A force-adaptive hydraulic ring-knife soil sampling device based on machine vision and method of operation thereof

Abstract

This invention discloses a machine vision-based force-adaptive hydraulic ring cutter soil sampling device and its operation method, relating to the technical field of geotechnical engineering testing equipment. The device acquires soil sample images through a vision and hydraulic control unit to identify soil sample types, generating and real-time correcting pressing parameters. The pressing unit drives the ring cutter unit to adaptively press the soil sample. The ring cutter unit is equipped with a non-perforated ring cap and an outer soil retaining cylinder to level the upper end face and retain the outer soil. A transverse transport unit transports the pressed ring cutter unit to the bottom-cutting and ejection station. The bottom-cutting and ejection cutter replacement unit cuts, separates, and ejects the soil sample at the lower end of the ring cutter, and assists in replacing the ring cutter. This invention achieves adaptive pressing of different soil samples through vision and hydraulic closed-loop control. Combined with full-process vertical guidance, end-face leveling, and automatic transport and cutting, it improves soil sampling consistency, integrity, and operational efficiency, while reducing soil sample disturbance and waste.

Description

Technical Field

[0001] This invention relates to the field of geotechnical engineering testing equipment technology, specifically to a machine vision-based force-adaptive hydraulic ring cutter soil sampling device and its operation method. Background Technology

[0002] Laboratory testing in geotechnical engineering is a crucial step in obtaining the physical and mechanical properties of soil and evaluating engineering geological conditions. The degree to which the in-situ structure of the soil sample is preserved directly affects the reliability of the test results. The sampling quality of undisturbed soil samples has a decisive impact on the results of subsequent compression, shear, and permeability tests.

[0003] In related technologies, indoor ring sample collection typically employs manual operation: first, large-sized columnar or blocky soil samples are obtained in the field; then, indoors, the cutting edge of the ring sampler is manually pressed into the soil sample. After the sample fills the ring sampler, excess soil on the outside and both ends of the ring sampler is removed with a cutting tool, ultimately obtaining a fixed-volume ring sampler for testing. However, the above-mentioned manual soil collection method has the following drawbacks: uneven force during the pressing process can easily lead to the ring sampler being pressed off-center, tilted, or locally disturbed, damaging the in-situ structure of the soil sample; for highly cohesive soil samples, manual pressing is laborious and inefficient; different operators apply significantly different forces to different soil types, making it difficult to guarantee sampling consistency and repeatability; removing the outer soil and manually leveling the end face wastes soil samples and makes it difficult to ensure the flatness of the upper and lower end faces, affecting the accuracy of the test; the entire process relies on manual handling, cutting, and ejection, resulting in low automation and cumbersome continuous sampling operations.

[0004] Therefore, there is an urgent need for a ring cutter soil extraction device and its operation method that can achieve force adaptive control and automatically complete pressing, transportation, bottom cutting and cutter changing to solve the above problems. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the prior art by providing a machine vision-based force-adaptive hydraulic ring cutter soil sampling device and its operation method. The machine vision-based force-adaptive hydraulic ring cutter soil sampling device and its operation method realize adaptive pressing and soil sampling of different soil samples and automated operation.

[0006] To solve the above problems, the first aspect of the present invention adopts the following technical solution: A machine vision-based force-adaptive hydraulic ring cutter soil sampling device includes: Rack unit; A pressing unit is disposed on the frame unit; Ring cutter unit, used to mount ring cutters; The transverse transfer unit is located between the pressing station and the bottom cutting and ejection station; A bottom cutting and ejection tool changing unit is installed at the bottom cutting and ejection station; The vision and hydraulic control unit is used to acquire image information of the soil sample to be sampled to identify the soil sample type, generate corresponding pressing control parameters based on the identification results, and correct the pressing control parameters in real time based on the feedback signals of the pressure sensor and displacement sensor during the pressing process, so as to control the pressing unit to drive the ring cutter unit to adaptively press the soil sample. The transverse transfer unit is used to transfer the ring cutter unit after pressing to the bottom cutting and ejection station; The bottom-cutting and ejection cutter replacement unit is used to cut and separate the soil sample at the lower end of the ring cutter, eject the ring cutter unit after bottom cutting, and assist in replacing the ring cutter.

[0007] Furthermore, the frame unit includes a base, a left column, a right column, an upper crossbeam, a worktable, and a soil sample tray; the left column and the right column are mounted on the base, and the tops of the left column and the right column are connected by the upper crossbeam; the left column and the right column each form a cavity extending in a vertical direction, and a guide slide rod is provided in the cavity; the worktable is mounted on the base; the soil sample tray is mounted on the worktable; the ring cutter unit includes a clamping seat body, and the clamping seat body has outwardly extending connecting arms on both sides, the connecting arms extending into the cavity of the corresponding column and slidingly engaging with the guide slide rod.

[0008] Furthermore, the pressing unit includes a pressing hydraulic cylinder, a floating pressure plate, a pressure equalizing spring, a pressing head, a guide post, a guide sleeve, a pressure sensor seat, and a displacement sensor bracket; the pressing force output by the pressing hydraulic cylinder is transmitted to the ring cutter unit in sequence through the pressure sensor seat, the floating pressure plate, the pressure equalizing spring, and the pressing head; the movement of the pressing head is guided by the guide post and the guide sleeve.

[0009] Furthermore, the ring cutter unit also includes a locking ring, a positioning sleeve, a claw, a ring cover, and an outer soil retaining cylinder; the clamping seat body is connected to the locking ring, and the ring cutter is clamped between the clamping seat body and the locking ring; the positioning sleeve is disposed between the ring cutter and the clamping seat body; the claw is disposed below the ring cutter unit; the ring cover is closed on the upper end of the ring cutter, and the ring cover is a cover structure without a central hole; the outer soil retaining cylinder is sleeved on the outer periphery of the ring cutter and is coaxially disposed with the ring cutter.

