Automatic control method, device, equipment and medium for retracting and extending ground anchors of mobile winches

Abstract

This invention provides a method, device, equipment, and medium for automatically deploying and retrieving ground anchors for mobile winches. The method includes: controlling the ground anchor drilling actuator to perform drilling operations on the ground; during the drilling operation, multi-source sensors collect drilling parameters in real time, and the controller automatically adjusts the operating state of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters; when the drilling depth reaches a preset threshold, controlling the ground anchor delivery and installation mechanism to automatically deliver the ground anchor into the completed hole for installation; detecting the anchoring force of the ground anchor through a stress sensor, and when the anchoring force reaches a preset requirement, confirming that the ground anchor is anchored and allowing the winch to start operation; after the winch operation is completed, controlling the ground anchor retrieval mechanism to remove the ground anchor from the ground and retrieve it to a storage location, thereby solving the problems of ground anchor installation relying on manual assistance, retrieval relying on manual digging, and the lack of adaptive control in the drilling process.

Description

Technical Field

[0001] This invention relates to the field of power transmission line construction equipment technology, and in particular to a method, device, equipment and medium for automatic retraction and deployment control of ground anchors for mobile winches. Background Technology

[0002] In the construction, operation, and maintenance of power transmission lines, winches are core equipment for high-altitude lifting, traction, and cable laying operations. Before operation, winches must be firmly anchored to the ground to balance the enormous reaction force generated when traction of heavy objects and prevent displacement or overturning. However, the installation and retrieval of anchors have long relied primarily on manual labor: construction workers must use excavators to dig anchor pits at the work site, bury the anchors, backfill and compact the soil, and then manually dig them out for retrieval after the work is completed. This process is labor-intensive, labor-intensive, and inefficient. Furthermore, the excavation of anchors damages the original topography, especially in sensitive areas such as vegetation reserves and farmland.

[0003] To overcome the aforementioned shortcomings, existing technologies have attempted to integrate the ground anchor drilling function into the winch. For example, Chinese patent CN202321367015U discloses a mobile automatic intelligent winch, including a tracked walking device, a chassis, a winch rope winding device, a ground anchor drilling device, and a control module. The ground anchor drilling device is installed inside the chassis, and a working opening for the ground anchor drilling device to extend is provided on the side of the chassis. Another example is Chinese patent CN201521063342.4, which discloses a rubber tracked self-propelled hydraulic winch. The rubber tracked chassis increases the winch's mobility, and a wireless control module enables remote control of the winch's movement and hoisting. These existing technologies integrate the winch's autonomous walking and ground anchor drilling functions, partially solving the problem of manually digging and burying ground anchors.

[0004] However, the existing technologies still have the following shortcomings: First, the ground anchor drilling device can only perform a single rotary drilling function. During drilling, it lacks real-time sensing of key parameters such as torque, thrust, rotation speed, and depth, and cannot automatically optimize drilling parameters according to changes in geological conditions. This makes it prone to equipment damage or substandard drilling quality due to overload. Second, after drilling is completed, the installation of the ground anchor still requires manual assistance, making it impossible to achieve automatic connection from drilling to installation. Third, and more importantly, none of the above solutions address the issue of ground anchor retrieval after operation. Ground anchor retrieval still relies on manual excavation, which is not only inefficient but also prone to damaging the ground anchor or causing personal injury during the retrieval process.

[0005] Therefore, this invention provides an automatic control method for the deployment and retraction of ground anchors in mobile winches, in order to solve the technical problems of ground anchor installation relying on manual assistance, retrieval relying on manual digging, and the lack of adaptive control in the drilling process. Summary of the Invention

[0006] To overcome the problems existing in related technologies, this disclosure provides a method, device, equipment and medium for automatic deployment and retraction control of mobile winch ground anchors, in order to solve the technical problems of ground anchor installation relying on manual assistance, retrieval relying on manual digging and lack of adaptive control in the drilling process.

[0007] This specification provides one or more embodiments of an automatic retraction and deployment control method for a mobile winch ground anchor, including the following steps: Control the ground anchor drilling actuator to perform drilling operations on the ground; During the drilling operation, drilling parameters are collected in real time by multi-source sensors, and the controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters. When the drilling depth reaches the preset threshold, the ground anchor delivery and installation mechanism will automatically send the ground anchor into the completed hole for installation. The anchoring force of the ground anchor is detected by a stress sensor. When the anchoring force reaches the preset requirement, the ground anchor is confirmed to be anchored and the winch is allowed to start operation. After the winch operation is completed, the ground anchor retrieval mechanism is controlled to remove the ground anchor from the ground and retrieve it to the storage location.

