Full-automatic gantry truss hydraulic breaking system

Abstract

The application discloses a full-automatic gantry truss type hydraulic crushing system and relates to the technical field of bulk material processing. The existing mine bin grid jam crushing operation relies on manual or semi-automatic mode, and there are technical problems such as low crushing efficiency, poor positioning accuracy, and great operation safety hazards. The system comprises a gantry truss fixedly installed above the mouth of a chute, a walking mechanism arranged on the truss, and a crushing device hung below the walking mechanism; a camera installed on the truss is used for collecting video image data of the grid area; an AI vision analysis system identifies jammed materials through a grid screen jam identification model, filters effective crushing points through a crushing point reverse reasoning model, and arranges a crushing operation sequence through a multi-point crushing automatic arrangement algorithm; and a control system receives the crushing point position and the operation sequence and generates control instructions. The application realizes automatic identification, accurate positioning and automatic crushing of jammed materials, significantly reduces manual dependence, and improves operation efficiency, positioning accuracy and safety.

Description

Technical Field

[0001] This invention belongs to the field of bulk material processing technology, specifically, it relates to a fully automatic gantry-type hydraulic crushing system. Background Technology

[0002] In mining and material handling processes, the grating in the ore bin is a key component ensuring the normal operation of subsequent equipment. Its main function is to intercept large pieces of material, preventing them from entering the ore bin and clogging conveying equipment or damaging related machinery. When large pieces of material accumulate and block the top of the grating, they must be crushed in a timely manner; otherwise, it will affect the normal operation of the entire material conveying system, causing production stoppages and resulting in significant economic losses.

[0003] Currently, the main technical problems in crushing materials that clog the grid in mine bins are as follows: Firstly, the crushing efficiency is low and the continuity is poor. Existing fixed-arm hydraulic crushers use pin-shaft connections between their robotic arms, resulting in large mechanical gaps and poor positioning accuracy. A single piece of ore requires multiple operations to complete crushing. The entire process of manually identifying blockages, determining material location, and controlling equipment movement relies on human experience. This is cumbersome and makes it difficult to plan the optimal impact sequence for multiple blockages, easily leading to repeated impacts or ineffective movements. This results in prolonged single blockage clearing time, hindering the rapid restoration of the grid and ultimately affecting the production continuity of the entire material conveying system.

[0004] Secondly, the positioning accuracy is poor and the crushing effect is unstable. Manual operation relies solely on visual judgment of the material's approximate location, making it impossible to accurately obtain its three-dimensional spatial coordinates. This results in significant deviations in the hammer's striking position, increasing the number of follow-up blows, extending operation time, and potentially damaging the grating. Furthermore, the operational effectiveness is highly dependent on the operator's experience; significant differences in skill levels among operators make it difficult to guarantee consistent crushing quality.

[0005] Third, the operation poses significant safety hazards and is labor-intensive. The mine's storage area is characterized by high dust levels, poor visibility, and a high risk of secondary material collapse, posing significant personal safety risks to operators, whether working on-site or remotely. Existing crushers are primarily operated manually, requiring one operator per machine per shift. This necessitates long hours of continuous work, leading to fatigue and increasing the probability of operational errors. Furthermore, the current equipment uses pin-and-sleeve connections, making automation upgrades difficult and failing to meet the demands of modern, efficient, safe, and intelligent mine production.

[0006] No effective solutions have yet been proposed to address the problems in the relevant technologies.

[0007] Therefore, in order to solve the above problems, the present invention provides a fully automatic gantry-type hydraulic crushing system. Summary of the Invention

[0008] In order to overcome the above-mentioned technical problems, the purpose of this invention is to provide a fully automatic gantry-type hydraulic crushing system.

[0009] The objective of this invention can be achieved through the following technical solutions: The fully automatic gantry-type hydraulic crushing system includes: The mechanical body includes a gantry truss fixedly installed above the chute opening, a traveling mechanism installed on the gantry truss, and a crushing device suspended below the traveling mechanism. The camera, mounted on the gantry truss, is used to collect video image data of the chute opening grid area; The AI ​​visual analysis system is connected to the camera to receive video image data, identify blocked materials through the grid screen blockage identification model, screen effective crushing points through the crushing point reverse reasoning model, and arrange the crushing operation sequence through the multi-point crushing automatic arrangement algorithm. The control system is connected to the AI ​​vision analysis system and the mechanical body respectively, and is used to receive crushing point location information and crushing operation sequence and generate control commands. The servo motor electric drive system is communicatively connected to the control system and is used to receive control commands and drive the walking mechanism and crushing device to perform crushing operations.