[0010] Furthermore, the transverse transfer unit includes a transverse base, a transverse slide, a ring cutter carrier, a push plate, and a transverse hydraulic cylinder; the transverse slide is slidably disposed on the transverse base; the ring cutter carrier is fixed on the transverse slide, and an clearance hole is provided in the middle of the ring cutter carrier; the push plate is fixed on the transverse slide; the cylinder body of the transverse hydraulic cylinder is mounted on the transverse base, and the piston rod of the transverse hydraulic cylinder is connected to the push plate.

[0011] Furthermore, the bottom-cutting ejection tool changing unit includes a bottom-cutting blade, a bottom-cutting slider, a bottom-cutting guide rail, a bottom-cutting hydraulic cylinder, a bottom-cutting connecting block, an ejection hydraulic cylinder, a push rod, an ejection plate, and a ring-changing tool holder; the bottom-cutting guide rail is fixedly installed, the bottom-cutting slider is slidably installed on the bottom-cutting guide rail, the bottom-cutting blade is fixed on the bottom-cutting slider, and the bottom-cutting connecting block connects the piston rod of the bottom-cutting hydraulic cylinder to the bottom-cutting slider; the push rod connects the piston rod of the ejection hydraulic cylinder to the ejection plate, and the ejection plate is located below the clearance hole in the middle of the ring-cutting carrier; the ring-changing tool holder is located on one side of the bottom-cutting ejection station.

[0012] Furthermore, the vision and hydraulic control unit includes a camera, a control box, a hydraulic station, a solenoid valve assembly, and an accumulator; the camera is electrically connected to the control box; the control box is electrically connected to the solenoid valve assembly; the hydraulic station is connected to the solenoid valve assembly via an oil circuit; the solenoid valve assembly is connected to the pressing hydraulic cylinder, the undercutting hydraulic cylinder, the ejecting hydraulic cylinder, and the lateral movement hydraulic cylinder via oil circuits respectively; and the accumulator is connected to the pressure oil circuit of the hydraulic station.

[0013] Furthermore, the control box is configured to: perform closed-loop control of the pressurized hydraulic cylinder based on feedback signals from the pressure sensor and the displacement sensor, and control the solenoid valve group to perform pressure reduction or stop when the pressure exceeds a preset threshold or the displacement reaches a target value.

[0014] Furthermore, the ring cutter is a standard constant-volume ring cutter used in geotechnical engineering testing.

[0015] Compared with the prior art, the first aspect of the present invention has the following beneficial effects: This invention relates to a machine vision-based force-adaptive hydraulic ring cutter soil sampling device. The device acquires images of the soil sample surface using a camera. The control box automatically matches appropriate control parameters, such as pressing force, pressing speed, and pressing displacement, based on image recognition results, avoiding the randomness of parameters caused by differences in human experience. During the pressing process, pressure and displacement sensors provide real-time feedback signals to the control box. The control box compares the real-time data with target parameters and performs closed-loop adjustment of the pressing hydraulic cylinder. When the pressure exceeds a threshold or the displacement reaches a target value, it automatically performs decompression or stops the operation. This force-adaptive control mechanism effectively solves the problems of soil sample misalignment, tilting, or over-compaction caused by uneven force application and uncontrolled pressing force in manual soil sampling. Through the deep integration of visual recognition and hydraulic closed-loop control, force-adaptive adjustment of the soil sampling process is achieved, significantly improving sampling consistency and safety.

[0016] In this invention, guide slide rods are installed inside the left and right columns of the frame unit. The connecting arms on both sides of the clamping seat body of the ring cutter unit slide in cooperation with these guide slide rods, providing high-precision guidance throughout the vertical pressing of the ring cutter, fundamentally eliminating pressure deviation and lateral sway. The ring cover adopts a holeless cover structure, which works with the press head during the pressing process to limit and level the soil sample in the upper part of the ring cutter, ensuring that the upper end surface of the soil sample is flat. The outer soil retaining sleeve is set on the outer circumference of the ring cutter and is coaxially arranged. It moves down synchronously with the ring cutter during the pressing, constraining and retaining the soil outside the ring cutter, changing the soil sample waste caused by traditional manual soil cutting methods. The bottom cutting blade in the bottom cutting and ejection blade changing unit horizontally cuts the exposed soil sample at the lower end of the ring cutter, forming a flat lower end surface. Through the multi-unit collaborative mechanical structure design, the stability of the vertical pressing of the ring cutter and the end face quality of the soil sample inside the ring cutter are guaranteed, and soil sample waste is reduced.

[0017] The device of this invention uses a ring cutter carrier in a transverse transfer unit to receive the ring cutter unit after it has been pressed in at the pressing station. A pusher plate, driven by a transverse hydraulic cylinder, smoothly moves the ring cutter carrier and its ring cutter unit to the bottom-cutting and ejection station. The bottom-cutting and ejection cutter-changing unit sequentially completes the transverse cutting and separation of the soil sample at the lower end of the ring cutter and the overall lifting of the ring cutter with soil. The ring cutter-changing seat stores spare empty ring cutters for quick replacement during continuous sampling. These mechanical structures work together to automate all stages of the ring cutter soil sampling operation, from pressing, transfer, bottom cutting, ejection to ring cutter replacement, reducing manual intervention and labor intensity. It achieves automatic transfer, bottom cutting, ejection, and cutter-changing auxiliary functions after the ring cutter is pressed in, significantly improving operational efficiency and continuous sampling capability.

