CN115305985B - Breaking hammer operation control method and system and operation machine - Google Patents
Breaking hammer operation control method and system and operation machine Download PDFInfo
- Publication number
- CN115305985B CN115305985B CN202210869430.1A CN202210869430A CN115305985B CN 115305985 B CN115305985 B CN 115305985B CN 202210869430 A CN202210869430 A CN 202210869430A CN 115305985 B CN115305985 B CN 115305985B
- Authority
- CN
- China
- Prior art keywords
- breaking
- breaking hammer
- preset
- crushed
- oil pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 67
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 128
- 229910052757 nitrogen Inorganic materials 0.000 claims description 64
- 230000008859 change Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 9
- 230000007547 defect Effects 0.000 abstract description 2
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Quality & Reliability (AREA)
- Geometry (AREA)
- Percussive Tools And Related Accessories (AREA)
Abstract
The invention relates to the technical field of crushing control, and provides a crushing hammer operation control method, a crushing hammer operation control system and an operation machine, wherein the method comprises the following steps: acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of a bucket rod oil cylinder; when the first oil pressure is larger than or equal to a preset oil inlet pressure value, controlling the breaking hammer to start breaking operation when the drill rod position is located between a preset extending limit position and a preset retracting limit position; and determining whether the drill rod position reaches a preset extension limit position, if the number of times that the drill rod position reaches the preset extension limit position exceeds the preset number of times, judging that the crushing operation is finished, and controlling the breaking hammer to stop. The invention is used for solving the defects of operation fatigue and energy waste of operators caused by the lack of automatic control logic for reasonably starting and stopping the breaking hammer when breaking operation is carried out in the prior art, realizing the automatic and reasonable starting and stopping of the breaking hammer, facilitating the operation of the operators and reducing the personal skill requirements of operators.
Description
Technical Field
The invention relates to the technical field of crushing control, in particular to a crushing hammer operation control method, a crushing hammer operation control system and an operation machine.
Background
The breaking hammer is widely applied to breaking and dismantling of pavements, buildings and the like, however, in the operation process of the conventional breaking hammer, an operator is required to continuously control the action of the breaking hammer, namely, when the breaking hammer reaches a place to be broken, the breaking hammer is started to break, then the breaking state is concerned at all times, and after the breaking is confirmed to be completed, the action of the breaking hammer is stopped. When the operator controls the working machine, the operator pays attention to the action of the breaking hammer at the moment so as to control the breaking hammer, the workload of the operator is increased, and the operator is extremely easy to fatigue.
At present, a technical scheme of automatically identifying the working mode of the breaking hammer according to the pilot pressure of the breaking hammer appears in the prior art, so that the control of the power of the breaking hammer based on different working modes is realized, and the control mode simplifies the operation steps of an operator to a certain extent, so that the working efficiency is improved, but the problem that the operator is required to control the start and stop of the breaking hammer is not solved, namely, the key points of automatically judging when to start breaking and when to judge success of breaking the breaking hammer and stopping working of the breaking hammer are not solved.
Aiming at the problem, the technical scheme of adopting a long-time flow method to perform breaking hammer action is also available at present, namely, the breaking hammer is started to act through a manual trigger button when the operation starts, and then the breaking hammer is always in a working state within a set time length.
Disclosure of Invention
The invention provides a breaking hammer operation control method, a breaking hammer operation control system and an operation machine, which are used for solving the defects of operation fatigue of an operator and energy waste caused by the lack of an automatic control logic for reasonably starting and stopping the breaking hammer when the breaking hammer is subjected to breaking operation in the prior art, realizing the automatic and reasonable starting and stopping of the breaking hammer, facilitating the operation of the operator and reducing the personal skill requirements of operators.
The invention provides a breaking hammer operation control method, which comprises the following steps:
acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of a bucket rod oil cylinder;
when the first oil pressure is larger than or equal to a preset oil inlet pressure value, and the drill rod position is located between a preset extending limit position and a preset retracting limit position, controlling a breaking hammer to start breaking operation;
and in the breaking process of the breaking hammer, determining whether the drill rod position reaches the preset extending limit position, if the drill rod position reaches the preset extending limit position continuously, judging that the breaking operation is finished, and controlling the breaking hammer to stop acting.
The breaking hammer operation control method provided by the invention further comprises the following steps:
Acquiring a nitrogen pressure value of a nitrogen cavity and a second oil pressure and/or a third oil pressure, wherein the second oil pressure is the oil pressure of an oil inlet of the breaking hammer, and the third oil pressure is the oil pressure of an oil outlet of the breaking hammer;
when the first oil pressure is greater than or equal to a preset oil inlet pressure value, the drill rod position is located between a preset extending limit position and a preset retracting limit position, and the nitrogen pressure value is greater than or equal to a preset first nitrogen pressure value, the breaking hammer breaking operation is controlled;
and when the times of continuously determining that the drill rod position reaches the preset extension limit position exceeds the preset times, judging that the crushing operation is finished and controlling the breaking hammer to stop acting, wherein the change rate of the second oil pressure and/or the third oil pressure is smaller than a preset oil pressure change threshold value and the nitrogen pressure value is smaller than a preset second nitrogen pressure value.
The breaking hammer operation control method provided by the invention further comprises the following steps:
obtaining a range to be crushed, and determining a plurality of crushing points in the range to be crushed;
and controlling the breaking hammer to sequentially act to a plurality of breaking points to perform breaking operation within the range to be broken.