[0010] As a preferred embodiment of the present invention, the AI ​​visual analysis system further includes a truck tipping operation recognition model, which is used to identify the unloading operation status of the vehicle through a camera.

[0011] As a preferred technical solution of the present invention, the crushing device includes a hydraulic station, an air compressor, a telescopic cylinder, and a breaker hammer. The telescopic cylinder and the breaker hammer are vertically suspended below the main shaft of the traveling mechanism. The hydraulic station and the air compressor are used to drive the telescopic cylinder and the breaker hammer to move, respectively. The servo motor electric drive system includes a servo motor and a reducer, and is used to drive the walking mechanism; The telescopic cylinder is equipped with a displacement sensor to detect the extension length in real time. The control system performs closed-loop control of the telescopic cylinder based on the extension length, so that the breaker rod and the grid surface maintain a preset dynamic gap.

[0012] As a preferred technical solution of the present invention, it also includes an electronic fence system, wherein the electronic fence system includes an intrusion detection module and an active shutdown module installed in the work area; The intrusion detection module is used to monitor intrusion by personnel or equipment, and the control system responds to an emergency stop command to stop the mechanical body from operating.

[0013] As a preferred technical solution of the present invention, it also includes a video surveillance system, which includes multiple high-definition cameras installed at different angles for capturing on-site images and transmitting them to a remote control platform in real time; the high-definition cameras are intelligent anti-vibration and anti-shake cameras with dual-lens design and hardware-level image stabilization function.

[0014] As a preferred embodiment of the present invention, when the AI ​​visual analysis system identifies materials using the grid screen blockage recognition model, it performs the following rectangular correction processing: Median filtering is used to denoise video images; Extract different color channels; Edge detection or multi-threshold binarization processing can be used; Find the image outline and remove minor undulations; Filter out quadrilaterals with an area greater than the threshold and that are convex. Determine if the cosine of the angle between any two adjacent lines is less than 0.3. If so, identify the target rectangle and complete the correction.

[0015] As a preferred technical solution of the present invention, the control system converts the image coordinates of the breaking point to the camera coordinate system and the world coordinate system in sequence according to the breaking point location information output by the AI ​​vision analysis system, thereby generating the target position coordinates of the walking mechanism and the breaking device in three-dimensional space.

[0016] As a preferred embodiment of the present invention, the control system includes an automatic control subsystem and a manual control subsystem; The automatic control subsystem is based on a programmable controller and is used to automatically generate control commands based on the output of the AI ​​vision analysis system in automatic mode; The manual control subsystem includes a remote control console and a local control console, used to receive direct operation commands input by the operator in manual mode.

[0017] As a preferred embodiment of the present invention, the impact energy of the hydraulic breaker is 1000J±5%, and the working frequency is 1000bpm; the thrust of the telescopic cylinder is 3000kg, and the tension is 2000kg; the gantry truss is assembled from Q235 steel components, including anchor bolts, columns, crossbeams, and longitudinal beams, the columns are thickened rectangular tubes, and the crossbeams and longitudinal beams are equipped with toothed rails.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. Significantly improves crushing efficiency: This invention achieves automatic identification and precise positioning of blockage materials through the collaborative work of a camera and an AI visual analysis system, quickly acquiring the location information of all blockage materials without manual intervention; at the same time, through a multi-point crushing automatic arrangement algorithm, based on the spatial distribution of all crushing points, it generates the optimal striking sequence according to the principle of shortest path or minimum time, avoiding ineffective movement and repeated striking, greatly shortening the single blockage handling time, quickly restoring the grid to unobstructed flow, and effectively ensuring the continuous operation of the material conveying system.

[0019] 2. Significantly improves positioning accuracy and crushing effect stability: This invention uses an AI visual analysis system to perform precise rectangular correction processing on video images, eliminating coordinate deviations caused by lens distortion. The image coordinates of the crushing point are sequentially transformed to the camera coordinate system and the world coordinate system, ensuring the accuracy of the crushing target point coordinates. This allows the breaker to accurately strike the core position of the material, avoiding impact deviations and reducing the number of follow-up strikes. At the same time, a displacement sensor performs closed-loop control of the extension length of the telescopic cylinder, maintaining a preset dynamic working gap between the breaker rod and the grid surface, further ensuring crushing accuracy and preventing grid damage.