[0008] Preferably, during the drilling operation, drilling parameters are collected in real time by multi-source sensors, and the controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters, specifically including the following steps: The multi-source sensors include a torque sensor, a speed sensor, a thrust sensor, and a depth sensor mounted on the drill pipe; The controller determines the current geological conditions based on real-time feedback from the torque sensor and the thrust sensor, and automatically adjusts the drilling speed and thrust. When the torque sensor detects an abnormal increase in torque exceeding a preset threshold, the controller automatically reduces the thrust or controls the drill pipe to reverse.

[0009] Preferably, the step of detecting the anchoring force of the ground anchor using a stress sensor, and confirming that the ground anchor is anchored when the anchoring force reaches a preset requirement, allows the winch to start operation, specifically includes the following steps: Control the high-torque motor to reverse, causing the ground anchor rod to rotate out in the opposite direction; The longitudinal extension and retraction mechanism is controlled to pull the ground anchor rod out of the hole; The track conveying device is controlled to run in reverse, transporting the ground anchor rods back to the ground anchor storage location.

[0010] Preferably, when the drilling depth reaches a preset threshold, the ground anchor delivery and installation mechanism automatically sends the ground anchor into the completed borehole for installation, specifically including the following steps: The ground anchor conveying and installation mechanism includes a ground anchor storage bin, a ground anchor pushing device, and an automatic clamping device; The controller controls the ground anchor pushing device to transport the ground anchors one by one from the ground anchor storage bin to the drilling position, and controls the automatic clamping device to send the ground anchors into the hole to complete the installation.

[0011] Preferably, the step of controlling the ground anchor retrieval mechanism to remove the ground anchor from the ground and retrieve it to the storage location after the winch operation is completed specifically includes the following steps: The ground anchor recovery mechanism includes a reverse rotation drive device and a ground anchor pull-out device. The controller first controls the reverse rotation drive device to apply a reverse torque to the ground anchor to loosen the friction between the ground anchor and the surrounding soil. Then, it controls the ground anchor pull-out device to remove the ground anchor from the ground and sends the recovered ground anchor back to the storage bin through the ground anchor conveying mechanism.

[0012] Preferably, the method further includes the following steps: The real-time data from the multi-source sensors and the operating status of the controller are uploaded to the remote control terminal via the wireless communication module. When an abnormal operating condition is detected, the controller automatically executes a preset abnormality handling procedure and sends an alarm signal to the remote control terminal.

[0013] Preferably, before the controlled ground anchor drilling actuator performs drilling operations on the ground, the following steps are further included: A rotary connection device is provided between the ground anchor drilling actuator and the winch car body; The controller controls the rotary connection device to rotate the ground anchor drilling actuator to the target drilling position, and performs drilling operations at different positions around the winch body.

[0014] This specification provides one or more embodiments of an automatic deployment and retraction device for a mobile winch ground anchor, comprising: The ground anchor drilling execution module includes a high-torque motor, drill rod, and track conveying device, which is used to control the ground anchor drilling execution mechanism to perform drilling operations on the ground; The multi-source sensor module includes a torque sensor, a speed sensor, a thrust sensor, and a depth sensor mounted on the drill rod, and a stress sensor mounted on the ground anchor. It is used to collect drilling parameters in real time through the multi-source sensors during the drilling operation, and the controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters. The ground anchor delivery and installation module includes a ground anchor storage bin, a ground anchor pushing device, and an automatic clamping device. It is used to control the ground anchor delivery and installation mechanism to automatically deliver the ground anchor into the completed hole for installation when the drilling depth reaches a preset threshold. The winch operation module is used to detect the anchoring force of the ground anchor through a stress sensor. When the anchoring force reaches the preset requirement, it confirms that the ground anchor is anchored and allows the winch to start operation. The ground anchor retrieval module includes a reverse rotation drive and a ground anchor extraction device, which are used to control the ground anchor retrieval mechanism to remove the ground anchor from the ground and retrieve it to the storage location after the winch operation is completed.

[0015] Preferably, the multi-source sensor module is further configured as follows: The multi-source sensors include a torque sensor, a speed sensor, a thrust sensor, and a depth sensor mounted on the drill pipe; The controller determines the current geological conditions based on real-time feedback from the torque sensor and the thrust sensor, and automatically adjusts the drilling speed and thrust. When the torque sensor detects an abnormal increase in torque exceeding a preset threshold, the controller automatically reduces the thrust or controls the drill pipe to reverse.

[0016] This specification provides one or more embodiments of a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the automatic deployment and retraction control method for a mobile winch ground anchor as described above.

[0017] This specification provides one or more embodiments of a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described automatic retraction and deployment control method for a mobile winch ground anchor.