[0018] A second aspect of the present invention also discloses an operation method for a machine vision-based force-adaptive hydraulic ring cutter soil sampling device, comprising the following steps: S1, Place the soil sample to be collected on the soil sample tray; S2 uses a camera to capture images of the soil sample surface, and the control box identifies the soil sample type and generates corresponding indentation control parameters; S3, the control box controls the hydraulic station and solenoid valve group to drive the hydraulic cylinder to press the soil sample in the vertical direction. During the pressing process, the connecting arms on both sides of the clamping seat body slide along the guide slide rod inside the left and right columns to provide vertical guidance. At the same time, the pressure sensor and displacement sensor provide real-time feedback signals to the control box to correct the pressing parameters. S4. During the pressing process, the press head and the ring cover work together to limit and level the soil sample in the upper part of the ring cutter. The outer soil retaining cylinder moves down synchronously with the ring cutter to constrain and retain the soil on the outside of the ring cutter. S5, after pressing is completed, the transverse transfer unit will transfer the ring cutter unit to the bottom cutting and ejection station; S6, the bottom cutting blade of the bottom cutting and ejection cutting unit cuts the soil sample at the lower end of the ring cutter to separate it, and then the ring cutter unit is ejected by the ejection plate; S7. After removing the ring cutter unit, take a spare empty ring cutter from the ring cutter replacement seat for replacement.

[0019] Compared with the prior art, the second aspect of the present invention has the following beneficial effects: This invention presents a machine vision-based force-adaptive hydraulic ring cutter soil sampling device. The operation method involves sequentially executing steps such as soil sample placement, image acquisition and type recognition, parameter decision-making, hydraulic closed-loop adaptive pressing, vertically guided assisted pressing, upper surface leveling and outer soil retention, lateral transport, bottom cutting and ejection, and ring cutter replacement. This achieves standardization and automation of the entire process from soil preparation to finished ring cutter removal. The method utilizes machine vision to pre-identify the soil sample type and match pressing parameters, solving the inconsistency problem caused by manual force application based on experience. During pressing, real-time feedback from pressure and displacement sensors is integrated for closed-loop correction, avoiding bias, tilting, or excessive soil disturbance. Simultaneously, the ring cover limiting leveling and the outer soil retention cylinder moving synchronously ensure the flatness of the upper and lower surfaces of the soil sample and retain the soil on the outer side of the ring cutter, reducing material waste. The automatic connection between lateral transport and bottom cutting and ejection further reduces the intensity of manual operation and sampling errors, significantly improving the efficiency, success rate, and in-situ structural integrity of the ring cutter soil sampling operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the machine vision-based force-adaptive hydraulic ring cutter soil sampling device of the present invention. Figure 2 This is a schematic diagram of the frame unit of the machine vision-based force-adaptive hydraulic ring cutter soil sampling device of the present invention; Figure 3 This is a schematic diagram of the pressing unit of the force-adaptive hydraulic ring cutter soil sampling device based on machine vision of the present invention; Figure 4 This is a schematic diagram of the ring cutter unit of the force-adaptive hydraulic ring cutter soil sampling device based on machine vision according to the present invention; Figure 5 yes Figure 4 A schematic diagram of the cross-sectional structure; Figure 6 yes Figure 5 A magnified view of part A; Figure 7 This is a schematic diagram of the transverse transfer unit of the force-adaptive hydraulic ring cutter soil-collecting device based on machine vision according to the present invention. Figure 8 This is a schematic diagram of the bottom cutting and top-out cutting tool changing unit of the machine vision-based force-adaptive hydraulic ring cutter soil sampling device of the present invention. Figure 9This is a schematic diagram of the vision and hydraulic control unit of the force-adaptive hydraulic ring cutter soil sampling device based on machine vision according to the present invention. Figure 10 This is a schematic diagram of the control relationship between the vision and hydraulic control unit of the machine vision-based force-adaptive hydraulic ring cutter soil sampling device of the present invention.

[0021] In the diagram: 0-Frame unit; 001-Base; 002-Left column; 003-Right column; 004-Upper crossbeam; 005-Workbench; 006-Soil sample tray; 007-Leveling foot; 008-Side support; 009-Transverse connecting rod; 1-Pressing unit; 101-Pressing hydraulic cylinder; 102-Hydraulic cylinder mounting base; 103-Floating pressure plate; 104-Pressing head; 105-Guide column; 106-Guide sleeve; 107-Equalizing spring; 108-Displacement sensor bracket; 109-Pressure sensor base; 2-Ring cutter unit; 201-Ring cutter; 202-Ring cover; 203-Clamping seat body; 204-Locking ring; 205-Outer soil retaining cylinder; 206-Positioning sleeve; 20 7-Claw; 3-Transverse transfer unit; 301-Transverse base; 302-Transverse slide; 303-Ring cutter carrier; 304-Push plate; 305-Transverse hydraulic cylinder; 4-Undercutting and ejection tool changing unit; 401-Undercutting cutter; 402-Undercutting slide block; 403-Undercutting guide rail; 404-Undercutting hydraulic cylinder; 405-Ejection hydraulic cylinder; 406-Ejection rod; 407-Ejection plate; 408-Lower mounting bracket; 409-Stroke limit block; 410-Undercutting connecting block; 411-Undercutting cylinder lug connector; 412-Ring cutter changing seat; 5-Vision and hydraulic control unit; 501-Camera; 502-Control box; 503-Hydraulic station; 504-Solenoid valve group; 505-Accumulator. Detailed Implementation

[0022] The technical solutions of the invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without creative effort are within the scope of the invention.

[0023] In the description of this invention, it should be noted that the terms "above" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience and simplification of the description and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "setting," "installation," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] like Figure 1 As shown, the first aspect of this invention discloses a machine vision-based force-adaptive hydraulic ring cutter soil sampling device, comprising: a frame unit 0, serving as the foundation for the entire machine; a pressing unit 1, disposed on the frame unit 0, for providing controllable hydraulic pressing force; a ring cutter unit 2, for mounting the ring cutter 201 and for constraining the soil sample; a lateral transfer unit 3, disposed between the pressing station and the bottom cutting and ejection station, for laterally transferring the ring cutter unit 2; a bottom cutting and ejection tool changing unit 4, disposed at the bottom cutting and ejection station, for cutting and separating the soil sample, ejecting the ring cutter, and assisting in tool changing; and a vision and hydraulic control unit. 5 is used to collect image information of the soil sample to be sampled to identify the soil sample type, and generate corresponding pressing control parameters according to the identification results. During the pressing process, the pressing control parameters are corrected in real time according to the feedback signals of the pressure sensor and displacement sensor to control the pressing unit 1 to drive the ring cutter unit 2 to adaptively press the soil sample; the transverse transfer unit 3 is used to transfer the ring cutter unit 2 after pressing to the bottom cutting and ejection station; the bottom cutting and ejection cutter replacement unit 4 is used to cut and separate the soil sample at the lower end of the ring cutter 201, eject the ring cutter unit 2 after bottom cutting, and assist in replacing the ring cutter 201.

