A rotary digging all-in-one machine operation parameter self-adaptive adjustment method and system

Abstract

The application discloses a rotary digging integrated machine operation parameter self-adaptive adjusting method and system, solves the problem that the rotary digging integrated machine in the prior art has response lag according to experience in a complex environment, has the beneficial effects of improving operation stability and operation efficiency, and specifically has the following scheme: a rotary digging integrated machine operation parameter self-adaptive adjusting method comprises the following steps: collecting engine operation state signals, hydraulic pressure signals, cutter shaft rotating speed and torque signals and the like through a multi-source sensing unit to form a state parameter group; a working condition distinguishing controller calculates the mode confidence of five working conditions, i.e., digging, rotary plowing, ditching, grading and turning, according to a characteristic vector formed by the state parameter group, and calculates complex resistance and safety risk values; otherwise, the maximum value in the five working condition confidences is selected as a candidate working condition; and a control center calls corresponding control strategies in an operation mode strategy library according to an operation mode and a load level, and outputs control instructions.

Description

Technical Field

[0001] This invention relates to the field of agricultural engineering machinery, and in particular to a method and system for adaptive adjustment of operating parameters of a rotary drilling rig. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Existing rotary drilling rigs typically integrate tracked movement, digging, rotary tillage, ditching, leveling, and relocation functions. They can be connected to different agricultural implements via a suspension mechanism to adapt to various operating scenarios such as orchards, greenhouses, small plots of farmland, hilly areas, and small-scale rural projects. Compared to single-function machinery, this type of equipment has better comprehensive operating capabilities and greater ease of relocation.

[0004] However, in actual operation, rotary drilling rigs typically need to frequently switch between excavation, rotary tillage, ditching, leveling, and relocation. The workload, power requirements, hydraulic flow requirements, and safety control requirements vary significantly under different working conditions. Existing equipment largely relies on operators' experience and judgment, manually adjusting engine speed, track speed, cutter shaft start / stop, implement lifting height, and tillage depth. It lacks the ability to identify and proactively intervene in real-time load and abnormal trends of the entire machine.

[0005] Especially when operating in complex environments such as muddy terrain, slopes, soft soil layers, stubble weeds, or areas containing rocks and debris, rotary drilling rigs are prone to problems such as track slippage, deviation of travel, cutter shaft entanglement in grass, cutter shaft jamming, abnormal increase in hydraulic pressure, and engine stalling. Although existing equipment can handle these issues manually, the aforementioned protective actions usually occur after the abnormal phenomena have become obvious. Relying on the operator's experience, judgment, and reaction speed makes it difficult to provide timely warnings, arbitration, and linkage protection based on early signals such as sudden load changes, increased slippage, speed drops, or increased hydraulic pressure. This results in delayed safety protection response, inconsistent control standards, and affects the overall operational stability and safety of critical components. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide an adaptive adjustment method for the operating parameters of a rotary drilling rig, so as to achieve automatic identification of operating conditions, coordinated adjustment of power and execution parameters, and active safety protection for abnormal operating conditions, thereby improving the stability, efficiency and safety of the whole machine under complex operating conditions.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: An adaptive adjustment method for the operating parameters of a rotary drilling rig includes the following: The engine operating status signal, hydraulic pressure signal, cutter shaft speed and torque signal, left and right speed signals, implement lifting position signal and machine vibration signal are collected by the multi-source sensing unit to form a status parameter group; The working condition discrimination controller calculates the mode confidence of five working conditions (digging, rotary tillage, ditching, leveling, and relocation) based on the feature vector formed by the state parameter group, and calculates the complex hindrance and safety risk values. When the complex hindrance and safety risk values ​​are less than or equal to the preset safety risk threshold, the complex hindrance working condition is output first; otherwise, the maximum value among the five working condition confidence values ​​is selected as the candidate working condition. The control center calls the corresponding control strategy in the operation mode strategy library according to the operation mode and load level, and obtains the target speed of the engine, the target speed of the cutter shaft, the target speed of the left and right sides, the hydraulic flow distribution value and the control quantity of the lifting of the implement, and outputs the control command. The control center drives the engine speed regulation device, the walking adjustment device, the cutter shaft speed regulation device, the hydraulic flow regulation device, and the implement lifting adjustment device to coordinate the engine power output, track walking speed, cutter shaft working status, hydraulic actuator, and implement lifting status.

[0008] As described above, in the adaptive adjustment method for the operating parameters of a rotary drilling rig, the multi-source sensing unit is connected to a data acquisition and processing unit. The data acquisition and processing unit synchronously samples continuous signals according to a preset sampling period, and converts the acquired continuous quantities and switching quantities into pattern discrimination feature quantities, and performs normalization processing to obtain the feature vector. ; Among them, I F I is a sign that the front excavation device is in operation. R I is a marker indicating that the rear rotary tiller has entered the soil. K For markings indicating the insertion of ditching tools into the soil or the working of ditching components, I L I is the indicator that the leveling mechanism is in the working position. U Ia is a sign indicating that the agricultural implement has been raised to a safe height; Ia is a sign indicating that the cutter shaft is engaged or rotating. This refers to the pressure coefficient of the front excavation oil circuit. Le represents the pressure coefficient of the rear working oil circuit, and Le represents the engine load rate. This is the tool shaft speed tracking coefficient. This is the tool shaft torque coefficient. The average speed of the track. For track slip ratio, This is the coefficient for the speed difference between the left and right tracks. ε is the vibration coefficient of the machine body, and ε is a positive number to prevent the denominator from being zero; The working condition discrimination controller calculates the pattern confidence of the excavation, rotary tillage, ditching, leveling and relocation working conditions based on the above feature vectors.

[0009] The adaptive adjustment method for the operating parameters of a rotary drilling rig, as described above, uses the following formula to calculate the mode confidence of the five working conditions: excavation, rotary tillage, ditching, leveling, and relocation: set up , which means that the condition is true when x≥θ, otherwise it is 0; , indicating that the condition is true when x≤θ, otherwise it is 0; the discrimination formulas for each working condition are: Mining pattern confidence ; Confidence of rotary tillage mode ; Trenching mode confidence ; Leveling mode confidence ; Transition mode confidence ; in, to All of these are weight coefficients of the corresponding discriminant formula, and the sum of all weight coefficients within the same discriminant formula is 1; to For the corresponding threshold, This is a reference value for the pressure during stable rotary tillage operations.