[0018] This disclosure provides a method, device, equipment, and medium for automatically deploying and retrieving ground anchors for a mobile winch. The advantages are as follows: By controlling the ground anchor drilling actuator to perform drilling operations on the ground, drilling parameters are collected in real time by multi-source sensors, and the controller automatically adjusts the operating state based on feedback. This allows for adaptive response to changes in the strata during drilling, ensuring drilling efficiency and borehole stability. When the drilling depth reaches a preset threshold, the ground anchor delivery and installation mechanism automatically delivers the ground anchor into the completed borehole and completes the installation, achieving precise positioning and reliable fixing of the ground anchor, reducing manual intervention, and improving installation consistency and operational safety. Stress sensors detect the anchoring force of the ground anchor; once the anchoring force meets preset requirements, anchoring is confirmed as complete, ensuring the winch can only begin operation after obtaining clear load-bearing capacity verification, avoiding equipment overturning or safety accidents due to insufficient anchoring. After the winch operation is completed, the ground anchor retrieval mechanism removes the ground anchor from the ground and retrieves it to a storage location, achieving rapid and non-destructive removal and collection of the ground anchor, shortening the operation cycle, reducing ground anchor wear, and facilitating future reuse. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating an automatic retraction and deployment control method for a mobile winch ground anchor provided in one or more embodiments of this specification; Figure 2 Transmission schemes provided in one or more embodiments of this specification; Figure 3 A schematic diagram of the structure of an automatic retraction and deployment device for a mobile winch ground anchor provided for one or more embodiments of this specification; Figure 4 This is a schematic diagram of the structure of a computer device provided for one or more embodiments of this specification. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this invention.

[0022] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0023] Method Implementation Examples According to an embodiment of the present invention, an automatic retraction and deployment control method for the ground anchor of a mobile winch is provided, such as... Figure 1 The diagram shown is a flowchart illustrating the automatic anchor deployment and retrieval control method for a mobile winch provided in this embodiment. According to this embodiment, the main body of the mobile intelligent winch consists of an electric tracked chassis, an intelligent winch, an automated anchor, and an electrical system. The electric tracked chassis comprises a walking device, a power device, and a suspension system. The electrical system comprises a power module, a management module, a lighting module, an intelligent winch controller, and a wireless communication module. The anchor drilling actuator is installed inside or outside the mobile winch body and includes a high-torque motor, a drill rod, and a track conveying device. The controller is electrically connected to the anchor drilling actuator, multi-source sensors, the anchor conveying and installation mechanism, and the anchor retrieval mechanism, and includes the following steps: S110. Control the ground anchor drilling actuator to perform drilling operations on the ground. The ground anchor drilling actuator includes a high-torque motor, drill rod, and track conveying device. Before the drilling operation begins, the mobile winch autonomously travels to the predetermined working position via a crawler-mounted walking device, and the controller determines the ground anchor drilling position according to the preset anchoring scheme. Figure 2 The diagram shows the transmission scheme provided in this embodiment. Key components of the power system include the main drive shaft, reducer, steering differential, high-speed motor, low-speed high-torque motor, final drive half-shaft, and drive wheels. The work chassis operates via a wire-controlled tracked walking device, employing a differential transmission scheme. The drive motor drives the gearbox, which in turn rotates the drive wheels of the tracked chassis.

[0024] During drilling, the controller activates a high-torque motor to drive the drill rod to rotate, and simultaneously activates the track conveying device to drive the drilling mechanism to advance laterally, initiating automatic drilling operations. The ground anchor drilling device includes a base, a sliding groove, a drilling mechanism, and a first electric telescopic rod. The sliding groove is slidably installed within the base. The fixed end of the first electric telescopic rod is connected to the end of the base, and the telescopic end is connected to the sliding groove. The drilling mechanism is installed on the sliding groove. The first electric telescopic rod pushes the sliding groove along the base, thereby moving the drilling mechanism to the working position to drill into the ground. The drilling mechanism includes support seats, a drilling rig, and a second electric telescopic rod. Two support seats are symmetrically arranged along the length of the sliding groove. The drilling rig is horizontally mounted on the two support seats. The telescopic movement of the second electric telescopic rod causes the drilling rig to change from a horizontal to a vertical position.

[0025] S120. During drilling operations, drilling parameters are collected in real time by multi-source sensors. The controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters. The multi-source sensors include a torque sensor, a speed sensor, a thrust sensor, and a depth sensor mounted on the drill rod. During drilling, each sensor collects drilling parameters in real time and transmits them to the controller. The torque sensor monitors the torque on the drill rod in real time, the speed sensor monitors the rotational speed of the drill rod, the thrust sensor monitors the axial thrust of the drilling mechanism, and the depth sensor monitors the current drilling depth. The controller compares the real-time collected parameters with a preset drilling parameter model to determine the current geological conditions and automatically adjust the drilling speed and thrust. When the controller determines that the current geological layer is hard soil based on the real-time feedback from the torque and thrust sensors, it automatically reduces the thrust speed and appropriately increases the drilling speed; when it determines that the current geological layer is soft soil, it automatically increases the thrust speed to improve drilling efficiency. When the torque sensor detects an abnormal increase in torque exceeding a preset threshold, the controller automatically reduces the thrust or controls the drill rod to reverse to prevent equipment overload damage.

