U; S2. Calculate the theoretical reference value of the pressure under the current posture based on the joint angle θ, and calculate the rate of change of the measured pressure and the deviation from the theoretical value; when the rate of change and the deviation characteristics meet the composite condition, it is determined that a rigid obstacle has been encountered. S3. At the decision point, based on the measured pressure, real-time attitude, and operational command trends, a fine-tuned motion vector is generated through inverse kinematics. ; S4. Generate control commands based on the fine-tuning motion vector, and drive the corresponding drive component to perform a fine-tuning motion with strictly limited time and stroke.

Images