[0010] As described above, the adaptive adjustment method for the operating parameters of a rotary drilling rig includes the complex resistance and safety risk values. The calculation formula is:

[0011] in, This is the coefficient for the decrease in cutter shaft speed. This is the pressure rise rate coefficient. This is the engine speed drop coefficient. to These are the safety risk weighting coefficients, and their sum is 1. When the complex obstruction and safety risk values ​​are less than or equal to the preset safety risk threshold, or when any of the following parameters exceed the corresponding hard limit threshold: cutter shaft speed drop coefficient, cutter shaft torque coefficient, rear working oil circuit pressure coefficient, pressure rise rate coefficient, track slip rate, machine body vibration coefficient, and engine speed drop coefficient, the complex obstruction condition will be output first.

[0012] In the aforementioned adaptive adjustment method for the operating parameters of a rotary drilling rig, the operating condition discrimination controller further performs the following functions: When the confidence level of a candidate operating condition is greater than or equal to the entry threshold, the difference between the confidence level of the candidate operating condition and the second highest confidence level meets the preset difference condition, and the above conditions are continuously met for a number of preset sampling periods, the candidate operating condition is determined as the current operating mode; otherwise, the previous operating mode is maintained. The output rule for operating mode M(t) is: if there are complex obstacles and safety risk values Or triggered by a hard threshold, then That is, a complex blocking or safety protection mode; otherwise, if the candidate operating condition meets the confidence threshold, confidence difference, and duration conditions, then And corresponding to the mining modes respectively. Rotary tillage mode Trenching mode Leveling mode Or transition mode If the above conditions are not met, then When exiting the current mode, an exit threshold is used. ,and Below the entry threshold This is to form a hysteresis interval.

[0013] In the aforementioned adaptive adjustment method for the operating parameters of a rotary drilling rig, the working condition discrimination controller further calculates the load level:

[0014] in, For the comprehensive load index, when When outputting light load level, Output load level when Output overload level at any time.

[0015] As described above, in the adaptive adjustment method for the operating parameters of a rotary drilling rig, the control center includes an onboard controller, which receives the operating mode output by the working condition identification layer. And operating condition information, and call the corresponding control policy in the operation mode policy library: when When the mining pattern strategy is invoked, When the rotary tillage mode strategy is invoked, When the trenching mode strategy is invoked, When the leveling mode strategy is invoked, When the transition mode strategy is invoked, Complex blocking or safety protection strategies are invoked at any time. The operation mode strategy library has preset control parameter ranges and protection strategies for different working conditions, including engine speed, hydraulic flow, track travel speed, cutter shaft target speed, implement lifting height and tillage depth control strategies.

[0016] As described above, the adaptive adjustment method for the operating parameters of a rotary drilling rig includes a control center that further comprises a safety arbitration unit. The safety arbitration unit is configured to: reduce the target track speed and output an appropriate lifting command to the implement lifting adjustment device when the track slip rate exceeds a preset threshold; reduce the track travel speed and decrease the implement's soil penetration depth when the cutter shaft speed decreases beyond a preset threshold; output a cutter shaft deceleration, stop, or short-term reverse command when the cutter shaft torque exceeds a preset load threshold under the corresponding working condition; reduce the cutter shaft speed and track speed when the machine body vibration amplitude exceeds a preset threshold; perform hydraulic unloading when the hydraulic pressure exceeds a safety threshold; reduce the operating load when the engine load rate abnormally increases or the engine speed drops significantly; and output a stop, unload, implement lifting, alarm, or shutdown command according to the safety risk level when multiple abnormalities simultaneously meet the judgment conditions.

[0017] Secondly, the present invention also provides an adaptive adjustment system for the operating parameters of a rotary drilling rig, comprising: The multi-source sensing unit is used to collect engine operating status signals, hydraulic pressure signals, cutter shaft speed and torque signals, speed signals on the left and right sides, implement lifting position signals and machine vibration signals to form a set of status parameters. The data acquisition and processing unit is connected to the multi-source sensing unit to form a set of state parameters for working condition identification. The set of state parameters includes at least the engine speed or load characteristics, hydraulic pressure and pressure change rate, cutter shaft speed and speed drop rate, cutter shaft torque, speed on the left and right sides and speed difference on the left and right sides, lifting position of agricultural implement, action status of excavating mechanism and vibration amplitude of machine body. The working condition discrimination controller stores a working condition identification rule base, which includes feature calculation rules, pattern discrimination formulas, threshold parameters, hysteresis switching rules, and safety risk priority rules. The control center calculates the target engine speed, target cutter shaft speed, target speeds on the left and right sides, hydraulic flow distribution value, and implement lifting control quantity based on the current operating mode, load level, and operation mode strategy library of the rotary drilling rig. The actuator is connected to the control center. The actuator includes an engine speed control device, a travel adjustment device, a cutter shaft speed adjustment device, a hydraulic flow adjustment device, and a implement lifting adjustment device.

[0018] As described above, the adaptive adjustment system for the operating parameters of a rotary drilling rig includes a multi-source sensing unit comprising an engine speed sensor, a throttle position sensor, a hydraulic pressure sensor, a cutter shaft speed sensor, a cutter shaft torque sensor, a vehicle speed sensor, a implement posture sensor, and a machine body vibration sensor. The engine speed sensor is installed on the engine, the hydraulic pressure sensor is installed on the hydraulic system, the cutter shaft speed sensor and the cutter shaft torque sensor are installed on the cutter shaft, the implement posture sensor is installed on the three-point suspension mechanism, and the machine body vibration sensor is installed at the rear of the rotary drilling rig.

[0019] The beneficial effects of the present invention are as follows: This invention achieves automatic identification, power matching, hydraulic flow regulation, travel speed control, cutter shaft speed control, tillage depth adjustment, and abnormal working condition safety protection of rotary drilling rigs under various working conditions such as excavation, rotary tillage, ditching, leveling, backfilling, site transfer, and complex obstruction by real-time acquisition, fusion judgment, and closed-loop adjustment of parameters such as engine operating status, hydraulic system pressure, rotary tillage cutter shaft speed and torque, left and right track walking speed, implements the lifting posture of agricultural implements, machine body vibration, and changes in working load. It calculates the confidence level, complex obstruction, and safety risk value of each working condition through different working conditions, and then automatically enters the operation mode such as digging, rotary tillage, ditching, leveling, relocation, or complex obstruction protection based on the judgment results. This realizes coordinated adjustment of operation parameters and active protection of abnormal working conditions, thereby improving the overall operation efficiency, operation stability, and safety of the machine. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0021] Figure 1 This is a schematic diagram of an adaptive adjustment method for the operating parameters of a rotary drilling rig according to one or more embodiments of the present invention.