[0026] S130. When the drilling depth reaches a preset threshold, the ground anchor conveying and installation mechanism automatically delivers the ground anchor into the completed borehole and completes the installation. The ground anchor conveying and installation mechanism includes a ground anchor storage bin, a ground anchor pushing device, and an automatic clamping device. The ground anchor storage bin contains ground anchor members to be installed. When the depth sensor detects that the drilling depth has reached the preset threshold, the controller determines that drilling is complete, automatically stops the drilling operation, and starts the ground anchor conveying and installation procedure. The controller controls the ground anchor pushing device to deliver the ground anchors one by one from the ground anchor storage bin to the drilling position, and controls the automatic clamping device to accurately deliver the ground anchors into the borehole to complete the installation. After installation, the automatic clamping device releases the ground anchors and returns to its initial position.

[0027] S140. The anchoring force of the ground anchor is detected by a stress sensor. When the anchoring force reaches the preset requirement, the anchoring is confirmed to be complete, and the winch is allowed to start operation. The stress sensor is installed on the ground anchor. After the ground anchor is installed, the controller detects the anchoring force of the ground anchor through the stress sensor. When the anchoring force reaches the preset requirement, the controller confirms that the ground anchor is complete and sends an "anchoring complete" signal to the winch main control system, allowing the winch to start lifting or traction operations. If the anchoring force does not reach the preset requirement, the controller issues an alarm signal and prompts the operator to check the installation status of the ground anchor.

[0028] S150. After the winch operation is completed, the ground anchor retrieval mechanism is controlled to remove the ground anchor from the ground and retrieve it to the storage location. The ground anchor retrieval mechanism includes a reverse rotation drive device and a ground anchor extraction device. After the winch operation is completed, the controller starts the ground anchor retrieval program. First, the reverse rotation drive device is controlled to apply a reverse torque to the ground anchor, loosening the friction between the ground anchor and the surrounding soil. Then, the ground anchor extraction device is controlled to remove the ground anchor from the ground, and the retrieved ground anchor is sent back to the storage bin through the ground anchor conveying mechanism, completing the automatic retrieval of the ground anchor.

[0029] The method provided in this embodiment controls the ground anchor drilling actuator to perform drilling operations on the ground. Drilling parameters are collected in real time by multi-source sensors, and the controller automatically adjusts the operating state based on feedback. This allows the system to adaptively respond to changes in the strata during drilling, ensuring drilling efficiency and borehole stability. When the drilling depth reaches a preset threshold, the ground anchor delivery and installation mechanism automatically delivers the ground anchor into the completed borehole and completes the installation, achieving precise positioning and reliable fixation of the ground anchor, reducing manual intervention, and improving installation consistency and operational safety. Stress sensors detect the anchoring force of the ground anchor. Once the anchoring force meets preset requirements, the anchoring is confirmed as complete, ensuring that the winch can only begin operation after obtaining clear load-bearing capacity verification, avoiding equipment overturning or safety accidents due to insufficient anchoring. After the winch operation is completed, the ground anchor retrieval mechanism removes the ground anchor from the ground and retrieves it to a storage location, achieving rapid and non-destructive removal and collection of the ground anchor, shortening the operation cycle, reducing ground anchor wear, and facilitating future reuse.

[0030] In one embodiment, during drilling operations, drilling parameters are collected in real time by multi-source sensors, and the controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters. This includes the following steps: The multi-source sensors include torque sensors, speed sensors, thrust sensors, and depth sensors mounted on the drill pipe.

[0031] Based on real-time feedback from torque and thrust sensors, the controller determines the current geological conditions and automatically adjusts the drilling speed and thrust. Specifically, the controller has a built-in geological condition judgment model. When the torque value is within a first preset range and the thrust value is within a second preset range, the current geological layer is determined to be hard soil, and the controller automatically reduces the thrust and increases the drilling speed. When the torque value is within a third preset range and the thrust value is within a fourth preset range, the current geological layer is determined to be soft soil, and the controller automatically increases the thrust and decreases the drilling speed.

[0032] When the torque sensor detects an abnormal increase in torque exceeding a preset threshold, the controller automatically reduces the thrust or reverses the drill pipe. The preset threshold is 120% of the rated torque. When the torque value exceeds this threshold, the controller first attempts to reduce the thrust to 50% of the current value. If the torque value does not recover to below the rated torque within 3 seconds, the controller reverses the drill pipe and stops thrusting, while simultaneously sending an alarm signal to the remote control terminal via the wireless communication module. This overload protection mechanism effectively prevents equipment damage due to overload.