[0027] Specifically, through image recognition and parameter decision-making of the vision and hydraulic control unit 5, adaptive pressing control for different soil samples is realized, avoiding the randomness of parameters caused by human experience. At the same time, relying on the coordinated cooperation of multiple functional units such as pressing, lateral transport, bottom cutting and ejection, the entire process of ring cutter soil sampling is automated from pressing, transport to bottom cutting and ejection, which greatly reduces manual intervention and labor intensity, and effectively reduces soil sample disturbance and waste caused by uneven pressing force, pressing deviation and uneven end face, thereby improving the consistency, integrity and operation efficiency of ring cutter soil sampling.

[0028] Furthermore, such as Figure 2As shown, the frame unit 0 includes a base 001, a left column 002, a right column 003, an upper crossbeam 004, a workbench 005, and a soil sample tray 006. The left column 002 and the right column 003 are mounted on the base 001, and the tops of the left column 002 and the right column 003 are connected by the upper crossbeam 004. The left column 002 and the right column 003 each form a cavity extending in the vertical direction, and a guide slide rod is installed in the cavity. The workbench 005 is mounted on the base 001. The soil sample tray 006 is mounted on the workbench 005. The ring cutter unit 2 includes a clamping seat body 203, and the clamping seat body 203 has outwardly extending connecting arms on both sides. The connecting arms extend into the cavity of the corresponding column and slide in cooperation with the guide slide rod.

[0029] In addition, leveling feet 007 are provided at the four corners of the bottom of the base 001 to adjust the level of the entire machine and ensure that the device can work stably under different ground conditions; side supports 008 are provided on the rear side of the left column 002 and the right column 003, and the two side supports 008 are connected by a transverse connecting rod 009. The side supports 008 and the transverse connecting rod 009 together form an auxiliary support frame to enhance the rigidity of the entire machine and reduce the elastic deformation of the frame during the pressing process.

[0030] Furthermore, such as Figure 3 As shown, the pressing unit 1 includes a pressing hydraulic cylinder 101, a floating pressure plate 103, a pressure equalizing spring 107, a pressing head 104, a guide post 105, a guide sleeve 106, a pressure sensor seat 109, and a displacement sensor bracket 108. The pressing hydraulic cylinder 101 is mounted on the upper crossbeam 004 via a hydraulic cylinder mounting seat 102, which is fixedly connected to the upper crossbeam 004. The cylinder body of the pressing hydraulic cylinder 101 is installed inside the hydraulic cylinder mounting seat 102. The pressing force output by the pressing hydraulic cylinder 101 is transmitted sequentially to the ring cutter unit 2 via the pressure sensor seat 109, the floating pressure plate 103, the pressure equalizing spring 107, and the pressing head 104. The movement of the pressing head 104 is guided by the guide post 105 and the guide sleeve 106.

[0031] Furthermore, such as Figures 4-6As shown, the ring cutter unit 2 also includes a locking ring 204, a positioning sleeve 206, a support claw 207, a ring cover 202, and an outer soil retaining cylinder 205; the clamping seat body 203 is connected to the locking ring 204, and the ring cutter 201 is clamped between the clamping seat body 203 and the locking ring 204; the positioning sleeve 206 is disposed between the ring cutter 201 and the clamping seat body 203; the support claw 207 is disposed below the ring cutter unit 2, and the support claw 207 is preferably a three-lobed radially sliding support claw structure, including three claw lobes evenly distributed along the circumference, each claw lobe being able to slide radially. After the ring cutter unit 2 is assembled, the three claw lobes slide radially inward to the bottom of the ring cutter unit 2 to support and assist in positioning the ring cutter unit 2. The ring cover 202 is fitted onto the upper end of the ring cutter 201. The ring cover 202 is a cover structure without a central hole. The outer soil retaining cylinder 205 is sleeved on the outer periphery of the ring cutter 201 and is coaxially arranged with the ring cutter 201.

[0032] In addition, such as Figure 6 As shown, the locking ring 204 has multiple radially distributed spring holes along its circumference, and compression springs are installed in the spring holes. When the locking ring 204 is sleeved on the outer periphery of the outer soil retaining cylinder 205, the compression springs are compressed and generate radial tension force, so that the locking ring 204 and the outer soil retaining cylinder 205 form an elastic locking fit, thereby firmly clamping the ring cutter 201 between the clamping seat body 203 and the locking ring 204.

[0033] The inner diameter of the positioning sleeve 206 is adapted to the outer diameter of the ring cutter 201, and the outer diameter of the positioning sleeve 206 is adapted to the inner diameter of the clamping seat body 203, further ensuring the accurate axial position of the ring cutter 201 within the clamping seat body 203.

[0034] Meanwhile, after the ring cover 202 is placed on the upper end of the ring cutter 201, its outer edge forms a gap fit with the inner side of the upper end of the outer soil retaining cylinder 205. During the pressing process, the ring cover 202 can slide freely along the axial direction relative to the outer soil retaining cylinder 205 to ensure that the pressing force of the press head 104 is smoothly transmitted to the ring cutter 201.