[0022] Figure 2 This is a system framework diagram of an adaptive adjustment method for the operating parameters of a rotary drilling rig according to one or more embodiments of the present invention.

[0023] Figure 3 This is a flowchart illustrating the working condition identification of an adaptive adjustment method for the operating parameters of a rotary drilling rig according to one or more embodiments of the present invention.

[0024] Figure 4 This is a flowchart of the operation decision and safety arbitration process for an adaptive adjustment method of operating parameters for a rotary drilling rig according to one or more embodiments of the present invention.

[0025] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0026] Among them: 1. Tracked chassis, 2. Engine, 3. Hydraulic system, 4. On-board electrical control box, 5. Excavating mechanism, 6. Rotary tillage mechanism, 7. Three-point suspension mechanism, 8. Bulldozer blade, 9. Track drive mechanism, 10. Cutter shaft transmission mechanism; 101. Engine speed sensor, 102. Hydraulic pressure sensor, 103. Cutter shaft speed sensor, 104. Vehicle speed sensor, 105. Implement posture sensor, 106. Machine body vibration sensor. Detailed Implementation

[0027] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. As described in the background section, existing rotary drilling rigs largely rely on operators' experience to judge and manually adjust engine speed, track speed, cutter shaft start / stop, implement lifting height, and tillage depth. They lack the ability to automatically identify and actively intervene in the machine's operating load and status in real time. When operating in complex environments, problems such as track slippage, deviation, cutter shaft entanglement, cutter shaft stalling, abnormal increase in hydraulic pressure, and engine stalling are prone to occur. Moreover, the protection actions of existing equipment usually occur after the abnormal phenomena have become obvious, making it difficult to intervene in a timely manner based on early signals such as sudden load changes, speed drops, or hydraulic pressure increases. This results in delayed safety protection response, inconsistent control standards under various working conditions, and technical problems affecting the overall machine's operational stability and the safety of key components. To solve the above technical problems, this invention proposes an adaptive adjustment method for the operating parameters of a rotary drilling rig.

[0029] Example 1 In a typical embodiment of the present invention, reference is made to Figure 1 and Figure 2 As shown, an adaptive adjustment system for the operating parameters of a rotary drilling rig includes: The multi-source sensing unit is used to collect engine operating status signals, hydraulic pressure signals, cutter shaft speed and torque signals, speed signals on the left and right sides, implement lifting position signals and machine vibration signals to form a set of status parameters. The data acquisition and processing unit is connected to the multi-source sensing unit to form a set of state parameters for working condition identification. The set of state parameters includes at least the engine speed or load characteristics, hydraulic pressure and pressure change rate, cutter shaft speed and speed drop rate, cutter shaft torque, speed on the left and right sides and speed difference on the left and right sides, lifting position of agricultural implement, action status of excavating mechanism and vibration amplitude of machine body. The working condition discrimination controller stores a working condition identification rule base, which includes feature calculation rules, pattern discrimination formulas, threshold parameters, hysteresis switching rules, and safety risk priority rules. The control center calculates the target engine speed, target cutter shaft speed, target speeds on the left and right sides (i.e., target speeds of the left and right tracks), hydraulic flow distribution value, and implement lifting control quantity based on the current operating mode, load level, and operation mode strategy library of the rotary drilling rig. The actuator is connected to the control center. The actuator includes an engine speed control device, a travel adjustment device (track travel adjustment device), a cutter shaft speed adjustment device, a hydraulic flow adjustment device, and a implement lifting adjustment device.

[0030] Specifically, the multi-source sensing unit, data acquisition and processing unit, and working condition discrimination controller constitute the working condition identification layer. This layer is located on the rotary drilling rig itself and is used to collect the machine's overall operating status parameters, automatically identify the current working condition, and output the corresponding mode. The working condition identification layer stores a working condition identification rule base, which includes feature calculation rules, mode discrimination formulas, threshold parameters, hysteresis switching rules, and safety risk priority rules.

[0031] It should be noted that a rotary drilling rig typically includes a tracked chassis 1, an engine 2, a hydraulic system 3, an on-board electrical control box 4 (with a control center inside), an excavating mechanism 5, a rotary tillage mechanism 6, a three-point suspension mechanism 7, a bulldozer blade 8, a track drive mechanism 9, and a cutter shaft transmission mechanism 10. The above structural components and their positional relationships are all existing technologies and will not be described in detail here.

[0032] The multi-source sensing unit includes an engine speed sensor 101, a throttle position sensor, a hydraulic pressure sensor 102, a cutter shaft (rotary tillage mechanism 8) speed sensor 103, a cutter shaft torque sensor, a vehicle speed sensor 104 (i.e., track speed sensor), a implement posture sensor (specifically, an implement position sensor or angle sensor) 105, and a machine vibration sensor 106. The implement posture sensor is mainly used to detect changes in the position or angle of the three-point suspension mechanism and determine whether the implement's lifting position has reached a safe lifting position. The engine speed sensor 101 is installed on the engine, and the hydraulic pressure sensor... Device 102 is installed in the hydraulic system. Cutter shaft speed sensor 103 and cutter shaft torque sensor are installed on the cutter shaft of rotary tillage mechanism 6. Vehicle speed sensor 104 is installed on the track. Implement posture sensor 105 is installed on the three-point suspension mechanism. Machine vibration sensor 106 is installed at the rear of the rotary excavator. It is used to collect engine speed and load, hydraulic pressure, cutter shaft speed, cutter shaft torque, left and right track speed, implement lifting position, implement soil entry status and machine vibration signals. The signal at the operating handle of the excavation mechanism is sent to the data acquisition and processing unit to obtain the action signals of boom, stick and bucket in the excavation mechanism.

[0033] Regarding implement posture sensors, position or angle sensors can be installed at the lifting arm, pivot, or related linkage of the three-point suspension mechanism. By detecting changes in the position or angle of the suspension mechanism, the implement can be determined to be in a lifting, lowering, or predetermined working position. Once the implement has lowered to the preset working position, the system can further assess whether the implement is effectively in the soil or in a working state by considering whether the rear working oil circuit pressure has entered the working load state and whether the cutter shaft is in operation.

[0034] Therefore, the identification of the agricultural implement status adopts a multi-source information comprehensive judgment method, that is: the position / angle signal is used to determine the position of the agricultural implement, and the hydraulic load and the cutter shaft status are used to assist in determining whether the agricultural implement has entered an effective working state. This method can avoid the misjudgment of "already buried in the soil" based solely on the position of the agricultural implement. It is also consistent with the overall technical idea of ​​this embodiment to perform working condition fusion identification through multi-source sensor information, taking the lifting position of the agricultural implement, hydraulic pressure and cutter shaft status as important parameters for working condition identification.