[0033] The method provided in this embodiment acquires drilling parameters in real time through multi-source sensors and uses a controller to automatically adjust them based on feedback. This allows for dynamic optimization of drilling speed and propulsion force according to geological conditions, improving drilling efficiency and adaptability. At the same time, it can reduce force or reverse direction in time when torque is abnormal, effectively avoiding drill bit overload damage and stuck drill accidents, and significantly improving the safety and reliability of drilling operations.

[0034] In one embodiment, when the drilling depth reaches a preset threshold, the ground anchor delivery and installation mechanism automatically sends the ground anchor into the completed borehole for installation, specifically including the following steps: The ground anchor conveying and installation mechanism includes a ground anchor storage bin, a ground anchor pushing device, and an automatic clamping device. The ground anchor storage bin, housed within the winch car body, is a box-type structure with multiple ground anchor placement positions arranged vertically in layers, each capable of accommodating one ground anchor rod. A discharge port is located at the bottom of the storage bin, equipped with a gate mechanism controlled by a controller for opening and closing. The ground anchor pushing device, located below the discharge port of the storage bin, includes a pushing rail, a pushing slider, and a pushing drive motor. The pushing rail extends horizontally to the drilling position, with the pushing slider slidably mounted on it. The pushing drive motor drives the pushing slider to reciprocate along the pushing rail via a screw transmission mechanism. The automatic clamping device, located at the end of the pushing rail near the drilling position, includes a pair of opposing clamping arms and a clamping drive motor. The inner side of the clamping arms has an arc-shaped clamping surface that matches the shape of the ground anchor rod.

[0035] After drilling is completed, the controller first opens the discharge gate of the anchor storage bin, allowing one anchor rod to fall into the pusher slider on the pusher track. Then, the controller controls the anchor pushing device to transport the anchors one by one from the storage bin to the drilling position. Once an anchor reaches the drilling position, the controller activates the automatic clamping device to hold the anchor, align it with the completed drilled hole, and finally insert the anchor into the hole to complete the installation. After installation, the automatic clamping device releases and returns to its initial position, and the pusher slider also returns to its initial position, ready to transport the next anchor.

[0036] The method provided in this embodiment automatically controls the ground anchor conveying and installation mechanism through a controller, realizing the full automation of the ground anchor process from storage and individual conveying to hole installation. This effectively improves installation efficiency, reduces manual labor intensity and operational risks, and ensures accurate and consistent installation positions, thereby enhancing construction continuity and reliability.

[0037] In one embodiment, after the winch operation is completed, the ground anchor retrieval mechanism is controlled to remove the ground anchor from the ground and retrieve it to the storage location, specifically including the following steps: The ground anchor retrieval mechanism includes a reverse rotation drive device and a ground anchor extraction device. The reverse rotation drive device includes a reverse drive motor and a transmission connection mechanism. One end of the transmission connection mechanism is connected to the output shaft of the reverse drive motor, and the other end is equipped with a mating sleeve that matches the ground anchor head. The ground anchor extraction device includes a lifting bracket, an extraction drive motor, and a wire rope winch mechanism. The lifting bracket is vertically positioned above the drilling location. One end of the wire rope is wound around the winch mechanism, and the other end is equipped with a ground anchor clamp.

[0038] After the winch operation is completed, the controller initiates the ground anchor retrieval program. The controller first controls the docking sleeve of the reverse rotation drive device to align with the ground anchor head, then controls the reverse drive motor to start, applying reverse torque to the ground anchor to loosen the friction between the anchor and the surrounding soil. Next, the controller controls the ground anchor extraction device to remove the anchor from the ground, and the retrieved anchor is sent back to the storage bin via the ground anchor conveying mechanism. After the reverse rotation continues for a preset time (e.g., 10-30 seconds) or a preset number of revolutions (e.g., 5-10 revolutions), the controller stops the reverse rotation drive device.

[0039] Then, the controller activates the anchor extraction device, which clamps the anchor head using anchor clamps. The winch mechanism then winds up the wire rope, pulling the anchor out of the ground. Once the anchor is completely removed, the controller moves the anchor delivery mechanism (i.e., the pusher slider of the anchor pushing device) to below the anchor. The winch releases the wire rope, causing the anchor to fall into the pusher slider, which then returns the retrieved anchor to the storage bin. This completes the automatic anchor retrieval process.

[0040] The ground anchor recycling facility is also equipped with a ground anchor cleaning device that automatically removes the mud adhering to the surface of the ground anchor during the recycling process, making it easier for the ground anchor to be reused and stored.