[0035] When the ring cutter 201 needs to be pressed into the soil sample for sampling, the vision and hydraulic control unit 5 generates corresponding pressing control parameters based on the identified soil sample type and drives the pressing hydraulic cylinder 101 to extend. After the pressing hydraulic cylinder 101 extends, it drives the pressure sensor seat 109, floating pressure plate 103, pressure equalizing spring 107, and pressing head 104 to move downward as a whole in the vertical direction. The floating pressure plate 103 is used to equalize the pressing force, and the pressing head 104 serves as the pressing execution end, with its lower end face abutting against the upper end face of the ring cover 202. The ring cover 202 is set on the upper end of the ring cutter 201 and is coaxially positioned with the ring cutter 201. The pressing force is transmitted to the ring cover 202 through the pressing head 104, and then from the ring cover 202 to the ring cutter 201, so that the cutting edge of the ring cutter 201 is pressed into the soil in the vertical direction. During the pressing process, the ring cover 202 also limits and levels the upper part of the soil sample inside the ring cutter 201 to ensure that the upper end face of the soil sample is flat. Simultaneously, the connecting arms on both sides of the clamping seat body 203 extend into the cavities of the left column 002 and the right column 003, and move synchronously downwards along the guide slide rod, so that the clamping seat body 203 and the ring cutter 201 maintain a stable vertical movement state. The guide post 105 and the guide sleeve 106 further constrain the movement direction of the pressure head 104, and the floating pressure plate 103 and the pressure equalizing spring 107 jointly buffer the instantaneous impact and balance the distribution of the pressing force. The positioning sleeve 206 is used to ensure the accurate installation position of the ring cutter 201; the claw 207 is used to support and assist in positioning the ring cutter unit 2. The outer soil retaining cylinder 205 is sleeved on the outer periphery of the ring cutter 201 and is coaxially arranged with the ring cutter 201. When the ring cutter 201 presses in the soil sample, it moves synchronously downwards with the ring cutter 201 to constrain and retain the soil outside the ring cutter, reducing soil sample waste. The ring cover 202 is a cover structure without a central hole to prevent the soil sample inside the ring cutter 201 from leaking out from the middle of the ring cover 202 during the pressing process. Throughout the pressing process, the pressure sensor in the pressure sensor seat 109 detects the pressing force in real time, and the displacement sensor on the displacement sensor bracket 108 detects the pressing displacement in real time, and feeds the detection signal back to the vision and hydraulic control unit 5 to realize closed-loop adaptive adjustment of the pressing process.

[0036] In this example, such as Figure 7 As shown, the transverse transfer unit 3 includes a transverse base 301, a transverse slide 302, a ring cutter carrier 303, a push plate 304, and a transverse hydraulic cylinder 305. The transverse slide 302 is slidably disposed on the transverse base 301. The ring cutter carrier 303 is fixed on the transverse slide 302 and has a support groove for accommodating the ring cutter unit 2. An clearance hole is opened in the middle of the support groove for the ejector plate 407 to pass through. The push plate 304 is fixed on the transverse slide 302. The cylinder body of the transverse hydraulic cylinder 305 is mounted on the transverse base 301, and the piston rod of the transverse hydraulic cylinder 305 is connected to the push plate 304.

[0037] After pressing is completed, the press head 104 rises with the pressing hydraulic cylinder 101 and separates from the ring cover 202. The transverse hydraulic cylinder 305 extends, driving the push plate 304 connected to its piston rod end to move laterally. Since the push plate 304 is fixedly connected to the transverse slide 302, the push plate 304 further drives the transverse slide 302 to move laterally in a straight line along the transverse base 301. The ring cutter carrier 303 is installed on the transverse slide 302 to receive and limit the ring cutter unit 2. Specifically, the transverse slide 302 drives the ring cutter carrier 303 to move to the pressing position, and the support groove of the ring cutter carrier 303 receives the ring cutter unit 2 after pressing; then the claw 207 retracts radially, releasing the support of the ring cutter unit 2, and the push plate 304 assists in pushing and limiting the ring cutter unit 2, so that it falls accurately into the positioning position of the ring cutter carrier 303, at which time the ring cutter unit 2 is supported by the ring cutter carrier 303. The transverse slide 302 then drives the ring cutter carrier 303 and the ring cutter unit 2 on it to move laterally to the bottom cutting and ejection station. During the transverse movement, the sliding fit between the transverse slide 302 and the transverse base 301 provides linear guidance, the annular support groove of the ring cutter carrier 303 supports and limits the ring cutter unit 2, and the transverse hydraulic cylinder 305 drives it continuously at low speed, thereby ensuring that the ring cutter unit 2 moves smoothly without significant shaking, deviation or tilting.

[0038] Furthermore, such as Figure 8 As shown, the bottom cutting and ejection tool changing unit 4 includes a bottom cutting blade 401, a bottom cutting slider 402, a bottom cutting guide rail 403, a bottom cutting hydraulic cylinder 404, a bottom cutting connecting block 410, an ejection hydraulic cylinder 405, a push rod 406, an ejection plate 407, and a ring tool holder 412. The bottom cutting guide rail 403 is fixedly installed, the bottom cutting slider 402 is slidably installed on the bottom cutting guide rail 403, the bottom cutting blade 401 is fixed on the bottom cutting slider 402, and the bottom cutting connecting block 410 connects the piston rod of the bottom cutting hydraulic cylinder 404 with the bottom cutting slider 402. The push rod 406 connects the piston rod of the ejection hydraulic cylinder 405 with the ejection plate 407, and the ejection plate 407 is located below the clearance hole in the middle of the ring tool carrier 303. The ring tool holder 412 is installed on one side of the bottom cutting and ejection station and is used to store spare empty ring tools 201.