[0035] Regarding the setting of the excavator status detection unit, this application adopts a traditional hydraulic pilot handle. The movement status of the boom, stick, and bucket can be determined by detecting the pressure changes in the corresponding hydraulic pilot control circuit. When the operator manipulates the pilot handle, the pressure in the corresponding pilot oil circuit changes, which can be used to determine whether there is a movement command for the boom, stick, or bucket. Based on this, a comprehensive judgment is made by combining the pressure of the front excavation working oil circuit: the pilot circuit pressure change is used to determine whether there is an excavator operation, and the front working oil circuit pressure is used to determine whether the actuator is under actual working load. The two types of signals are used together to form the effective operation status of the front excavating device and participate in the excavation condition identification. Therefore, the signal acquisition logic can be understood as: hydraulic pilot circuit pressure change determines operation + front excavation working oil circuit pressure determines actual working load → identification of whether the front excavating device is in an effective operation state. This avoids directly determining that the equipment is in an effective excavation state based solely on handle operation, improving the accuracy of working condition identification.

[0036] Table 1 Multi-source sensing unit configuration table

[0037] The data acquisition and processing unit is located in the vehicle-mounted electrical control box of the rotary drilling rig and is connected to the multi-source sensing unit. It is used to uniformly acquire, convert, filter, synchronously sample, remove outliers, and extract feature parameters from engine status signals, hydraulic pressure signals, etc., forming a set of status parameters for working condition identification. The status parameter set includes at least engine speed or load characteristics, hydraulic pressure and pressure change rate, cutter shaft speed and speed drop rate, cutter shaft torque, left and right track speeds and speed difference, implement lifting position, front working device operation status, and machine vibration amplitude. It should be noted that the data acquisition and processing unit synchronously samples the continuous signal according to a preset sampling period Δt, and converts the acquired continuous and switching quantities into pattern discrimination feature quantities. The continuous quantities are normalized using a normalization function; the switching quantities are represented by 0 or 1. This forms the feature vector. .

[0038] Among them, I F I is a sign that the front excavation device is in operation. R I is a marker indicating that the rear rotary tiller has entered the soil. K For markings indicating the insertion of ditching tools into the soil or the working of ditching components, I L I is the indicator that the leveling mechanism is in the working position. U Ia is a sign indicating that the agricultural implement has been raised to a safe height; Ia is a sign indicating that the cutter shaft is engaged or rotating. This refers to the pressure coefficient of the front excavation oil circuit. Le represents the pressure coefficient of the rear working oil circuit, and Le represents the engine load rate. This is the tool shaft speed tracking coefficient. This is the tool shaft torque coefficient. The average speed of the track. For track slip ratio, This is the coefficient for the speed difference between the left and right tracks. ε is the vibration coefficient of the machine body, and ε is a positive number to prevent the denominator from being zero; It needs to be explained that action flags refer to logical state quantities or state discrimination quantities used for operational condition identification, not actual physical flags. Flags indicate whether a corresponding mechanism currently meets a preset action or working state, typically represented in binary form: a value of 1 when the corresponding judgment condition is met, and a value of 0 when it is not met. Continuous and switching quantities, after processing, jointly form pattern discrimination feature quantities, where the switching state is represented by 0 or 1. Specifically, I F This serves as a sign that the front excavation device is in effective operation. I F =1 indicates that the front excavation device meets the valid action determination conditions. I F ==0 indicates that the condition is not met. For example, by detecting the pressure change of the hydraulic pilot control circuit, it can be determined whether there is any operation of the boom, stick or bucket, and combined with the pressure of the front excavation working oil circuit, it can be determined whether it is under actual working load, thus forming a valid action indicator of the front excavation device. I R 、I K 、I L 、I U and Ia The "marks" represent the logical judgment results of whether the corresponding agricultural implements or mechanisms meet a specific working state. Their values ​​are obtained by converting the detection signals of the corresponding sensors according to preset judgment conditions, and are used for pattern recognition of different working conditions in the future.

[0039] It needs to be explained that the working condition discrimination controller calculates the pattern confidence scores for excavation, rotary tillage, ditching, leveling, and relocation working conditions based on the aforementioned feature vectors. Let... , which means that the condition is true when x≥θ, otherwise it is 0; , which means that the condition is true when x≤θ, otherwise it is 0.

[0040] The discrimination formulas for each working condition are as follows: Mining pattern confidence ; Confidence of rotary tillage mode ; Trenching mode confidence ; Leveling mode confidence ; Transition mode confidence .

[0041] in, to ( , , , , All of these are weight coefficients of the corresponding discriminant formula, and the sum of all weight coefficients within the same discriminant formula is 1; to For the corresponding threshold, This serves as a reference value for stable rotary tillage operation pressure. The aforementioned weighting coefficients and thresholds are determined through whole-machine no-load tests, typical soil operation tests, and implement calibration tests, and are stored in the operating condition identification rule base.

[0042] Furthermore, the operating condition discrimination controller also calculates complex resistance and safety risk values. The formula is: .

[0043] in, This is the coefficient for the decrease in cutter shaft speed. This is the pressure rise rate coefficient. This is the engine speed drop coefficient. to These are the safety risk weighting coefficients, and their sum is 1.

[0044] when ,or When any parameter exceeds the corresponding hard limit threshold, the operating condition discrimination controller prioritizes outputting a complex stall condition or a safety protection status; when At that time, the operating condition judgment controller is in The maximum value is selected as the candidate working condition.

[0045] The conditions for entering the candidate operating condition are: ,and And the above conditions are met continuously for no less than One sampling period; otherwise, maintain the previous operating mode. This is to avoid misidentification and frequent switching due to momentary disturbances.