[0020] 3. Comprehensive Improvement of Operational Safety: This invention achieves full automation of the crushing operation, eliminating the need for operators to enter hazardous work areas and effectively avoiding personal safety risks posed by the harsh mining environment and material collapses. The intrusion detection module of the electronic fence system monitors the work area in real time. If personnel or equipment intrude into the hazardous area, the active shutdown module immediately triggers an emergency stop command, interrupting operations and stopping the breaker in a safe position, completely eliminating equipment collisions and personnel injuries. Furthermore, the truck tipping operation recognition model enables intelligent linkage with unloading vehicles. When a vehicle enters the unloading area, crushing automatically pauses and the vehicle returns to a safe position, further ensuring operational safety.

[0021] 4. Reduced labor intensity and reliance on manual labor: This invention eliminates the need for manual material identification, position judgment, trajectory control, and effect detection. Through the synergy of a camera and an AI visual analysis system, it achieves fully automated control, significantly reducing the labor intensity of operators and avoiding errors caused by fatigue. At the same time, the system automatically completes all core operations through preset algorithms, without relying on the operator's experience, ensuring the consistency of crushing operation quality in different scenarios.

[0022] 5. Flexible manual intervention and wide applicability: The present invention is equipped with a manual control subsystem, including a remote control console and a local control console. When encountering special working conditions, the operator can flexibly control the equipment in manual mode, which improves the adaptability of the system. At the same time, all components of the system adopt mature and reliable hardware and algorithms, with a simple structure, easy installation and debugging, and can be adapted to gantry crushers of different specifications, with a wide range of applications. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a system diagram of the present invention.

[0025] Figure label: 1. Gantry truss; 2. Servo motor electric drive system; 3. Walking mechanism; 4. Crushing device; 5. Camera. Detailed Implementation

[0026] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0027] Example 1: System Overall Structure and Fully Automated Operation Process This embodiment provides a fully automatic gantry-type hydraulic crushing system, the overall structure of which is as follows (see attached image). Figure 1 and Figure 2 ): The gantry truss 1 is fixedly installed above the chute opening using anchor bolts. The gantry truss 1 is constructed from Q235 steel components assembled by welding, including columns, crossbeams, and longitudinal beams. The columns use thickened rectangular tubing to ensure sufficient strength and rigidity. The crossbeams and longitudinal beams are equipped with rack and pinion systems, and the traveling mechanism 3 moves along the crossbeams and longitudinal beams. The crushing device 4 includes a hydraulic station, an air compressor, a telescopic cylinder, and a breaker hammer. The telescopic cylinder and breaker hammer are vertically suspended below the main shaft of the traveling mechanism 3. The hydraulic station and air compressor are used to drive the telescopic cylinder and breaker hammer, respectively. The servo motor electric drive system 2 consists of a servo motor and a reducer, used to drive the traveling mechanism 3.

[0028] Camera 5 (AI camera) is installed on gantry truss 1 to collect video image data of the chute grid area in real time at a certain frame rate, and transmit the collected video image data to the AI ​​visual analysis system in real time.

[0029] After receiving video image data, the AI ​​visual analysis system performs the following processing: First, the grid blockage recognition model identifies blockage targets in the grid area. Specifically, median filtering is applied to the video image for noise reduction, different color channels are extracted sequentially, and Canny edge detection or multi-threshold binarization is applied to each color channel. The findContours function is used to find image contours, and the approxPolyDP function is used to remove minor undulations in the polygonal contours. Quadrilaterals with an area greater than a preset threshold and a convex shape are selected. The cosine of the angle between any two adjacent lines of the quadrilateral is determined to be less than 0.3. If so, the quadrilateral is identified as a target rectangle, and rectangle correction is performed to eliminate coordinate deviations caused by lens distortion.

[0030] Then, the identified blockage targets are screened using a breakpoint reverse reasoning model. Specifically, the video image data is filtered to remove noise, outliers, and redundant information. Based on preset breakpoint information, the blockage area is screened for breakpoints to identify valid breakpoints that require breakage operations.

[0031] Finally, the multi-point crushing automatic scheduling algorithm arranges the crushing operation sequence according to the spatial distribution of each crushing point and the principle of shortest path or minimum time.