According to the breaking hammer operation control method of the invention, the obtaining the range to be broken and determining a plurality of breaking points in the range to be broken comprises the following steps:
acquiring an image containing a region to be crushed as a first image;
determining the range to be crushed from the area to be crushed based on the first image; the to-be-crushed range is a closed loop range in the to-be-crushed area;
acquiring an image of the range to be crushed as a second image;
and marking coordinates of a plurality of breaking points on the second image based on the current position of the breaking hammer and the coverage range of single breaking point breaking.
According to the breaking hammer operation control method of the present invention, the controlling the breaking hammer to sequentially move to a plurality of breaking points to perform the breaking operation within the range to be broken includes:
controlling the breaking hammer to move to a corresponding position in the range to be broken based on the coordinates of the breaking point;
acquiring an image of the range to be crushed after the breaking hammer moves;
correcting the relative position to which the breaking hammer moves based on the image of the range to be broken after the breaking hammer moves;
And controlling the breaking hammer to break the region to be broken at the corrected position.
According to the breaking hammer operation control method of the present invention, after the breaking hammer is controlled to sequentially move to a plurality of breaking points to perform the breaking operation within the range to be broken, the method further includes:
acquiring an image of the range to be crushed after the crushing operation is completed, and taking the image as a third image;
based on the third image, obtaining the actual crushing area in the range to be crushed, and detecting whether the edge of the range to be crushed is crushed;
and when the difference value between the area contained in the range to be crushed and the actual crushing area is smaller than a preset difference value threshold value and/or the edge is not crushed, an alarm is sent out, and the breaking hammer is controlled to carry out crushing operation again in the range to be crushed or to prompt manual operation of the breaking hammer to carry out crushing operation.
According to the breaking hammer operation control method of the invention, before the first oil pressure and the drill rod position are acquired, the method further comprises the following steps:
acquiring a breaking mode starting signal;
receiving a feedback signal of the quick-change device, and acquiring oil pressure of an oil inlet of the breaking hammer;
judging whether replacement of the breaking hammer is finished or not based on the feedback signal and oil pressure of an oil inlet of the breaking hammer;
After the replacement of the breaking hammer is finished, judging whether a complete machine starting signal and a hydraulic system operation signal are received;
after receiving the complete machine starting signal and the hydraulic system operation signal, judging that the breaking hammer enters a hot standby state;
and after the breaking hammer enters a hot standby state, acquiring the first oil pressure.
The invention also provides a breaking hammer operation control system, which comprises:
the acquisition module is used for acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of the bucket rod oil cylinder;
the first control module is used for controlling the breaking hammer to start breaking operation when the first oil pressure is greater than or equal to a preset oil inlet pressure value and the drill rod position is located between a preset extending limit position and a preset retracting limit position;
and the second control module is used for determining whether the drill rod position reaches the preset extending limit position or not in the breaking operation process of the breaking hammer, and judging that the breaking operation is finished and controlling the breaking hammer to stop if the number of times that the drill rod position reaches the preset extending limit position exceeds the preset number of times.
According to the breaking hammer operation control system, the acquisition module is further used for acquiring a nitrogen pressure value of the nitrogen cavity and a second oil pressure and/or a third oil pressure, wherein the second oil pressure is an oil inlet oil pressure of the breaking hammer, and the third oil pressure is an oil outlet oil pressure of the breaking hammer;
The first control module is further used for controlling the breaking hammer to break when the first oil pressure is greater than or equal to a preset oil inlet pressure value, the drill rod position is located between a preset extending limit position and a preset retracting limit position, and the nitrogen pressure value is greater than or equal to a preset first nitrogen pressure value;
the second control module is further used for judging that the crushing operation is finished and controlling the breaking hammer to stop when the frequency of continuously determining that the drill rod position reaches the preset extension limit position exceeds the preset frequency, the change rate of the second oil pressure and/or the third oil pressure is smaller than a preset oil pressure change threshold value, and the nitrogen pressure value is smaller than a preset second nitrogen pressure value;
the breaking hammer operation control system further includes:
the first pressure detection module is used for detecting the nitrogen pressure value;
a second pressure detection module for detecting the second oil pressure and/or the third oil pressure;
and the position detection module is used for detecting the position of the drill rod.
The breaking hammer operation control system according to the present invention further comprises:
the image acquisition module is used for acquiring an image containing a region to be crushed and an image of a range to be crushed; the to-be-crushed range is a closed loop area in the to-be-crushed area; the image containing the area to be crushed is used for determining the range to be crushed; the image of the range to be crushed is used for determining coordinates of a plurality of crushing points in the range to be crushed;
The third control module is used for controlling the breaking hammer to sequentially act to a plurality of breaking points to perform breaking operation in the range to be broken; and the touch display module is used for displaying the image containing the area to be crushed or the image of the range to be crushed and selecting a crushing mode.
The invention also provides a working machine comprising the breaking hammer working control system.
The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the breaking hammer operation control method is realized by the processor when the program is executed.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a breaking hammer operation control method as described in any one of the above.