[0046] The output rule for operating mode M(t) is: if Or triggered by a hard threshold, then That is, a complex blocking or safety protection mode; otherwise, if the candidate operating condition meets the confidence threshold, confidence difference, and duration conditions, then And corresponding to the mining modes respectively. Rotary tillage mode Trenching mode Leveling mode Or transition mode If the above conditions are not met, then An exit threshold is used when exiting the current mode. ,and Below the entry threshold To form a hysteresis interval; It should be noted that the entry threshold refers to the condition where the confidence level of a candidate working condition reaches the threshold, and the system only confirms entry into that working condition mode after simultaneously satisfying the difference condition between the candidate and the second highest confidence level, as well as the duration condition. The exit threshold refers to the condition where the system is allowed to exit the current mode only when the confidence level of the current mode drops below the exit threshold after it has been in a certain operating mode. The exit threshold is set lower than the entry threshold, thus creating a hysteresis interval between the two. The main purpose of setting this hysteresis interval is to prevent the rotary drilling machine from frequently switching operating modes when it is in a critical working state or under short-term disturbances, due to the fluctuation of the mode confidence level around a certain critical value. For example, when the rotary tillage working condition confidence level just reaches the entry threshold and the rotary tillage mode is entered, if the confidence level subsequently drops slightly due to changes in soil hardness or instantaneous vibration, as long as it has not fallen below the exit threshold, the system will still maintain the rotary tillage mode and will not exit immediately. The current mode is exited only when the confidence level further decreases and falls below the exit threshold. These two thresholds serve as the "entry determination" and "exit determination" respectively. By setting a hysteresis mechanism where the "entry threshold is higher than the exit threshold", the stability of working condition identification and mode switching is improved, and misidentification and frequent switching are avoided.

[0047] Furthermore, the load level GL is determined by the comprehensive load index. Sure, ;when When outputting light load level, Output load level when The overload level is output in real time. The load level and operating mode together serve as inputs for the job decision layer to call the job mode policy library and safety arbitration rules; The working condition discrimination controller is located in the operator's console of the rotary drilling rig and is connected to the data acquisition and processing unit and the operation decision layer. It has a built-in working condition recognition rule library and pattern discrimination formula library, which are used to calculate the confidence level of each working condition mode, the comprehensive load index and the complex obstruction safety risk value according to the state parameter group, and output the operating mode, working condition category, load level, abnormal state type and safety risk level.

[0048] When both normal operating conditions and abnormal states meet the judgment criteria, the complex obstruction condition or safety risk condition is output first. When different operating conditions have overlapping characteristics, the confidence level of each condition is first calculated according to the pattern discrimination formula, and then the final operating mode is determined by combining the confidence level threshold, confidence level difference, duration condition, and hysteresis switching rule to reduce the risk of misidentification and misswitching. The operating condition identification rule base determines the current operating condition of the rotary drilling rig based on the load characteristics, actuator status, and motion status under different operating conditions, as detailed in Table 2.

[0049] Table 2 Operating Mode Judgment Formula Library

[0050] The operating condition identification layer will identify the operating mode. The operating condition category, load level, abnormal state type and safety risk level are output to the operation decision level, providing a basis for the adaptive adjustment of subsequent engine speed, hydraulic flow, track speed, cutter shaft speed, implement lifting status and safety protection actions; Regarding the operation decision layer, it is located in the on-board electrical control box of the rotary drilling rig and communicates with the working condition identification layer and the execution adjustment layer. It is used to determine the operating mode output by the working condition identification layer. The system considers factors such as operating condition category, load level, abnormal state type, and safety risk level to generate control commands that match the current operating status. The operation decision layer includes an on-board controller, an operation mode strategy library, a parameter calculation unit, a safety arbitration unit, and an execution interface unit. refer to Figure 3 As shown, the vehicle controller is used to receive the operating mode output by the operating condition identification layer. and operating condition information, and call the corresponding control strategy in the operation mode strategy library; when When the mining pattern strategy is invoked, When the rotary tillage mode strategy is invoked, When the trenching mode strategy is invoked, When the leveling mode strategy is invoked, When the transition mode strategy is invoked, Complex blocking or safety protection strategies are invoked at certain times. The operation mode strategy library has preset control parameter ranges and protection strategies for different working conditions, including engine speed, hydraulic flow, track travel speed, cutter shaft target speed, implement lifting height, and tillage depth control strategies. The operation mode strategy library is shown in Table 3.

[0051] Table 3 Job Mode Strategy Library

[0052] The parameter calculation unit calculates the target engine speed, target cutter shaft speed, target speed of left and right tracks, hydraulic flow distribution value, and implement lifting control quantity based on the current operating mode, load level, and work mode strategy library. Among them, in digging mode, priority is given to ensuring the action response of the front digging hydraulic system; in rotary tillage and ditching modes, priority is given to ensuring the matching of cutter shaft speed, travel speed, and implement penetration depth; in leveling mode, priority is given to ensuring the posture of the leveling mechanism and stable low-speed travel; in transfer mode, priority is given to ensuring the cutter shaft stops rotating, implement is lifted, and track travels safely; and in complex obstruction or safety protection modes, priority is given to executing protective actions such as speed reduction, unloading, stopping, reversing, lifting implements, alarm, or stopping.

[0053] The security arbitration unit bases its decisions on the security arbitration rules (Appendix 4) and the complex obstruction security risk values. Priority correction is performed on the target engine speed, target cutter shaft speed, target track speed, hydraulic flow distribution value, and implement lifting control quantity generated by the parameter calculation unit; when there is a conflict between the work efficiency control command and the safety protection command, the safety protection command is executed first; when the mode discrimination result is inconsistent with the hard limit threshold trigger result, the hard limit threshold trigger result and the safety risk level are used as the final arbitration basis.

[0054] Table 4 Safety Arbitration Rules

[0055] The execution interface unit is connected to the execution adjustment layer and is used to output the control commands after safety arbitration to the engine speed regulation mechanism, hydraulic proportional valve, left and right track drive control valve, cutter shaft transmission adjustment mechanism, implement lifting cylinder control valve and alarm shutdown device, so that the rotary drilling machine can realize coordinated adjustment of power output, hydraulic flow, travel speed, cutter shaft speed and implement posture under different working conditions.

[0056] The execution and adjustment layer is located on the rotary drilling rig body and communicates with the operation decision layer. It receives target control parameters and safety protection commands output by the operation decision layer and coordinates the engine power output, track travel speed, cutter shaft operating status, hydraulic actuators, and implement lifting status. The execution and adjustment layer includes an engine speed control device, a track travel adjustment device, a cutter shaft speed adjustment device, a hydraulic flow adjustment device, an implement lifting adjustment device, and a safety protection execution device. The composition and functions of the execution and adjustment layer are shown in Table 5.

[0057] Table 5 Composition and Control Functions of the Execution Adjustment Layer

[0058] Under normal operating conditions, the execution adjustment layer, based on the operating mode output by the operation decision layer, the target engine speed, the target cutter shaft speed, the target speed of the left and right tracks, the hydraulic flow distribution value, and the implement lifting control value, performs coordinated adjustments on the power system, hydraulic system, track walking system, cutter shaft transmission system, and implement suspension system of the rotary drilling rig. This ensures that the entire machine maintains matching power output, operating speed, and operating depth under digging, rotary tilling, ditching, leveling, and relocation conditions.