[0032] After receiving the crushing point location information and crushing operation sequence output by the AI ​​vision analysis system, the control system sequentially transforms the image coordinates of the crushing point to the camera coordinate system and the world coordinate system, generates the target position coordinates of the walking mechanism 3 and the crushing device 4 in three-dimensional space, and generates control commands based on this to send to the servo motor electric drive system 2.

[0033] After receiving control commands, the servo motor electric drive system 2 drives the traveling mechanism 3 to move along the crossbeams and longitudinal beams of the gantry truss 1 to the target position. At the same time, the telescopic cylinder of the crushing device 4 extends, causing the breaker hammer to reach the striking position and controlling the breaker hammer to perform the crushing action. The system completes the striking task of all crushing points in sequence according to the pre-arranged crushing operation sequence.

[0034] Example 2: Intelligent linkage control with unloading vehicles This embodiment, based on the first embodiment described above, further illustrates the intelligent linkage control mechanism between the system and the unloading vehicle.

[0035] The AI ​​visual analysis system also includes a truck tipping operation recognition model. This model uses camera 5 to monitor the unloading area at the chute in real time, identifying whether a vehicle has entered the unloading area and changes in the posture of the vehicle's cargo bed.

[0036] When the truck tipping operation recognition model detects a vehicle entering the unloading area, it immediately sends a vehicle arrival signal to the control system. In response to this signal, the control system determines whether a crushing operation is currently in progress. If so, it immediately stops the current crushing operation and drives the traveling mechanism 3 to move the crushing device 4 back to a safe position (i.e., the breaker hammer is raised to a safe position away from the grid), thus preventing interference between the crushing and unloading operations.

[0037] Once the truck tipping operation recognition model detects that the vehicle has completed unloading (the cargo bed has returned to its original position and the vehicle has left the unloading area), it sends an unloading completion signal to the control system. Upon receiving this signal, the control system re-invokes the AI ​​vision analysis system to identify the grid area, regenerates the breakage point location and operation sequence based on the latest blockage situation, and resumes the breakage operation.

[0038] Through the above-mentioned linkage control mechanism, the crushing operation and unloading operation are seamlessly connected, which not only ensures the safety of the operation, but also avoids the interference of the crushing operation on the unloading process, and improves the overall operation efficiency.

[0039] Example 3: Closed-loop control and dynamic clearance maintenance of the hydraulic breaker chisel rod This embodiment further illustrates the closed-loop control mechanism of the hydraulic breaker chisel based on the above embodiment one or two.

[0040] A high-precision displacement sensor is installed on the telescopic cylinder of the hydraulic breaker to detect the extension length of the telescopic cylinder in real time, thereby obtaining the extension length of the chisel.

[0041] When generating the coordinates of the target point for crushing, the control system simultaneously calculates a theoretical safe length value in real time based on the spatial position of the grid plane and the coordinates of the current target point. This theoretical safe length value represents the extension length of the telescopic cylinder required when the end of the drill bit just contacts or slightly penetrates the material, but still maintains a preset dynamic gap (e.g., 30-50mm) with the grid surface.

[0042] During the crushing operation, the control system continuously receives feedback from the displacement sensor regarding the actual extension length of the telescopic cylinder and compares this actual value with the theoretical safe length value, forming a closed-loop feedback. When the actual extension length deviates from the theoretical safe length value, the control system dynamically adjusts the control signal of the proportional valve or servo motor driving the telescopic cylinder, ensuring that the extension length of the telescopic cylinder always approaches the theoretical safe length value.

[0043] Through the aforementioned closed-loop control, the tip of the chisel maintains a preset dynamic working gap with the grid surface throughout the actual crushing process. This ensures that the crushing force is effectively transmitted to the material while preventing the chisel from directly impacting the hard grid, thus protecting the grid structure and extending the life of the chisel.

[0044] Example 4: Electronic Fence System and Security Interlock This embodiment further illustrates the security interlocking mechanism of the electronic fence system based on any of the above embodiments.

[0045] The electronic fence system includes an intrusion detection module and an active shutdown module installed in the work area. The intrusion detection module integrates a camera with AI algorithm capabilities to detect and identify personnel and vehicles entering the manhole area.

[0046] Based on the actual conditions of the work area, the area outside the breaker's operating range is divided into alarm zones and danger zones. The intrusion detection module monitors the activity of personnel and equipment in the work area in real time. When personnel or equipment are detected entering the alarm zone, the electronic fence system triggers an audible and visual alarm to alert personnel to safety.