According to the breaking hammer operation control method, the breaking hammer operation control system and the operation machine, oil pressure of an oil inlet of a bucket rod oil cylinder and the position of a drill rod are obtained, then when the oil pressure of the oil inlet of the bucket rod oil cylinder is larger than or equal to a preset oil inlet pressure value, the position of the drill rod is located between a preset extending limit position and a preset retracting limit position, namely after the breaking hammer is in contact with a working surface to be broken, breaking conditions are indicated, the breaking hammer is controlled to start breaking operation, then whether the position of the drill rod reaches the preset extending limit position is determined in real time in the breaking operation process of the breaking hammer, and when the number of times that the position of the drill rod reaches the preset extending limit position exceeds the preset number of times, the breaking task of a breaking point is judged to be completed, and further breaking hammer is controlled to stop breaking. The purpose of reliably and effectively judging the starting time and the finishing time of the breaking travel of the breaking hammer based on the self signal change of the breaking hammer is achieved, and accordingly the starting and stopping of the breaking hammer are automatically and reasonably controlled.
The starting time and the finishing time of the breaking travel of the breaking hammer are further judged by acquiring the nitrogen pressure value of the nitrogen cavity and the oil pressure of the oil inlet and/or the oil outlet of the breaking hammer and combining the nitrogen pressure value and the oil pressure change rate of the breaking hammer with the oil pressure of the oil inlet of the bucket rod oil cylinder and the position of the drill rod, so that the starting and stopping control of the breaking hammer is more accurate.
The crushing hammer is controlled to sequentially act on the plurality of crushing points to perform crushing operation in the range to be crushed, so that the automatic completion of the crushing task in the set area is realized, the operation steps of an operator are greatly simplified, and the crushing efficiency is improved.
The image containing the area to be crushed is acquired, the area to be crushed in the area to be crushed is determined based on the image containing the area to be crushed, and then a plurality of crushing points are marked on the image of the area to be crushed based on the image of the area to be crushed, the current position of the crushing hammer and the coverage area of single crushing point crushing, so that the determination of the crushing points is more convenient and accurate, and the crushing hammer is conveniently guided to comprehensively crush the area to be crushed in the area to be crushed based on the crushing points.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling operation of a breaking hammer;
fig. 2 is a schematic flow chart of the automatic start-stop control method of the breaking hammer for a single breaking point;
FIG. 3 is a flow chart of a control method provided by the invention for automatic breaking of a breaking hammer for a region to be broken comprising a plurality of breaking points;
FIG. 4 is a schematic structural diagram of a breaking hammer operation control system provided by the invention;
FIG. 5 is a schematic structural view of a single breaking point based control structure for a breaking hammer of an excavator provided by the present invention;
FIG. 6 is a schematic structural view of a control structure of a breaking hammer for an excavator for an area to be broken including a plurality of breaking points provided by the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention;
Reference numerals:
1: a controller; 2: a touch screen; 3: a working mode switching button; 4: a feed oil pressure sensor; 5: a return oil pressure sensor; 6: a breaking hammer; 7: an oil inlet electromagnetic valve; 8: an oil return port electromagnetic valve; 9: a drill rod upper limit sensor; 10: a drill rod lower limit sensor; 11: a nitrogen pressure sensor; 12: a bucket rod extending action pressure sensor; 13: a camera; 14: a swing control module; 15: arm, swing arm control module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes a breaking hammer operation control method according to the present invention with reference to fig. 1 to 3, and is based on a controller of a working machine and/or software or hardware execution therein, as shown in fig. 1, and the breaking hammer operation control method according to an embodiment of the present invention includes the following steps:
101. Acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of a bucket rod oil cylinder;
102. when the first oil pressure is larger than or equal to a preset oil inlet pressure value, controlling the breaking hammer to start breaking operation when the drill rod position is located between a preset extending limit position and a preset retracting limit position;
103. in the breaking process of the breaking hammer, determining whether the drill rod position reaches a preset extending limit position, if the number of times that the drill rod position reaches the preset extending limit position exceeds the preset number of times, judging that the breaking operation is completed, and controlling the breaking hammer to stop.
It will be appreciated that when it is desired to carry out a crushing operation with a breaking hammer on a work surface to be crushed, it is first necessary to bring the breaking hammer into contact with the work surface to be crushed in order to initiate the crushing operation.
Specifically, the preset extension limit position refers to the maximum position where the drill rod can extend; the preset retraction limit position refers to the maximum position where the drill rod can retract, and is also the initial position before the breaking hammer works. The preset oil inlet pressure value represents the minimum pressure of the bucket rod for enabling the breaking hammer to be in contact with the working surface to be broken. When the breaking hammer is ready to start working, the drill rod extends from the initial position, and when the drill rod contacts the working surface to be broken, a certain amount of retraction exists compared with the extension limit position. Therefore, when the obtained oil pressure of the oil inlet is larger than or equal to a preset oil inlet pressure value, and the drill rod is positioned between a preset extending limit position and a preset retracting limit position, the controller can judge that the breaking hammer is in contact with the working surface to be broken, namely the breaking hammer has the capability of breaking the working surface to be broken.
It will be appreciated that the breaking hammer is only capable of breaking with its oil inlet and return solenoid valves open. Meanwhile, the drill rod of the breaking hammer cannot extend completely because the working surface to be broken is not broken or is broken completely. Thus, when the crushing is completed, the drill rod will be able to be extended to the set maximum position, i.e. the preset extension limit.
More specifically, the opening of the oil inlet electromagnetic valve and the oil return electromagnetic valve is automatically controlled by the controller, so that the breaking hammer can be started for breaking.