[0059] When the operational decision-making level outputs safety protection instructions, refer to Figure 4 As shown, the adjustment layer prioritizes safety protection actions; in track slippage state, it reduces track drive speed or reduces working load; in cutter shaft jamming state, it performs cutter shaft deceleration, stops rotation, short-term reverse rotation, or implement lifting; in the state of abnormally high hydraulic pressure, it performs hydraulic unloading or suspends the actions of related actuators; in the state of sudden increase in engine load or significant drop in speed, it reduces working load and, if necessary, performs alarm or shutdown protection.

[0060] In practice, the engine speed control device, hydraulic proportional valve, left and right track drive control valve, cutter shaft speed control mechanism, implement lifting cylinder control valve and safety protection actuator are all installed on the rotary drilling machine body and connected to the vehicle controller through wiring harness, control bus or hydraulic control circuit, so that the rotary drilling machine has the ability to automatically perform adjustment after the working condition is identified.

[0061] A safety protection layer is installed on the rotary drilling rig itself and connected to the working condition identification layer, operation decision layer, and execution adjustment layer. It is used to provide safety constraints and abnormal protection for the rotary drilling rig's operation under excavation, rotary tillage, ditching, leveling, relocation, and complex obstruction conditions. The safety protection layer includes an overload protection unit, a cutter shaft stall protection unit, an anti-misoperation switching protection unit, and a hydraulic abnormality protection unit. These protection units are existing technologies and together constitute the safety protection function system of the rotary drilling rig. Their basic working logic is as follows: monitor relevant status parameters → determine whether abnormal triggering conditions are met → generate safety protection commands → prioritize normal operation control commands. When normal operation control conflicts with safety protection, the safety protection command takes priority. For example, anti-stall, anti-overload, and hydraulic abnormality protection take precedence over operation efficiency control, and anti-misoperation switching protection takes precedence over normal working condition switching control. The composition of the safety protection layer and the corresponding relationship of protection actions are shown in Table 6.

[0062] Table 6. Composition of Safety Protection Layers and Correspondence of Protective Actions

[0063] The safety protection layer is based on engine load, hydraulic pressure, cutter shaft speed, cutter shaft torque, track speed, implement posture, operating condition information, and the complex resistance safety risk value R.Z The system imposes safety constraints on the target engine speed, cutter shaft speed, track speed, hydraulic flow distribution value, and implement lifting control value generated by the operation decision layer. When an abnormal state or hard limit threshold is detected, the safety protection layer sends safety protection commands to the operation decision layer and the execution adjustment layer, causing the rotary drilling rig to prioritize actions such as deceleration, unloading, stopping rotation, reversing, lifting implements, cutting off power, alarming, or stopping.

[0064] Furthermore, when operation control commands and safety protection commands conflict, the safety protection commands output by the safety protection layer have higher priority; specifically, anti-stall, anti-overload, and hydraulic anomaly protection take precedence over operation efficiency control, anti-misoperation switching protection takes precedence over operating condition switching control, and abnormal shutdown protection takes precedence over all conventional adjustment commands. Through these settings, the safety and critical component protection capabilities of the rotary drilling rig can be improved under complex soil conditions, multiple implement switching, and high-load operation conditions.

[0065] Specific examples: 1) Active safety protection under complex and hindered working conditions In this embodiment, when the rotary drilling rig is performing rotary tillage or ditching operations, if the rear implements encounter stubble, tangled weeds, stones, or dense soil layers, the cutter shaft load will increase rapidly. At this time, the cutter shaft status detection unit detects a decrease in cutter shaft speed and an increase in cutter shaft torque; the hydraulic pressure detection unit detects an increase in working oil circuit pressure; and the machine vibration detection unit detects an increase in impact vibration amplitude. The working condition judgment controller then... Calculate the safety risk value of complex resistance ,when If the coefficient of decrease in cutter shaft speed, the coefficient of decrease in cutter shaft torque, the coefficient of hydraulic pressure, or the coefficient of vibration of the machine body exceeds the hard limit threshold, the current state is determined to be a complex stagnation condition, and the operating mode is output. .

[0066] Upon receiving information about complex obstruction conditions, the operation decision-making layer prioritizes correcting routine operation control commands and outputs protection commands to the execution adjustment layer. The execution adjustment layer first reduces the track speed and decreases the cutter shaft feed load. If the cutter shaft speed continues to decrease, it controls the implement lifting adjustment device to appropriately raise the implement and controls the cutter shaft speed adjustment device to reduce or stop the cutter shaft speed. If the obstruction is still not resolved, it controls the cutter shaft to briefly reverse to release entangled or obstructed objects. If the hydraulic pressure, cutter shaft torque, or vibration signal still exceeds the safety threshold, it cuts off the cutter shaft power and issues an alarm, and if necessary, executes a complete machine shutdown protection.

[0067] Through the above implementation methods, rotary drilling rigs can identify and intervene in complex obstruction states at an early stage, rather than waiting for operators to discover obvious abnormalities before manual handling, thereby improving the safety of the cutter shaft transmission system, hydraulic system, and engine power system.

[0068] 2) Transition and error-proof switching protection In this embodiment, when the rotary drilling rig moves from one work area to another, the multi-source sensor unit detects that the rear implements are in a raised position, the cutter shaft is stopped, the engine load is low, and the track speed is higher than the normal operating speed. The working condition judgment controller determines the working condition based on... Calculate the transition mode confidence level; when the CU reaches the entry threshold and the difference between it and the second highest confidence level satisfies δm and continues to satisfy... During each sampling period, determine the current transition condition and output the operating mode. .

[0069] During relocation operations, the operational decision-making level sets the target rotation speed of the cutter shaft to zero and maintains the implement in the raised state. If the operator accidentally triggers the cutter shaft engagement command, or issues a relocation command before the implement has been raised to a safe height, the anti-misoperation switching protection unit intervenes first, restricting the start of the cutter shaft or limiting the descent of the implement, and alerts the operator via an alarm. Only when the implement is in the safe raised position, the cutter shaft is disengaged, and... Only when the conditions for relocation are continuously met will the adjustment layer allow the entire machine to enter the relocation driving state.