[0047] When intrusion of personnel or equipment into a pre-defined danger zone is detected, the intrusion detection module sends an alarm signal to the active shutdown module. The active shutdown module, which communicates with the control system, immediately sends a high-priority emergency stop command to the control system in response to the alarm signal. In response to the emergency stop command, the control system immediately interrupts any ongoing or imminent automatic crushing operations, stops the movement of the traveling mechanism 3 and the crushing device 4, and raises the breaker hammer to a safe stopping position until the alarm is cleared.

[0048] The aforementioned electronic fence system enables comprehensive safety monitoring and proactive protection of the crushing operation area, completely eliminating the occurrence of personnel injuries and equipment collision accidents.

[0049] Example 5: Automatic / Manual Dual-Mode Control This embodiment further illustrates the dual-mode control mechanism of the system based on any of the above embodiments.

[0050] The control system includes an automatic control subsystem and a manual control subsystem. The automatic control subsystem is based on a programmable logic controller (PLC) and is used to automatically generate control commands in automatic mode based on the crushing point location information and operation sequence output by the AI ​​vision analysis system, driving the hydraulic system to complete the fully automatic crushing operation.

[0051] The manual control subsystem includes a remote control console and a local control console. The remote control console, using fiber optic cable as the transmission medium, is located in the central control room and consists of a console, controller, communication module, control devices, and human-machine interface. The local control console is located on-site for easy equipment maintenance and emergency operation.

[0052] When the system switches to manual mode, operators can send direct motion commands via joysticks, buttons, or touchscreen interfaces on a remote or local control console. The control system interprets these commands as real-time control signals for the drive motors of the traveling mechanism, as well as the telescopic cylinder and the breaker, enabling continuous and adjustable-speed manual control of the breaker's position and movement.

[0053] In manual mode, the operating interface displays the machine body's posture, the position of each joint, the extension length of the telescopic cylinder, the pressure of the breaker hammer, system alarm information, and real-time video footage captured by the camera, ensuring that operators can work safely with full knowledge of the information.

[0054] Working principle: After the system is started, the camera 5 installed on the gantry truss 1 continuously collects video image data of the chute grid area and transmits the data to the AI ​​visual analysis system in real time.

[0055] The AI ​​visual analysis system first processes the video image using a grid blockage recognition model: it performs median filtering to remove noise, extracts different color channels, uses edge detection or multi-threshold binarization to find image contours and remove small undulations, filters out quadrilaterals with an area greater than the threshold and convex shape, and completes rectangle correction by judging whether the cosine value of the angle between two adjacent straight lines is less than 0.3, eliminating coordinate deviations caused by lens distortion, thereby accurately identifying the material target blocking the grid.

[0056] Subsequently, the breakpoint reverse reasoning model filters the identified blockage targets: it filters the video image data to remove noise, outliers, and redundant information such as voids, and filters the blockage area based on preset breakpoint information to identify valid breakpoints that need to be broken. Then, the multi-point breaking automatic scheduling algorithm automatically schedules the breaking operation sequence according to the spatial distribution of each breakpoint and the principle of shortest path or minimum time.

[0057] After receiving the crushing point location information and operation sequence output by the AI ​​vision analysis system, the control system sequentially transforms the image coordinates of the crushing point to the camera coordinate system and the world coordinate system, generates the target position coordinates of the walking mechanism 3 and the crushing device 4 in three-dimensional space, and generates control commands based on this to send to the servo motor electric drive system 2.

[0058] After receiving the control command, the servo motor electric drive system 2 drives the traveling mechanism 3 to move along the crossbeams and longitudinal beams of the gantry truss 1 to the target position. At the same time, the telescopic cylinder of the crushing device 4 extends, causing the breaker hammer to reach the striking position and controlling the breaker hammer to perform the crushing action. During the crushing process, the displacement sensor installed on the telescopic cylinder detects the extension length in real time. The control system performs closed-loop control of the telescopic cylinder based on the detection value, so that the breaker hammer rod and the grid surface maintain a preset dynamic working gap.

[0059] The system sequentially completes the crushing tasks at all crushing points according to the pre-arranged crushing sequence. During the operation, the truck tipping operation recognition model monitors the unloading area in real time. When a vehicle is detected entering the unloading area, the system automatically pauses crushing and returns to a safe position, resuming operation after unloading is completed. Simultaneously, the electronic fence system continuously monitors the work area. If personnel or equipment are detected entering a dangerous area, an emergency stop command is immediately triggered, interrupting the operation.