[0041] The method provided in this embodiment automatically controls the reverse rotation drive device and the ground anchor extraction device through the controller, so as to realize the automatic loosening, extraction and transportation of the ground anchor back to the storage bin. This improves the recycling efficiency and automation level, reduces the intensity of manual labor, and at the same time, the reverse torque can reduce the damage to the ground anchor and the surrounding soil, making it easier to reuse the ground anchor.

[0042] In one embodiment, the following steps are also included: The mobile winch ground anchor automatic deployment and retrieval control device also includes a wireless communication module. This module employs a distributed super wireless self-organizing network scheme, enabling highly autonomous, flexible, and robust wireless communication between devices. Each distributed node possesses independent computing and communication capabilities, eliminating the need for a central server or base station control. Any two nodes can communicate directly or via intermediate nodes for multi-hop transmission. This distributed network architecture effectively overcomes the limitations of traditional networks constrained by infrastructure deployment, making it particularly suitable for ground anchor deployment and retrieval operations in complex terrain conditions such as fieldwork, mountainous areas, and hilly terrain. The wireless communication module uploads real-time data from multiple sensors and the controller's operating status to a remote control terminal, which can be a handheld remote, a laptop, or a backend monitoring server. Operators can monitor the entire ground anchor deployment and retrieval process in real time via the remote control terminal.

[0043] When abnormal operating conditions are detected, such as abnormally high torque exceeding a preset threshold, continuous zero thrust, insufficient anchoring force, or motor overcurrent, the controller automatically executes a preset abnormality handling procedure. The abnormality handling procedure includes, but is not limited to: reducing thrust, controlling drill rod reversal, stopping drilling operations, and repeating installation operations. At the same time, the controller sends an alarm signal to the remote control terminal through the wireless communication module. The alarm signal includes the abnormality type, the time of the abnormality, and the real-time values ​​of each sensor, so that operators can understand the abnormal situation in a timely manner and take appropriate measures.

[0044] The method provided in this embodiment enables remote real-time monitoring of drilling parameters and working status through a wireless communication module. In case of abnormality, it automatically executes a processing program and simultaneously alarms, thereby improving fault response speed, reducing manual intervention, and enhancing operational safety and intelligent management level.

[0045] In one embodiment, before controlling the ground anchor drilling actuator to perform drilling operations on the ground, the following steps are also included: A rotary connection device is provided between the ground anchor drilling actuator and the winch vehicle body. Specifically, the chassis is rotatably connected to the tracked traveling device, allowing the chassis to rotate relative to the tracked traveling device, thereby driving the ground anchor drilling device to drill holes around the tracked traveling device. A working opening is provided on the side of the chassis for the ground anchor drilling device to extend out.

[0046] Before the ground anchor drilling actuator performs drilling operations on the ground, a positioning adjustment step is included. The controller controls the rotary connecting device to rotate the ground anchor drilling actuator to the target drilling position, performing drilling operations at different locations around the winch body. Specifically, when ground anchor drilling needs to be performed at different positions (front, rear, left, right) of the winch, the controller controls the drive motor of the rotary connecting device to start, driving the chassis to rotate relative to the tracked traveling device to the target angle. The rotation angle range is 0~360 degrees. After the chassis rotates to the correct position, the ground anchor drilling device extends from the working port on the side of the chassis, and can then perform drilling operations at the target position.

[0047] The winch requires two ground anchors, one at the front and one at the rear, for secure anchoring. The controller first rotates the machine body to the front (0-degree position), extending the ground anchor drilling device to perform drilling and installation operations at the front. After the front anchor is installed, the controller rotates the machine body to the rear (180-degree position), extending the ground anchor drilling device to perform drilling and installation operations at the rear. Only after both anchors are installed and the anchoring force is confirmed to be sufficient can the winch begin lifting or traction operations. After the operation is completed, the controller sequentially controls the ground anchor retrieval mechanism to retrieve the anchors at the rear and front.

[0048] This rotatable drilling design allows the winch to drill and install ground anchors in any location around it without moving the machine body, greatly improving the flexibility and efficiency of the operation.

[0049] The method provided in this embodiment enables the drilling actuator to rotate flexibly to different positions under the control of the controller through a rotating connection device, so that the winch car body can complete drilling in multiple directions around the four sides without moving, effectively improving the flexibility of operation and construction efficiency, and reducing the time cost of moving and repositioning the car body.

[0050] Device Examples According to an embodiment of the present invention, an automatic deployment and retraction device for a mobile winch ground anchor is provided, such as... Figure 3 The diagram shown is a structural schematic of the automatic deployment and retraction device for a mobile winch anchor provided in this embodiment. The automatic deployment and retraction device for a mobile winch anchor according to this embodiment includes: The ground anchor drilling execution module 31 includes a high-torque motor, a drill rod, and a track conveying device, which is used to control the ground anchor drilling execution mechanism to perform drilling operations on the ground.