[0070] This implementation method can avoid accidental start of the cutter shaft, dragging of agricultural implements, or malfunction of the working mechanism during site transfer, reversing, or non-operational states, thereby improving the safety of rotary drilling rigs during multi-condition switching. By integrating multi-source sensing units, on-board processing and control centers, execution and adjustment mechanisms, and safety protection mechanisms onto the rotary drilling rig itself, and setting mode discrimination formulas, threshold parameters, hysteresis switching rules, and safety risk priority rules corresponding to different working conditions, this invention achieves automatic identification of working conditions, automatic selection of operating modes, coordinated adjustment of operating parameters, and proactive protection against abnormal working conditions. Compared with existing rotary drilling rigs that mainly rely on human experience and manual adjustment, this invention can automatically match engine speed, cutter shaft speed, track speed, hydraulic flow, and implement lifting status according to different working conditions such as digging, rotary tilling, ditching, leveling, relocation, and complex obstructions, improving the overall machine's power matching and operating efficiency. Simultaneously, in cases of track slippage, cutter shaft stall, abnormal increase in hydraulic pressure, sudden increase in engine load, or abnormal machine vibration, it can prioritize the execution of protective actions such as speed reduction, unloading, stopping, reversing, lifting implements, alarming, or stopping, thereby improving the rotary drilling rig's operational stability, safety, and critical component protection capabilities under complex operating conditions.

[0071] It should be noted that the engine speed control device, the travel adjustment device (track travel adjustment device), the cutter shaft speed adjustment device, the hydraulic flow adjustment device, and the implement lifting adjustment device are all existing structural components, such as solenoid valves.

[0072] The adjustment system provided in this embodiment integrates a working condition identification layer on the rotary drilling rig body. The working condition discrimination controller fuses and judges multi-source sensor signals according to preset working condition mode discrimination rules, and outputs a stable operating mode in combination with hysteresis switching rules. This realizes automatic identification of various working conditions such as digging, rotary tilling, ditching, leveling, site transfer, and complex obstruction, overcoming the technical defects of existing technologies that rely on operator experience judgment, resulting in untimely working condition identification and inconsistent control standards. The operation decision layer calls the corresponding control strategy according to the operating mode and load level. After priority correction by the safety arbitration unit, it outputs coordinated control commands to the execution adjustment layer, including engine target speed, hydraulic flow distribution value, left and right track target speed, cutter shaft target speed, and implement lifting control quantity. This realizes adaptive and coordinated adjustment of power output, hydraulic flow, travel speed, cutter shaft speed, and implement posture under different working conditions, effectively improving the overall machine power matching and operating efficiency. By setting up a safety protection layer, the overload protection unit, cutter shaft stall protection unit, anti-misoperation switching protection unit, and hydraulic abnormality protection unit respectively monitor various abnormal states and send safety protection commands to the operation decision-making layer and execution adjustment layer with the highest priority. This enables the whole machine to identify and intervene in the early stage of complex obstruction, rather than waiting for the operator to discover obvious abnormalities and then manually handle them. This fundamentally solves the technical problem of delayed safety protection response in the existing technology and significantly improves the operational stability and safety of key components of the rotary drilling rig under complex operating conditions.

[0073] Example 2 This embodiment discloses an adaptive adjustment method for the operating parameters of a rotary drilling rig, including the following: The engine operating status signal, hydraulic pressure signal, cutter shaft speed and torque signal, left and right speed signals, implement lifting position signal and machine vibration signal are collected by the multi-source sensing unit to form a status parameter group; The working condition discrimination controller calculates the mode confidence of five working conditions (digging, rotary tillage, ditching, leveling, and relocation) based on the feature vector formed by the state parameter group, and calculates the complex hindrance and safety risk values. When the complex hindrance and safety risk values ​​are less than or equal to the preset safety risk threshold, the complex hindrance working condition is output first; otherwise, the maximum value among the five working condition confidence values ​​is selected as the candidate working condition. The control center calls the corresponding control strategy in the operation mode strategy library according to the operation mode and load level. The parameter calculation unit calculates the target speed of the engine, the target speed of the cutter shaft, the target speed of the left and right sides, the hydraulic flow distribution value and the control quantity of the lifting of the implement, and outputs the control command. The control center drives the engine speed regulation device, track travel adjustment device, cutter shaft speed adjustment device, hydraulic flow adjustment device, and implement lifting adjustment device to coordinate the engine power output, track travel speed, cutter shaft working status, hydraulic actuator, and implement lifting status.

[0074] For other details, please refer to Example 1.

[0075] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for adaptive adjustment of working parameters of a rotary digging all-in-one machine, characterized in that, Includes the following: The engine operating status signal, hydraulic pressure signal, cutter shaft speed and torque signal, left and right speed signals, implement lifting position signal and machine vibration signal are collected by the multi-source sensing unit to form a status parameter group; The working condition discrimination controller calculates the mode confidence of five working conditions—digging, rotary tillage, ditching, leveling, and relocation—based on the feature vector formed by the state parameter group, and calculates the complex hindrance and safety risk values. When the complex hindrance and safety risk values ​​are less than or equal to the preset safety risk threshold, the complex hindrance working condition is output first. Otherwise, select the maximum confidence level among the five operating conditions as the candidate operating condition; The control center calls the corresponding control strategy in the operation mode strategy library according to the operation mode and load level, and obtains the target speed of the engine, the target speed of the cutter shaft, the target speed of the left and right sides, the hydraulic flow distribution value and the control quantity of the lifting of the implement, and outputs the control command. The control center drives the engine speed regulation device, the walking adjustment device, the cutter shaft speed regulation device, the hydraulic flow regulation device, and the implement lifting adjustment device to coordinate the engine power output, track walking speed, cutter shaft working status, hydraulic actuator, and implement lifting status.

2. The adaptive adjustment method for operating parameters of a rotary drilling rig according to claim 1, characterized in that, The multi-source sensing unit is connected to the data acquisition and processing unit. The data acquisition and processing unit synchronously samples the continuous signal according to a preset sampling period, and converts the acquired continuous quantity and switching quantity into pattern discrimination feature quantity, and performs normalization processing to obtain the feature vector. ; Among them, I F I is a sign that the front excavation device is in operation. R I is a marker indicating that the rear rotary tiller has entered the soil. K For markings indicating the insertion of ditching tools into the soil or the working of ditching components, I L I is the indicator that the leveling mechanism is in the working position. U Ia is a sign indicating that the agricultural implement has been raised to a safe height; Ia is a sign indicating that the cutter shaft is engaged or rotating. This refers to the pressure coefficient of the front excavation oil circuit. Le represents the pressure coefficient of the rear working oil circuit, and Le represents the engine load rate. This is the tool shaft speed tracking coefficient. This is the tool shaft torque coefficient. The average speed of the track. For track slip ratio, This is the coefficient for the speed difference between the left and right tracks. ε is the vibration coefficient of the machine body, and ε is a positive number to prevent the denominator from being zero; The working condition discrimination controller calculates the pattern confidence of the excavation, rotary tillage, ditching, leveling and relocation working conditions based on the above feature vectors.