[0039] In addition, a lower mounting bracket 408 is fixedly installed below the worktable 005 of the frame unit 0, and the undercutting guide rail 403 and the undercutting hydraulic cylinder 404 are mounted on the lower mounting bracket 408. Stroke limit blocks 409 are respectively provided at both ends of the undercutting guide rail 403 to limit the sliding stroke of the undercutting slider 402 and prevent the undercutting blade 401 from overtraveling. Furthermore, the piston rod end of the undercutting hydraulic cylinder 404 is also provided with an undercutting cylinder lug connector 411, which connects the piston rod end of the undercutting hydraulic cylinder 404 to the undercutting connecting block 410. The undercutting cylinder lug connector 411 is a joint-type connection structure, which can compensate for the coaxiality deviation between the piston rod and the undercutting connecting block 410, ensuring that the undercutting slider 402 slides smoothly on the undercutting guide rail 403. The undercutting connecting block 410 is fixedly connected to the undercutting slider 402, which is slidably mounted on the undercutting guide rail 403. The undercutting blade 401 is fixed to the front end of the undercutting slider 402. The cylinder body of the ejector hydraulic cylinder 405 is fixed on the lower mounting bracket 408, and its piston rod is connected to the ejector rod 406. The ejector rod 406 is connected to the ejector plate 407, which is located directly below the clearance hole in the middle of the ring cutter carrier 303.

[0040] After the ring cutter unit 2 is transferred to the bottom cutting and ejection station, the bottom cutting hydraulic cylinder 404 extends, driving the bottom cutting slider 402 to move laterally along the bottom cutting guide rail 403 via the bottom cutting connecting block 410. This allows the bottom cutting blade 401 to pass laterally through the lower area of ​​the ring cutter 201, cutting and separating the soil sample exposed at the lower end of the ring cutter 201, thus separating the soil sample inside the ring cutter 201 from the parent soil sample below and forming a flat lower end surface. After the bottom cutting is completed, the ejection hydraulic cylinder 405 extends, driving the ejection rod 406 and ejection plate 407 to rise vertically. The ejection plate 407 passes through the clearance hole in the middle of the ring cutter carrier 303, lifting the ring cutter unit 2, after the bottom cutting is completed, to a position that is easy to remove. After the operator removes the ring cutter unit 2, if continuous sampling is required, a spare empty ring cutter can be taken from the ring cutter replacement seat 412 and installed into the ring cutter unit 2 to complete the replacement of the ring cutter 201. Then, all hydraulic cylinders are reset, ready for the next sampling.

[0041] According to embodiments of the present invention, such as Figure 9 As shown, the vision and hydraulic control unit 5 includes a camera 501, a control box 502, a hydraulic station 503, a solenoid valve assembly 504, and an accumulator 505; the camera 501 is electrically connected to the control box 502; the control box 502 is electrically connected to the solenoid valve assembly 504; the hydraulic station 503 is connected to the solenoid valve assembly 504 through an oil circuit; the solenoid valve assembly 504 is connected to the pressing hydraulic cylinder 101, the undercutting hydraulic cylinder 404, the ejecting hydraulic cylinder 405, and the lateral movement hydraulic cylinder 305 through oil circuits respectively; the accumulator 505 is connected to the pressure oil circuit of the hydraulic station 503.

[0042] Furthermore, the control box 502 is configured to: perform closed-loop control on the pressurized hydraulic cylinder 101 based on the feedback signals from the pressure sensor and the displacement sensor, and control the solenoid valve group 504 to perform pressure reduction or stop when the pressure exceeds the preset threshold or the displacement reaches the target value.

[0043] Camera 501 is used to acquire surface images of the soil sample to be sampled and transmit them to control box 502; control box 502 is used to preprocess the images, extract features and identify soil sample type, automatically match corresponding control parameters such as pressing force, pressing speed and pressing displacement, and output control signals to solenoid valve group 504; hydraulic station 503 is used to provide pressurized oil; solenoid valve group 504 is used to control the flow direction and flow rate of pressurized oil provided by hydraulic station 503 according to the control signal of control box 502, thereby driving the pressing hydraulic cylinder 101 to extend with a set force and speed; accumulator 505 is connected to the pressurized oil circuit of hydraulic station 503 and is used to compensate for instantaneous flow and absorb pressure shock during the pressing action to ensure the stability of hydraulic output.

[0044] like Figure 10 As shown, during the pressing process, pressure and displacement sensors are used to detect the actual pressing force and displacement in real time and send feedback signals back to control box 502. Control box 502 compares the real-time data with the target parameters and performs closed-loop regulation of solenoid valve group 504 to ensure that the output of pressing hydraulic cylinder 101 always approaches the preset value. When the pressing force exceeds the preset threshold or the pressing displacement reaches the target value, control box 502 automatically controls solenoid valve group 504 to perform decompression, stop, or reset actions. Thus, camera 501, control box 502, hydraulic station 503, solenoid valve group 504, accumulator 505, and sensors together constitute a complete force adaptive closed-loop control system, realizing intelligent and adaptive soil sampling operations for different soil samples.

[0045] The device provided by the first aspect of the present invention achieves adaptive force adjustment in the soil sampling process, stability of vertical pressing of the ring cutter, improvement of the flatness of the soil sample end face, and significant improvement of work efficiency through the integration of visual recognition and hydraulic closed-loop control, multi-unit collaborative mechanical structure design, and automated connection of transverse transfer and bottom cutting.