[0060] The system also provides automatic and manual dual-mode control. In automatic mode, the crushing operation is completed automatically based on the results of AI visual analysis. In manual mode, the operator can directly control the equipment through a remote control console or a local control console.

[0061] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0062] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully automatic gantry-type hydraulic crushing system, characterized in that, include: The mechanical body includes a gantry truss (1) fixedly installed above the chute opening, a traveling mechanism (3) installed on the gantry truss, and a crushing device (4) suspended below the traveling mechanism (3). A camera (5) is installed on the gantry truss (1) and is used to collect video image data of the chute grid area; The AI ​​visual analysis system is connected to the camera (5) to receive video image data, identify blocked materials through the grid screen blockage identification model, screen effective breaking points through the breaking point reverse reasoning model, and arrange the breaking operation sequence through the multi-point breaking automatic arrangement algorithm. The control system is connected to the AI ​​vision analysis system and the mechanical body respectively, and is used to receive crushing point location information and crushing operation sequence and generate control commands. The servo motor electric drive system (2) is communicatively connected to the control system.

2. The fully automatic gantry-type hydraulic crushing system according to claim 1, characterized in that, The AI ​​visual analysis system also includes a truck tipping operation recognition model, which is used to identify the unloading operation status of vehicles through cameras.

3. The fully automatic gantry-type hydraulic crushing system according to claim 1, characterized in that, The crushing device (4) includes a hydraulic station, an air compressor, a telescopic cylinder and a breaker hammer. The telescopic cylinder and the breaker hammer are vertically suspended below the main shaft of the traveling mechanism (3). The hydraulic station and the air compressor are used to drive the telescopic cylinder and the breaker hammer to move, respectively. The servo motor electric drive system (2) includes a servo motor and a reducer, which is used to drive the walking mechanism (3). The telescopic cylinder is equipped with a displacement sensor to detect the extension length in real time. The control system performs closed-loop control of the telescopic cylinder based on the extension length, so that the breaker rod and the grid surface maintain a preset dynamic gap.

4. The fully automatic gantry-type hydraulic crushing system according to claim 1, characterized in that, It also includes an electronic fence system, which includes an intrusion detection module and an active shutdown module installed in the work area; The intrusion detection module is used to monitor intrusion by personnel or equipment, and the control system responds to an emergency stop command to stop the mechanical body from operating.

5. The fully automatic gantry-type hydraulic crushing system according to claim 1, characterized in that, It also includes a video surveillance system, which comprises multiple high-definition cameras installed at different angles to capture on-site images and transmit them in real time to a remote control platform; the high-definition cameras are intelligent anti-vibration and anti-shake cameras with dual-lens design and hardware-level image stabilization.

6. The fully automatic gantry-type hydraulic crushing system according to claim 1, characterized in that, When the AI ​​visual analysis system identifies materials using the sieve blockage recognition model, it performs the following rectangle correction processing: Median filtering is used to denoise video images; Extract different color channels; Edge detection or multi-threshold binarization processing can be used; Find the image outline and remove minor undulations; Filter out quadrilaterals with an area greater than the threshold and that are convex. Determine if the cosine of the angle between any two adjacent lines is less than 0.

3. If so, identify the target rectangle and complete the correction.

7. The fully automatic gantry-type hydraulic crushing system according to claim 1, characterized in that, The control system, based on the location information of the break point output by the AI ​​vision analysis system, sequentially transforms the image coordinates of the break point to the camera coordinate system and the world coordinate system, thereby generating the target position coordinates of the walking mechanism and the breaker in three-dimensional space.

8. The fully automatic gantry-type hydraulic crushing system according to claim 1, characterized in that, The control system includes an automatic control subsystem and a manual control subsystem; The automatic control subsystem is based on a programmable controller and is used to automatically generate control commands based on the output of the AI ​​vision analysis system in automatic mode; The manual control subsystem includes a remote control console and a local control console, used to receive direct operation commands input by the operator in manual mode.

9. The fully automatic gantry-type hydraulic crushing system according to claim 1, characterized in that, The impact energy of the hydraulic breaker is 1000J±5%, and the working frequency is 1000bpm; the thrust of the telescopic cylinder is 3000kg, and the tension is 2000kg; the gantry truss is assembled from Q235 steel components, including anchor bolts, columns, crossbeams, and longitudinal beams. The columns are thickened rectangular tubes, and the crossbeams and longitudinal beams are equipped with toothed rails.

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