[0051] The multi-source sensor module 32 includes a torque sensor, a speed sensor, a thrust sensor, and a depth sensor mounted on the drill pipe, and a stress sensor mounted on the ground anchor. It is used to collect drilling parameters in real time during the drilling operation through the multi-source sensors, and the controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters.

[0052] The ground anchor delivery and installation module 33 includes a ground anchor storage bin, a ground anchor pushing device, and an automatic clamping device. It is used to control the ground anchor delivery and installation mechanism to automatically deliver the ground anchor into the completed hole for installation when the drilling depth reaches a preset threshold.

[0053] The winch operation module 34 is used to detect the anchoring force of the ground anchor through a stress sensor. When the anchoring force reaches the preset requirement, it confirms that the ground anchor is anchored and allows the winch to start operation.

[0054] The ground anchor retrieval module 35 includes a reverse rotation drive device and a ground anchor extraction device, which are used to control the ground anchor retrieval mechanism to remove the ground anchor from the ground and retrieve it to the storage location after the winch operation is completed.

[0055] The device provided in this embodiment controls the ground anchor drilling execution mechanism to perform drilling operations on the ground through the ground anchor drilling execution module 31; the multi-source sensor module 32 collects drilling parameters in real time through multi-source sensors, and the controller automatically adjusts the operating status based on the feedback, thereby adaptively responding to changes in the strata during drilling and ensuring drilling efficiency and borehole stability; when the drilling depth reaches a preset threshold, the ground anchor delivery and installation module 33 controls the ground anchor delivery and installation mechanism to automatically deliver the ground anchor into the completed borehole position and complete the installation, achieving precise positioning and reliable fixation of the ground anchor. Reduce manual intervention, improve installation consistency and operational safety; the winch operation module 34 detects the anchoring force of the ground anchor through a stress sensor. Once the anchoring force meets the preset requirements, the anchoring is confirmed to be complete, so that the winch can start operation only after obtaining clear load-bearing capacity verification, avoiding equipment overturning or safety accidents caused by insufficient anchoring; after the winch operation is completed, the ground anchor retrieval module 35 controls the ground anchor retrieval mechanism to remove the ground anchor from the ground and retrieve it to the storage location, realizing the rapid and non-destructive removal and collection of ground anchors, shortening the operation cycle, reducing ground anchor wear, and facilitating the next recycling.

[0056] In one embodiment, the multi-source sensor module 32 is further configured as follows: The multi-source sensors include torque sensors, speed sensors, thrust sensors, and depth sensors mounted on the drill pipe.

[0057] The controller determines the current geological conditions based on real-time feedback from the torque sensor and thrust sensor, and automatically adjusts the drilling speed and thrust.

[0058] When the torque sensor detects an abnormal increase in torque exceeding a preset threshold, the controller automatically reduces the thrust or reverses the drill pipe.

[0059] The device provided in this embodiment collects drilling parameters in real time through multi-source sensors and automatically adjusts them using a controller. It can dynamically optimize drilling speed and propulsion force according to geological conditions, thereby improving drilling efficiency and adaptability. At the same time, it can reduce force or reverse the direction in time when the torque is abnormal, effectively avoiding overload damage to the drill bit and stuck drill accidents, and significantly improving the safety and reliability of drilling operations.

[0060] The embodiments of the present invention are device embodiments corresponding to the above method embodiments. The specific operations of each module processing step can be understood with reference to the description of the method embodiments, and will not be repeated here.

[0061] like Figure 4 As shown, the present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the automatic retraction and deployment control method for the mobile winch ground anchor in the above embodiments, or when the computer program is executed by a processor, it implements the automatic retraction and deployment control method for the mobile winch ground anchor in the above embodiments.

[0062] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0063] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for apparatus or system embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The apparatus and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and the contents not described in detail in the specification of the present invention are known to those skilled in the art.

Claims

1. A method for automatically retracting and extending the ground anchor of a mobile winch, characterized in that, Includes the following steps: Control the ground anchor drilling actuator to perform drilling operations on the ground; During the drilling operation, drilling parameters are collected in real time by multi-source sensors, and the controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters. When the drilling depth reaches the preset threshold, the ground anchor delivery and installation mechanism will automatically send the ground anchor into the completed hole for installation. The anchoring force of the ground anchor is detected by a stress sensor. When the anchoring force reaches the preset requirement, the ground anchor is confirmed to be anchored and the winch is allowed to start operation. After the winch operation is completed, the ground anchor retrieval mechanism is controlled to remove the ground anchor from the ground and retrieve it to the storage location.