Further, during the crushing process, along with the fact that the working surface to be crushed is not crushed, the drill rod position occasionally reaches the preset extending limit position, but before the crushing is completed, the condition that the drill rod position continuously reaches the preset extending limit position for many times is avoided, therefore, whether the crushing is completed or not is judged by recording the times that the drill rod position reaches the preset extending limit position from the beginning of the crushing operation, the risk of misjudgment exists, whether the crushing of the working surface to be crushed is completed or not is judged by judging whether the times that the drill rod position continuously reaches the preset extending limit position exceeds the preset times, such as 4 times and 5 times, and the like is accurately judged.
As an embodiment of the present invention, the breaking hammer operation control method further includes:
acquiring a nitrogen pressure value of a nitrogen cavity and a second oil pressure and/or a third oil pressure, wherein the second oil pressure is an oil inlet oil pressure of the breaking hammer, and the third oil pressure is an oil outlet oil pressure of the breaking hammer;
when the first oil pressure is greater than or equal to a preset oil inlet pressure value, the drill rod position is located between a preset extending limit position and a preset retracting limit position, and the nitrogen pressure value is greater than or equal to a preset first nitrogen pressure value, breaking operation of the breaking hammer is controlled;
and when the number of times that the drill rod position reaches the preset extension limit position exceeds the preset number of times, and the change rate of the second oil pressure and/or the third oil pressure is smaller than the preset oil pressure change threshold value and the nitrogen pressure value is smaller than the preset second nitrogen pressure value, judging that the crushing operation is finished, and controlling the breaking hammer to stop acting.
It should be noted that, when the breaking hammer is in conflict with the working surface to be broken, the nitrogen pressure value of the nitrogen cavity can be increased, meanwhile, the nitrogen pressure value can be kept at a larger value in the breaking process, and the oil pressure of the oil inlet and the oil outlet of the breaking hammer can also be greatly fluctuated due to breaking operation. When the crushing is finished, the nitrogen pressure value is reduced, and meanwhile, the oil pressure change of the oil inlet and the oil outlet of the crushing hammer is smooth without large fluctuation.
Specifically, the nitrogen pressure value of the nitrogen cavity and the oil pressure of the oil inlet and/or the oil outlet of the breaking hammer are obtained, and the nitrogen pressure value of the nitrogen cavity and the oil pressure of the oil inlet and/or the oil outlet of the breaking hammer are combined with the drill rod position and the oil pressure of the oil inlet of the bucket rod oil cylinder to be used for judging the starting and stopping time of the breaking hammer, so that the accuracy of judging the starting and stopping time of the breaking hammer is further improved.
As an embodiment of the present invention, the breaking hammer operation control method further includes:
obtaining a range to be crushed, and determining a plurality of crushing points in the range to be crushed;
and controlling the breaking hammer to sequentially act to a plurality of breaking points to carry out breaking operation within the range to be broken.
Specifically, a plurality of crushing points are determined in the range to be crushed, then based on the positions of the crushing points, the controller is enabled to sequentially act to the crushing points, and then start and stop control of the crushing hammer is respectively carried out on the crushing points based on the control logic of the embodiment, so that automatic crushing of the region to be crushed in the whole range to be crushed is realized based on point-by-point crushing of the crushing points, the operation steps of operators are further simplified, and the crushing operation efficiency is greatly improved.
As an embodiment of the present invention, obtaining a range to be crushed, and determining a plurality of crushing points within the range to be crushed, includes:
acquiring an image containing a region to be crushed as a first image;
determining a region to be crushed from the region to be crushed based on the first image; the to-be-crushed range is a closed loop area in the to-be-crushed area;
acquiring an image of a range to be crushed as a second image;
coordinates of a plurality of breaking points are marked on the second image based on the current position of the breaking hammer and the coverage of the breaking of the single breaking point.
Specifically, by acquiring an image including an area to be crushed, a user can plan a range to be crushed which is intended to be crushed automatically on the image including the area to be crushed, and then by conveniently planning distribution of crushing points of the area to be crushed, which covers the whole range to be crushed, based on the current position of the crushing hammer and the coverage area of a single crushing point, on the acquired image including the range to be crushed, that is, coordinates of each crushing point, the crushing hammer is controlled to automatically move to the next crushing point to perform crushing operation after crushing operation of one crushing point is performed through the coordinates of each crushing point until all the crushing points are traversed, that is, the area to be crushed in the range to be crushed is completely crushed.
More specifically, an image including an area to be crushed can be displayed through a touch screen connected with a controller, then a user draws a range to be crushed on the touch screen through a tool such as a capacitance pen, the controller can acquire a specific range of the area to be crushed which is pre-automatically crushed, and then the controller can plan the coordinates of each crushing point on the image within the range to be crushed based on the image within the range to be crushed, the coordinates of the current position of the crushing hammer on the image within the range to be crushed and the range covered by the crushing point, then the controller can control the crushing hammer to perform single-point crushing firstly, and after the single-point crushing is completed, the controller can automatically move to the next crushing point according to the coordinates of the crushing point on the image within the range to be crushed, and then single-point crushing is performed.
It can be understood that, for the obtained coordinates of a plurality of crushing points, the controller controls the crushing hammer to move in a regular sequence, so as to achieve the highest crushing efficiency in point-by-point crushing, that is, after the crushing of one crushing point is completed, the crushing hammer moves to the nearest next crushing point to perform crushing operation, for example: the two-dimensional areas of the image of the area to be crushed are crushed sequentially by moving horizontally and then vertically, or are crushed sequentially by moving vertically and then horizontally.