3. The method according to claim 2, wherein, The model confidence scores for the five working conditions—digging, rotary tillage, ditching, leveling, and relocation—are calculated using the following formulas: set up , which means that the condition is true when x≥θ, otherwise it is 0; , indicating that the condition is true when x≤θ, otherwise it is 0; the discrimination formulas for each working condition are: Mining pattern confidence ; Confidence of rotary tillage mode ; Trenching mode confidence ; Leveling mode confidence ; Transition mode confidence ; in, to All of these are weight coefficients of the corresponding discriminant formula, and the sum of all weight coefficients within the same discriminant formula is 1; to For the corresponding threshold, This is a reference value for the pressure during stable rotary tillage operations.

4. The adaptive adjustment method for operating parameters of a rotary drilling rig according to claim 2, characterized in that, The complex obstruction and safety risk value The calculation formula is: in, This is the coefficient for the decrease in cutter shaft speed. This is the pressure rise rate coefficient. This is the engine speed drop coefficient. to These are the safety risk weighting coefficients, and their sum is 1. When the complex obstruction and safety risk values ​​are less than or equal to the preset safety risk threshold, or when any of the following parameters exceed the corresponding hard limit threshold: cutter shaft speed drop coefficient, cutter shaft torque coefficient, rear working oil circuit pressure coefficient, pressure rise rate coefficient, track slip rate, machine body vibration coefficient, and engine speed drop coefficient, the complex obstruction condition will be output first.

5. The adaptive adjustment method for operating parameters of a rotary drilling rig according to claim 4, characterized in that, The operating condition discrimination controller also performs the following: When the confidence level of a candidate operating condition is greater than or equal to the entry threshold, the difference between the confidence level of the candidate operating condition and the second highest confidence level meets the preset difference condition, and the above conditions are continuously met for a number of preset sampling periods, the candidate operating condition is determined as the current operating mode; otherwise, the previous operating mode is maintained. The output rule for operating mode M(t) is: if there are complex obstacles and safety risk values Or triggered by a hard threshold, then That is, a complex blocking or safety protection mode; otherwise, if the candidate operating condition meets the confidence threshold, confidence difference, and duration conditions, then And corresponding to the mining modes respectively. Rotary tillage mode Trenching mode Leveling mode Or transition mode ; If the above conditions are not met, then When exiting the current mode, an exit threshold is used. ,and Below the entry threshold This is to form a hysteresis interval.

6. The adaptive adjustment method for operating parameters of a rotary drilling rig according to claim 5, characterized in that, The operating condition discrimination controller also calculates the load level: in, For the comprehensive load index, when When outputting light load level, Output load level when Output overload level at any time.

7. The adaptive adjustment method for operating parameters of a rotary drilling rig according to claim 5, characterized in that, The control center includes an on-board controller, which receives the operating mode output by the operating condition identification layer. And operating condition information, and call the corresponding control policy in the operation mode policy library: when When the mining pattern strategy is invoked, When the rotary tillage mode strategy is invoked, When the trenching mode strategy is invoked, When the leveling mode strategy is invoked, When the transition mode strategy is invoked, Complex blocking or safety protection strategies are invoked at any time. The operation mode strategy library has preset control parameter ranges and protection strategies for different working conditions, including engine speed, hydraulic flow, track travel speed, cutter shaft target speed, implement lifting height and tillage depth control strategies.

8. The adaptive adjustment method for operating parameters of a rotary drilling rig according to claim 1, characterized in that, The control center also includes a safety punching unit, and the safety arbitration unit is configured to: reduce the target track speed and output an appropriate lifting command to the implement lifting adjustment device when the track slip rate exceeds a preset threshold; reduce the track travel speed and reduce the implement's soil penetration depth when the cutter shaft speed decreases more than a preset threshold; output a cutter shaft speed reduction, stop, or short-term reverse command when the cutter shaft torque exceeds a preset load threshold under the corresponding working condition; reduce the cutter shaft speed and track speed when the machine body vibration amplitude exceeds a preset threshold; perform hydraulic unloading when the hydraulic pressure exceeds a safety threshold; reduce the working load when the engine load rate abnormally increases or the engine speed drops significantly; and output a stop, unload, implement lifting, alarm, or shutdown command according to the safety risk level when multiple abnormalities simultaneously meet the judgment conditions.

9. An adaptive adjustment system for operating parameters of a rotary drilling rig, characterized in that, include: The multi-source sensing unit is used to collect engine operating status signals, hydraulic pressure signals, cutter shaft speed and torque signals, speed signals on the left and right sides, implement lifting position signals and machine vibration signals to form a set of status parameters. The data acquisition and processing unit is connected to the multi-source sensing unit to form a set of state parameters for working condition identification. The set of state parameters includes at least the engine speed or load characteristics, hydraulic pressure and pressure change rate, cutter shaft speed and speed drop rate, cutter shaft torque, speed on the left and right sides and speed difference on the left and right sides, lifting position of agricultural implement, action status of excavating mechanism and vibration amplitude of machine body. The working condition discrimination controller stores a working condition identification rule base, which includes feature calculation rules, pattern discrimination formulas, threshold parameters, hysteresis switching rules, and safety risk priority rules. The control center calculates the target engine speed, target cutter shaft speed, target speeds on the left and right sides, hydraulic flow distribution value, and implement lifting control quantity based on the current operating mode, load level, and operation mode strategy library of the rotary drilling rig. The actuator is connected to the control center. The actuator includes an engine speed control device, a travel adjustment device, a cutter shaft speed adjustment device, a hydraulic flow adjustment device, and a implement lifting adjustment device.

10. The adaptive adjustment system for operating parameters of a rotary drilling rig according to claim 9, characterized in that, The multi-source sensing unit includes an engine speed sensor, a throttle position sensor, a hydraulic pressure sensor, a cutter shaft speed sensor, a cutter shaft torque sensor, a vehicle speed sensor, a implement posture sensor, and a machine body vibration sensor. The engine speed sensor is installed on the engine, the hydraulic pressure sensor is installed on the hydraulic system, the cutter shaft speed sensor and the cutter shaft torque sensor are installed on the cutter shaft, the implement posture sensor is installed on the three-point suspension mechanism, and the machine body vibration sensor is installed at the rear of the rotary drilling rig.

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