[0046] The second aspect of this invention also discloses an operation method for a machine vision-based force-adaptive hydraulic ring cutter soil sampling device, comprising the following steps: S1, place the soil sample to be sampled on the soil sample tray 006, and adjust the level of the whole machine by adjusting the leveling foot 007 to ensure the stability of the device during the sampling process; S2, activate the vision and hydraulic control unit 5, use camera 501 to acquire soil sample surface images and transmit them to control box 502; control box 502 preprocesses the images, extracts features, identifies soil sample type, surface condition and placement position, and calls the corresponding hydraulic pressing control strategy according to the identification results, automatically generating control parameters for pressing force, pressing speed and pressing displacement. S3, the control box 502 outputs control signals to the hydraulic station 503 and the solenoid valve group 504 according to the generated pressing parameters; the hydraulic station 503 provides pressurized oil, the solenoid valve group 504 switches the oil circuit direction and adjusts the flow rate, driving the pressing hydraulic cylinder 101 to move, so that the ring cutter unit 2 presses the soil sample in the vertical direction; during the pressing process, the connecting arms on both sides of the clamping seat body 203 slide along the guide slide rods inside the left column 002 and the right column 003, providing high-precision guidance for the vertical downward movement of the ring cutter unit 2 throughout the entire process, effectively preventing pressure deviation and lateral sway; at the same time, the pressure sensor and displacement sensor detect the actual pressing force and pressing displacement in real time, and send the feedback signal back to the control box 502; the control box 502 compares the real-time data with the target parameters, and performs closed-loop adjustment of the action of the pressing hydraulic cylinder 101, so that the ring cutter is pressed stably within the set parameter range; when the pressing force exceeds the preset threshold, the pressing displacement reaches the target value, or the displacement changes abnormally, the control box 502 automatically controls the solenoid valve group 504 to perform pressure reduction, stop, or reset actions; S4. During the pressing process, the pressing head 104 cooperates with the ring cover 202. The ring cover 202 limits and levels the soil sample in the upper part of the ring cutter, ensuring that the upper surface of the soil sample is flat. The ring cover 202 has a central hole-free structure, which can prevent the soil sample from leaking out from the middle of the ring cover. At the same time, the outer soil retaining cylinder 205 is sleeved on the outer periphery of the ring cutter 201 and is coaxially set. It moves down synchronously with the ring cutter 201 to constrain and retain the soil outside the ring cutter, reducing soil sample waste. S5, after pressing is completed, the press head 104 rises with the pressing hydraulic cylinder 101 and separates from the ring cover 202; the transverse transfer unit 3 is started: the transverse hydraulic cylinder 305 extends and drives the transverse slide 302 to move laterally along the transverse base 301 through the push plate 304, so that the ring cutter carrier 303 moves to the pressing position; the support groove of the ring cutter carrier 303 receives the ring cutter unit 2 after pressing, and then the claw 207 retracts radially, and the ring cutter unit 2 is supported by the ring cutter carrier 303; the transverse hydraulic cylinder 305 continues to drive, and smoothly transfers the ring cutter carrier 303 and the ring cutter unit 2 on it to the bottom cutting and ejection position; S6, after the ring cutter unit 2 is transported to the position, the bottom cutting and ejection tool changing unit 4 is started; the bottom cutting hydraulic cylinder 404 extends and drives the bottom cutting slider 402 to move laterally along the bottom cutting guide rail 403 through the bottom cutting connecting block 410, and the bottom cutting blade 401 cuts laterally into the exposed soil sample at the lower end of the ring cutter 201 to cut and separate the soil sample, so that the soil sample inside the ring cutter 201 is separated from the parent soil sample below and forms a flat lower end surface; after the bottom cutting is completed, the ejection hydraulic cylinder 405 extends and drives the ejection plate 407 to rise vertically through the ejection rod 406. The ejection plate 407 passes through the clearance hole in the middle of the ring cutter carrier 303 and lifts the ring cutter unit 2 after the bottom cutting is completed to a position that is easy to remove; S7. After the operator removes the ring cutter unit 2, if continuous sampling is required, a spare empty ring cutter can be taken from the ring cutter replacement seat 412 and installed into the ring cutter unit 2 to complete the ring cutter replacement; then each hydraulic cylinder is reset to prepare for the next sampling.

[0047] During the above-mentioned actions S3 to S6, the accumulator 505 is connected to the pressure oil circuit of the hydraulic station 503 to compensate for instantaneous flow and absorb pressure shocks when switching between pressing, bottom cutting, and ejection actions or when the load changes suddenly, so as to make the movement of each hydraulic cylinder more stable and further improve the reliability and safety of soil extraction operations.

[0048] This operational method achieves standardization and automation of the entire process from soil sample preparation to finished ring cutter removal by sequentially executing steps such as soil sample placement, image acquisition and type identification, parameter decision-making, hydraulic closed-loop adaptive pressing, vertically guided assisted pressing, upper surface leveling and outer soil retention, lateral transport, bottom cutting and ejection, and ring cutter replacement. The method utilizes machine vision to pre-identify soil sample types and match pressing parameters, solving the consistency problem caused by manual force application based on experience. During pressing, real-time feedback from pressure and displacement sensors is integrated for closed-loop correction, avoiding bias, tilting, or excessive soil disturbance. Simultaneously, the ring cover limiting leveling and the outer soil retention cylinder moving synchronously ensure the flatness of the upper and lower surfaces of the soil sample and retain the soil on the outer side of the ring cutter, reducing material waste. The automatic connection between lateral transport and bottom cutting and ejection further reduces the intensity of manual operation and sampling errors, significantly improving the efficiency, success rate, and in-situ structural integrity of ring cutter soil sampling operations.

[0049] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A machine vision-based force-adaptive hydraulic ring cutter soil sampling device, characterized in that, include: Rack unit; A pressing unit is disposed on the frame unit; Ring cutter unit, used to mount ring cutters; The transverse transfer unit is located between the pressing station and the bottom cutting and ejection station; A bottom cutting and ejection tool changing unit is installed at the bottom cutting and ejection station; The vision and hydraulic control unit is used to acquire image information of the soil sample to be sampled to identify the soil sample type, generate corresponding pressing control parameters based on the identification results, and correct the pressing control parameters in real time based on the feedback signals of the pressure sensor and displacement sensor during the pressing process, so as to control the pressing unit to drive the ring cutter unit to adaptively press the soil sample. The transverse transfer unit is used to transfer the ring cutter unit after pressing to the bottom cutting and ejection station; The bottom-cutting and ejection cutter replacement unit is used to cut and separate the soil sample at the lower end of the ring cutter, eject the ring cutter unit after bottom cutting, and assist in replacing the ring cutter.