Further, taking an excavator as an example, the movable arm, the bucket rod and the rotation of the excavator are controlled by adopting an electric control proportional electromagnetic valve, and the action strategy is to crush each crushing point in sequence according to the two-dimensional area of the image in the range to be crushed firstly horizontally and then vertically. At this time, after the coordinates of each crushing point are obtained, the rotations controlled by the coordinates of each crushing point are sequentially operated, and after the coordinates reach the set edge, the arm is contracted by a proper proportion, and the next cycle is continued.
As an embodiment of the present invention, controlling a breaking hammer to sequentially move to a plurality of breaking points to perform a breaking operation within a range to be broken includes:
controlling the breaking hammer to move to a corresponding position in a range to be broken based on the coordinates of the breaking point;
acquiring an image of a range to be crushed after the crushing hammer moves;
correcting the relative position to which the breaking hammer moves based on the image of the range to be broken after the breaking hammer moves;
and controlling the breaking hammer to break the region to be broken at the corrected position.
It can be understood that the capturing of the image of the area to be crushed depends on the shooting equipment such as a camera, a camera and the like, so that the captured image is in an image coordinate system and the breaking hammer is in a world coordinate system, therefore, the coordinates of the image are also required to be calibrated in the world coordinate system, namely, the size and the depth of field in the image field of the image of the area to be crushed after the distortion are corrected, and the coordinates of the breaking point planned on the image can be used for guiding the position of the breaking hammer.
Specifically, based on the coordinates of the crushing point, the crushing hammer is controlled by the controller to move to a corresponding position within the range to be crushed.
More specifically, in order to ensure that the position to which the breaking hammer moves can be more accurately matched with the coordinates of the corresponding breaking point planned on the image in the range to be broken, after each breaking hammer movement, the image of the area to be broken is re-acquired, and then the controller can compare the coordinates of the breaking point with the coordinates of the position to which the breaking hammer moves on the new range to be broken, so that when the deviation occurs, the position of the breaking hammer is adjusted, the accuracy of the moving position of the breaking hammer is ensured, and the automatic breaking effect in the range to be broken is improved.
As an embodiment of the present invention, after controlling the breaking hammer to sequentially act to a plurality of breaking points to perform the breaking operation within the range to be broken, the method further includes:
acquiring an image of the range to be crushed after the crushing operation is completed, and taking the image as a third image;
based on the third image, obtaining the actual crushing area in the range to be crushed, and detecting whether the edge of the range to be crushed is crushed;
and when the difference value between the area contained in the range to be crushed and the actual crushing area is smaller than a preset difference value threshold value and/or the edge is not crushed, an alarm is sent out, and the breaking hammer is controlled to carry out crushing operation again in the range to be crushed or to prompt manual operation of the breaking hammer to carry out crushing operation.
Specifically, the controller analyzes the image of the broken range to be broken, and when detecting that the edge of the broken range is not broken or is completely broken, or the difference between the area contained in the broken range and the actual broken area is smaller than a preset difference threshold, an alarm is sent out, so that an operator is reminded of incomplete breaking, and then the controller can control the breaking hammer to conduct breaking operation again in the broken range, and can also prompt the operator to manually control the breaking hammer to conduct breaking operation on the unbroken area.
More specifically, the area difference may be flexibly set according to actual crushing requirements, for example, setting the actual crushing area to be not less than 85%, 90% of the area of the region to be crushed, etc.
As an embodiment of the present invention, before acquiring the first oil pressure and the drill rod position, the method further includes:
acquiring a breaking mode starting signal;
receiving a feedback signal of the quick-change device, and acquiring oil pressure of an oil inlet of the breaking hammer;
judging whether replacement of the breaking hammer is finished or not based on the feedback signal and the oil pressure of an oil inlet of the breaking hammer;
after the replacement of the breaking hammer is finished, judging whether a complete machine starting signal and a hydraulic system operation signal are received;
After receiving the starting signal of the whole machine and the operation signal of the hydraulic system, judging that the breaking hammer enters a hot standby state;
after the breaking hammer enters a hot standby state, a first oil pressure is obtained.
It will be appreciated that the precondition for the breaking hammer to be able to perform the breaking operation is that the breaking hammer is able to enter a hot standby state, and therefore, it is first ensured that the breaking hammer has entered a hot standby state before the breaking hammer is controlled to perform the breaking operation.
Specifically, after the working machine is electrified and is switched to a breaking mode, the corresponding breaking hammer is required to be replaced through the quick-change device according to the selection of the breaking mode, then after the breaking hammer is replaced, the oil pressure of an oil inlet of the breaking hammer is also changed, the whole machine is started, the hydraulic system is enabled to operate, and the breaking hammer can enter a hot standby state, so that the controller can judge whether the breaking hammer enters the hot standby state or not by acquiring a breaking mode starting signal, a feedback signal of the quick-change device, the oil pressure of the oil inlet of the breaking hammer, a starting signal of the whole machine and an operating signal of the normal operation of the hydraulic system, and acquire the oil pressure of the oil inlet of the bucket rod oil cylinder after the breaking hammer enters the hot standby state, namely, the control logic of automatic control start and stop of the operation breaking hammer.
In summary, the breaking hammer operation control method according to the embodiment of the invention comprises a breaking hammer automatic start-stop control method for a single breaking point and a breaking hammer automatic breaking control method for a region to be broken including a plurality of breaking points.