2. The automatic deployment and retraction control method for the ground anchor of a mobile winch as described in claim 1, characterized in that, During the drilling operation, drilling parameters are collected in real time by multi-source sensors. The controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters, specifically including the following steps: The multi-source sensors include a torque sensor, a speed sensor, a thrust sensor, and a depth sensor mounted on the drill pipe; The controller determines the current geological conditions based on real-time feedback from the torque sensor and the thrust sensor, and automatically adjusts the drilling speed and thrust. When the torque sensor detects an abnormal increase in torque exceeding a preset threshold, the controller automatically reduces the thrust or controls the drill pipe to reverse.

3. The automatic deployment and retraction control method for the ground anchor of a mobile winch as described in claim 1, characterized in that, When the drilling depth reaches a preset threshold, the ground anchor delivery and installation mechanism automatically sends the ground anchor into the completed drilling position for installation, specifically including the following steps: The ground anchor conveying and installation mechanism includes a ground anchor storage bin, a ground anchor pushing device, and an automatic clamping device; The controller controls the ground anchor pushing device to transport the ground anchors one by one from the ground anchor storage bin to the drilling position, and controls the automatic clamping device to send the ground anchors into the hole to complete the installation.

4. The automatic deployment and retraction control method for the ground anchor of a mobile winch as described in claim 1, characterized in that, After the winch operation is completed, the ground anchor retrieval mechanism is controlled to remove the ground anchor from the ground and retrieve it to the storage location. This process includes the following steps: The ground anchor recovery mechanism includes a reverse rotation drive device and a ground anchor pull-out device. The controller first controls the reverse rotation drive device to apply a reverse torque to the ground anchor to loosen the friction between the ground anchor and the surrounding soil. Then, it controls the ground anchor pull-out device to remove the ground anchor from the ground and sends the recovered ground anchor back to the storage bin through the ground anchor conveying mechanism.

5. The automatic deployment and retraction control method for the ground anchor of a mobile winch as described in claim 1, characterized in that, It also includes the following steps: The real-time data from the multi-source sensors and the operating status of the controller are uploaded to the remote control terminal via the wireless communication module. When an abnormal operating condition is detected, the controller automatically executes a preset abnormality handling procedure and sends an alarm signal to the remote control terminal.

6. The automatic deployment and retraction control method for the ground anchor of a mobile winch as described in claim 1, characterized in that, Before the controlled ground anchor drilling actuator performs drilling operations on the ground, the following steps are also included: A rotary connection device is provided between the ground anchor drilling actuator and the winch car body; The controller controls the rotary connection device to rotate the ground anchor drilling actuator to the target drilling position, and performs drilling operations at different positions around the winch body.

7. An automatic retraction and deployment control device for a mobile winch ground anchor, characterized in that, include: The ground anchor drilling execution module includes a high-torque motor, drill rod, and track conveying device, which is used to control the ground anchor drilling execution mechanism to perform drilling operations on the ground; The multi-source sensor module includes a torque sensor, a speed sensor, a thrust sensor, and a depth sensor mounted on the drill rod, and a stress sensor mounted on the ground anchor. It is used to collect drilling parameters in real time through the multi-source sensors during the drilling operation, and the controller automatically adjusts the operating status of the ground anchor drilling actuator based on the real-time feedback of the drilling parameters. The ground anchor delivery and installation module includes a ground anchor storage bin, a ground anchor pushing device, and an automatic clamping device. It is used to control the ground anchor delivery and installation mechanism to automatically deliver the ground anchor into the completed hole for installation when the drilling depth reaches a preset threshold. The winch operation module is used to detect the anchoring force of the ground anchor through a stress sensor. When the anchoring force reaches the preset requirement, it confirms that the ground anchor is anchored and allows the winch to start operation. The ground anchor retrieval module includes a reverse rotation drive and a ground anchor extraction device, which are used to control the ground anchor retrieval mechanism to remove the ground anchor from the ground and retrieve it to the storage location after the winch operation is completed.

8. The automatic deployment and retraction device for the mobile winch ground anchor as described in claim 7, characterized in that, The multi-source sensor module is further configured as follows: The multi-source sensors include a torque sensor, a speed sensor, a thrust sensor, and a depth sensor mounted on the drill pipe; The controller determines the current geological conditions based on real-time feedback from the torque sensor and the thrust sensor, and automatically adjusts the drilling speed and thrust. When the torque sensor detects an abnormal increase in torque exceeding a preset threshold, the controller automatically reduces the thrust or controls the drill pipe to reverse.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the automatic deployment and retraction control method for the mobile winch ground anchor as described in any one of claims 1 to 6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the automatic deployment and retraction control method for the mobile winch ground anchor as described in any one of claims 1 to 6.

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