2. The machine vision-based force-adaptive hydraulic ring cutter soil sampling device according to claim 1, characterized in that, The frame unit includes a base, a left column, a right column, an upper crossbeam, a worktable, and a soil sample tray. The left and right columns are mounted on the base, and their tops are connected by the upper crossbeam. Each of the left and right columns has a vertically extending cavity inside, and a guide rod is installed within each cavity. The worktable is mounted on the base, and the soil sample tray is mounted on the worktable. The ring cutter unit includes a clamping body with outwardly extending connecting arms on both sides. These connecting arms extend into the cavities of the corresponding columns and slide in cooperation with the guide rods.

3. The machine vision-based force-adaptive hydraulic ring cutter soil sampling device according to claim 2, characterized in that, The pressing unit includes a pressing hydraulic cylinder, a floating pressure plate, a pressure equalizing spring, a pressing head, a guide post, a guide sleeve, a pressure sensor seat, and a displacement sensor bracket; the pressing force output by the pressing hydraulic cylinder is transmitted to the ring cutter unit in sequence through the pressure sensor seat, the floating pressure plate, the pressure equalizing spring, and the pressing head; the movement of the pressing head is guided by the guide post and the guide sleeve.

4. The machine vision-based force-adaptive hydraulic ring cutter soil sampling device according to claim 3, characterized in that, The ring cutter unit further includes a locking ring, a positioning sleeve, a claw, a ring cover, and an outer soil retaining cylinder; the clamping seat body is connected to the locking ring, and the ring cutter is clamped between the clamping seat body and the locking ring; the positioning sleeve is disposed between the ring cutter and the clamping seat body; the claw is disposed below the ring cutter unit; the ring cover is closed on the upper end of the ring cutter, and the ring cover is a cover structure without a central hole; the outer soil retaining cylinder is sleeved on the outer periphery of the ring cutter and is coaxially disposed with the ring cutter.

5. The machine vision-based force-adaptive hydraulic ring cutter soil sampling device according to claim 4, characterized in that, The transverse transfer unit includes a transverse base, a transverse slide, a ring cutter carrier, a push plate, and a transverse hydraulic cylinder; the transverse slide is slidably mounted on the transverse base; the ring cutter carrier is fixed on the transverse slide, and an clearance hole is provided in the middle of the ring cutter carrier; the push plate is fixed on the transverse slide; the cylinder body of the transverse hydraulic cylinder is mounted on the transverse base, and the piston rod of the transverse hydraulic cylinder is connected to the push plate.

6. The machine vision-based force-adaptive hydraulic ring cutter soil sampling device according to claim 5, characterized in that, The bottom-cutting ejection and tool-changing unit includes a bottom-cutting blade, a bottom-cutting slide block, a bottom-cutting guide rail, a bottom-cutting hydraulic cylinder, a bottom-cutting connecting block, an ejection hydraulic cylinder, a push rod, an ejection plate, and a ring-changing tool holder. The bottom-cutting guide rail is fixedly installed, the bottom-cutting slide block is slidably installed on the bottom-cutting guide rail, the bottom-cutting blade is fixed on the bottom-cutting slide block, and the bottom-cutting connecting block connects the piston rod of the bottom-cutting hydraulic cylinder to the bottom-cutting slide block. The push rod connects the piston rod of the ejection hydraulic cylinder to the ejection plate, and the ejection plate is located below the clearance hole in the middle of the ring-cutting carrier. The ring-changing tool holder is located on one side of the bottom-cutting ejection station.

7. The machine vision-based force-adaptive hydraulic ring cutter soil sampling device according to claim 1, characterized in that, The vision and hydraulic control unit includes a camera, a control box, a hydraulic station, a solenoid valve assembly, and an accumulator; the camera is electrically connected to the control box; the control box is electrically connected to the solenoid valve assembly; the hydraulic station is connected to the solenoid valve assembly via an oil circuit; the solenoid valve assembly is connected to the pressing hydraulic cylinder, the undercutting hydraulic cylinder, the ejecting hydraulic cylinder, and the lateral movement hydraulic cylinder via oil circuits respectively; the accumulator is connected to the pressure oil circuit of the hydraulic station.

8. The machine vision-based force-adaptive hydraulic ring cutter soil sampling device according to claim 7, characterized in that, The control box is configured to: perform closed-loop control of the pressurized hydraulic cylinder based on feedback signals from the pressure sensor and the displacement sensor, and control the solenoid valve group to perform pressure reduction or stop when the pressure exceeds a preset threshold or the displacement reaches a target value.

9. The machine vision-based force-adaptive hydraulic ring cutter soil-sampling device according to any one of claims 1 to 8, characterized in that, The ring cutter is a standard constant-volume ring cutter used in geotechnical engineering testing.

10. A method for operating a machine vision-based force-adaptive hydraulic ring cutter soil-sampling device as described in any one of claims 2 to 9, characterized in that, Includes the following steps: S1, Place the soil sample to be collected on the soil sample tray; S2 uses a camera to capture images of the soil sample surface, and the control box identifies the soil sample type and generates corresponding indentation control parameters; S3, the control box controls the hydraulic station and solenoid valve group to drive the hydraulic cylinder to press the soil sample in the vertical direction. During the pressing process, the connecting arms on both sides of the clamping seat body slide along the guide slide rod inside the left and right columns to provide vertical guidance. At the same time, the pressure sensor and displacement sensor provide real-time feedback signals to the control box to correct the pressing parameters. S4. During the pressing process, the press head and the ring cover work together to limit and level the soil sample in the upper part of the ring cutter. The outer soil retaining cylinder moves down synchronously with the ring cutter to constrain and retain the soil on the outside of the ring cutter. S5, after pressing is completed, the transverse transfer unit will transfer the ring cutter unit to the bottom cutting and ejection station; S6, the bottom cutting blade of the bottom cutting and ejection cutting unit cuts the soil sample at the lower end of the ring cutter to separate it, and then the ring cutter unit is ejected by the ejection plate; S7. After removing the ring cutter unit, take a spare empty ring cutter from the ring cutter replacement seat for replacement.

Images