Specifically, the automatic start-stop control method of the breaking hammer for a single breaking point comprises the following steps as shown in fig. 2:
201. selecting a crushing mode;
202. judging whether crushing conditions are met; if yes, go to step 203; if not, continuously judging whether the crushing condition is met;
203. the breaking hammer enters a hot standby state;
204. judging whether the oil pressure of an oil inlet of the bucket rod oil cylinder is larger than or equal to a preset oil inlet pressure value, wherein the drill rod position is positioned between a preset extending limit position and a preset retracting limit position, and whether the nitrogen pressure value is larger than or equal to a preset first nitrogen pressure value; if yes, go to step 205; if not, returning to step 203;
205. controlling breaking operation of a breaking hammer;
206. determining whether the position of the drill rod reaches a preset extension limit position, judging whether the frequency of continuously determining whether the position of the drill rod reaches the preset extension limit position exceeds the preset frequency, determining whether the change rate of the oil pressure of an oil inlet or an oil outlet of the breaking hammer is smaller than a preset oil pressure change threshold value, and determining whether the nitrogen pressure value is smaller than a preset second nitrogen pressure value; if yes, go to step 207; if not, returning to step 205;
207. And judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
A control method for automatic breaking of a breaking hammer for a region to be broken comprising a plurality of breaking points, comprising the following steps as shown in fig. 3:
301. selecting a crushing mode;
302. judging whether crushing conditions are met; if yes, go to step 303; if not, continuously judging whether the crushing condition is met;
303. the breaking hammer enters a hot standby state;
304. judging whether the oil pressure of an oil inlet of the bucket rod oil cylinder is larger than or equal to a preset oil inlet pressure value, wherein the drill rod position is positioned between a preset extending limit position and a preset retracting limit position, and whether the nitrogen pressure value is larger than or equal to a preset first nitrogen pressure value; if yes, go to step 305; if not, return to step 303;
305. controlling breaking operation of a breaking hammer;
306. determining whether the position of the drill rod reaches a preset extension limit position, judging whether the frequency of continuously determining whether the position of the drill rod reaches the preset extension limit position exceeds the preset frequency, determining whether the change rate of the oil pressure of an oil inlet or an oil outlet of the breaking hammer is smaller than a preset oil pressure change threshold value, and determining whether the nitrogen pressure value is smaller than a preset second nitrogen pressure value; if yes, go to step 307; if not, returning to step 305;
307. Controlling the breaking hammer to move to the next breaking point based on the coordinates of the breaking point on the image of the range to be broken, and returning to step 305;
308. judging whether crushing operation of all crushing points in the range to be crushed is completed or not; if yes, go to step 309; if not, returning to step 305;
309. and judging that the crushing operation in the range to be crushed is completed, and controlling the crushing hammer to stop.
According to the breaking hammer operation control method disclosed by the embodiment of the invention, based on the signal change of the breaking hammer, the automatic breaking work judgment and the automatic breaking in the breaking mode are realized, the repeated actions of an operator are effectively reduced, the operation comfort is greatly improved, and the personal skill requirement of an operator is reduced.
The following describes a breaking hammer operation control system provided by the invention, and the breaking hammer operation control system and the breaking hammer operation control method described below can be correspondingly referred to each other.
The breaking hammer operation control system provided by the invention, as shown in fig. 4, comprises: an acquisition module 410, a first control module 420, and a second control module 430;
the acquisition module 410 is used for acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of the bucket rod oil cylinder;
The first control module 420 is configured to control the breaking hammer to start breaking operation when the first oil pressure is greater than or equal to a preset oil inlet pressure value and the drill rod position is between a preset extension limit position and a preset retraction limit position;
the second control module 430 is configured to determine whether the drill rod position reaches a preset extension limit position during a breaking operation of the breaking hammer, determine that the breaking operation is completed if it is continuously determined that the number of times the drill rod position reaches the preset extension limit position exceeds a preset number of times, and control the breaking hammer to stop.
Specifically, oil pressure of an oil inlet of a bucket rod oil cylinder and a drill rod position are obtained, then when the oil pressure of the oil inlet of the bucket rod oil cylinder is larger than or equal to a preset oil inlet pressure value, the drill rod position is located between a preset extending limit position and a preset retracting limit position, namely after a breaking hammer is in contact with a working surface to be broken, the breaking condition is indicated, the breaking hammer is controlled to start breaking operation, whether the drill rod position reaches the preset extending limit position is determined in the breaking operation process of the breaking hammer, and when the number of times that the drill rod position reaches the preset extending limit position exceeds the preset number of times, the breaking task of a breaking point is judged to be completed, and then the breaking hammer is controlled to stop breaking. The purpose of reliably and effectively judging the starting time and the finishing time of the breaking travel of the breaking hammer based on the self signal change of the breaking hammer is achieved, and accordingly the starting and stopping of the breaking hammer are automatically and reasonably controlled.
The acquisition module is further used for acquiring a nitrogen pressure value of the nitrogen cavity and a second oil pressure and/or a third oil pressure, wherein the second oil pressure is an oil inlet oil pressure of the breaking hammer, and the third oil pressure is an oil outlet oil pressure of the breaking hammer; the first control module is further used for controlling breaking operation of the breaking hammer when the first oil pressure is greater than or equal to a preset oil inlet pressure value, the drill rod position is located between a preset extending limit position and a preset retracting limit position, and the nitrogen pressure value is greater than or equal to a preset first nitrogen pressure value; the second control module is further used for judging that the crushing operation is finished and controlling the breaking hammer to stop when the number of times that the drill rod position reaches the preset extension limit position exceeds the preset number of times, the change rate of the second oil pressure and/or the third oil pressure is smaller than the preset oil pressure change threshold value, and the nitrogen pressure value is smaller than the preset second nitrogen pressure value;
the breaking hammer operation control system further includes:
the first pressure detection module is used for detecting the pressure value of the nitrogen;
the second pressure detection module is used for detecting the second oil pressure and/or the third oil pressure;
and the position detection module is used for detecting the position of the drill rod.
Specifically, the general working machine is configured with pressure sensors at the oil cylinders of the bucket rod, so that oil pressure of an oil inlet of the bucket rod required for controlling the breaking hammer to start breaking operation can be directly obtained, and therefore, a first pressure detection module is also required to be arranged at a nitrogen cavity to detect nitrogen pressure values, a second pressure detection module is also required to be arranged at the oil cylinders of the breaking hammer to detect oil pressure of an oil inlet and/or an oil outlet of the breaking hammer, and a detection module such as a travel switch and a position sensor is arranged on a drill rod to detect the position of the drill rod.
More specifically, the first pressure detection module and the second pressure detection module are preferably pressure sensors.
As an embodiment of the present invention, the breaking hammer operation control system further includes:
the image acquisition module is used for acquiring an image containing a region to be crushed and an image of a range to be crushed; the to-be-crushed range is a closed loop area in the to-be-crushed area; the image containing the area to be crushed is used for determining the range to be crushed; the image of the range to be crushed is used for determining coordinates of a plurality of crushing points in the range to be crushed;
the third control module is used for controlling the breaking hammer to sequentially act on the plurality of breaking points to perform breaking operation within the range to be broken; the touch display module is used for displaying an image containing a region to be crushed or an image of a range to be crushed and selecting a crushing mode.
Specifically, by setting the image acquisition module, an image including an area to be crushed and an image including a range to be crushed can be acquired, and then the range to be crushed can be acquired based on the image including the area to be crushed, and coordinates of a plurality of crushing points in the range to be crushed are determined based on the image including the range to be crushed, so that the third control module can control the crushing hammer to automatically move to complete crushing operation in the whole range to be crushed based on the coordinates of the plurality of crushing points.
More specifically, through the setting of touch display module, can make things convenient for the operator to the selection of crushing mode to and will contain the image of waiting the broken region and demonstrate to the operator, and make things convenient for the operator to select waiting the broken scope on the image that contains the broken region.
Preferably, the third control module is more specifically configured to control the movement of the breaking hammer to a corresponding position within the range to be broken based on the coordinates of the breaking point; correcting the relative position to which the breaking hammer moves based on the image of the area to be broken, which is obtained by the image obtaining module and is obtained after the breaking hammer moves; and controlling the breaking hammer to carry out breaking operation within the range to be broken at the corrected position.
The third control module is further used for obtaining the actual crushing area in the range to be crushed based on the image of the range to be crushed after crushing, which is obtained by the image obtaining module, and detecting whether the edge of the range to be crushed is crushed or not; and when the difference between the area contained in the range to be crushed and the actual crushing area is smaller than a preset difference threshold value and/or the edge is not crushed, an alarm is sent out, and the crushing hammer is controlled to carry out crushing operation again in the range to be crushed or the manual operation of the crushing hammer is prompted to carry out crushing operation.
Preferably, the first control module is further configured to obtain a crushing mode start signal; receiving a feedback signal of the quick-change device, and acquiring oil pressure of an oil inlet of the breaking hammer; judging whether replacement of the breaking hammer is finished or not based on the feedback signal and the oil pressure of the oil inlet; after the replacement of the breaking hammer is finished, judging whether a complete machine starting signal and a hydraulic system operation signal are received; after receiving the starting signal of the whole machine and the operation signal of the hydraulic system, judging that the breaking hammer enters a hot standby state; and acquiring the first oil pressure after the breaking hammer enters the hot standby state.
The invention also provides a working machine, which comprises the breaking hammer working control system.
It will be appreciated that a work machine including any of the above-described breaking hammer work control systems has all of the advantages and technical effects of the breaking hammer work control system and is not described in detail herein.
As a preferable aspect of the present invention, the work machine may be an excavator;
a position sensor for detecting the position of the drill rod is arranged on the breaking hammer of the excavator; a pressure sensor for detecting the pressure value of nitrogen is arranged on a pressure guiding port of the nitrogen cavity of the breaking hammer; the oil inlet pipe and/or the oil outlet pipe of the breaking hammer are/is provided with a pressure sensor for detecting oil pressure; the method comprises the steps that a camera is arranged at the top of a cab of the excavator, and in initialization of the camera, image coordinates of an image obtained by the camera are calibrated on world coordinates of the excavator based on the size and the shape of a bucket rod of the excavator; the control system comprises a camera, a control system and a control system, wherein a touch control display screen for displaying images acquired by the camera and switching working modes of the excavator is arranged in a cab of the excavator.
Specifically, the control structure of the breaking hammer of the excavator is shown in fig. 5 and 6, wherein fig. 5 is a breaking hammer control structure based on a single breaking point, and fig. 6 is a control structure of the breaking hammer for a region to be broken including a plurality of breaking points.
Wherein, for the breaking hammer control structure based on single breaking point as shown in fig. 5, the controller 1 of the excavator is connected with the touch screen 2, the touch screen 2 is provided with a working mode switching button 3, meanwhile, the oil inlet pressure sensor 4 and the oil return pressure sensor 5 are respectively connected with the oil inlet electromagnetic valve 7 and the oil return port electromagnetic valve 8 of the breaking hammer 6, and the controller 1 is respectively connected with the drill rod upper limit position sensor 9, the drill rod lower limit position sensor 10, the nitrogen pressure sensor 11 and the bucket rod extending action pressure sensor 12 for judging and controlling the working state of the breaking hammer 6 of the excavator.
With the control structure of the breaking hammer for the region to be broken including a plurality of breaking points as shown in fig. 6, on the basis of the breaking hammer control structure based on a single breaking point as shown in fig. 5, it is also necessary to make the controller 1 camera 13 and then control the actions of the swing control module 14, the arm and the boom control module 15 based on the image acquired by the camera 13.
Fig. 7 illustrates a physical schematic diagram of an electronic device, as shown in fig. 7, which may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. Processor 710 may invoke logic instructions in memory 730 to perform a breaking hammer job control method comprising: acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of a bucket rod oil cylinder; when the first oil pressure is larger than or equal to a preset oil inlet pressure value, controlling the breaking hammer to start breaking operation when the drill rod position is located between a preset extending limit position and a preset retracting limit position; in the breaking process of the breaking hammer, determining whether the drill rod position reaches a preset extending limit position, if the number of times that the drill rod position reaches the preset extending limit position exceeds the preset number of times, judging that the breaking operation is completed, and controlling the breaking hammer to stop.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of controlling the operation of a breaking hammer provided by the above methods, the method comprising: acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of a bucket rod oil cylinder; when the first oil pressure is larger than or equal to a preset oil inlet pressure value, controlling the breaking hammer to start breaking operation when the drill rod position is located between a preset extending limit position and a preset retracting limit position; in the breaking process of the breaking hammer, determining whether the drill rod position reaches a preset extending limit position, if the number of times that the drill rod position reaches the preset extending limit position exceeds the preset number of times, judging that the breaking operation is completed, and controlling the breaking hammer to stop.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a breaking hammer job control method, the method comprising: acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of a bucket rod oil cylinder; when the first oil pressure is larger than or equal to a preset oil inlet pressure value, controlling the breaking hammer to start breaking operation when the drill rod position is located between a preset extending limit position and a preset retracting limit position; in the breaking process of the breaking hammer, determining whether the drill rod position reaches a preset extending limit position, if the number of times that the drill rod position reaches the preset extending limit position exceeds the preset number of times, judging that the breaking operation is completed, and controlling the breaking hammer to stop.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (13)
1. A breaking hammer operation control method, characterized in that the method comprises:
acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of a bucket rod oil cylinder;
when the first oil pressure is larger than or equal to a preset oil inlet pressure value, and the drill rod position is located between a preset extending limit position and a preset retracting limit position, controlling a breaking hammer to start breaking operation;
and in the breaking process of the breaking hammer, determining whether the drill rod position reaches the preset extending limit position, if the drill rod position reaches the preset extending limit position continuously, judging that the breaking operation is finished, and controlling the breaking hammer to stop acting.
2. The breaking hammer operation control method according to claim 1, characterized by further comprising:
acquiring a nitrogen pressure value of a nitrogen cavity and a second oil pressure and/or a third oil pressure, wherein the second oil pressure is the oil pressure of an oil inlet of the breaking hammer, and the third oil pressure is the oil pressure of an oil outlet of the breaking hammer;
when the first oil pressure is greater than or equal to a preset oil inlet pressure value, the drill rod position is located between a preset extending limit position and a preset retracting limit position, and the nitrogen pressure value is greater than or equal to a preset first nitrogen pressure value, the breaking hammer breaking operation is controlled;
and when the times of continuously determining that the drill rod position reaches the preset extension limit position exceeds the preset times, judging that the crushing operation is finished and controlling the breaking hammer to stop acting, wherein the change rate of the second oil pressure and/or the third oil pressure is smaller than a preset oil pressure change threshold value and the nitrogen pressure value is smaller than a preset second nitrogen pressure value.
3. The breaking hammer operation control method according to claim 1 or 2, characterized by further comprising:
obtaining a range to be crushed, and determining a plurality of crushing points in the range to be crushed;
And controlling the breaking hammer to sequentially act to a plurality of breaking points to perform breaking operation within the range to be broken.
4. A breaking hammer operation control method according to claim 3, wherein the acquiring a range to be broken and determining a plurality of breaking points within the range to be broken include:
acquiring an image containing a region to be crushed as a first image;
determining the range to be crushed from the area to be crushed based on the first image; the to-be-crushed range is a closed loop area in the to-be-crushed area;
acquiring an image of the range to be crushed as a second image;
and marking coordinates of a plurality of breaking points on the second image based on the current position of the breaking hammer and the coverage range of single breaking point breaking.
5. The breaking hammer operation control method according to claim 4, wherein the controlling the breaking hammer to sequentially move to the plurality of breaking points to perform the breaking operation within the range to be broken includes:
controlling the breaking hammer to move to a corresponding position in the range to be broken based on the coordinates of the breaking point;
acquiring an image of the range to be crushed after the breaking hammer moves;
Correcting the corresponding position to which the breaking hammer moves based on the image of the range to be broken after the breaking hammer moves;
and controlling the breaking hammer to break the region to be broken at the corrected position.
6. The method according to claim 5, wherein the controlling the breaking hammer to sequentially move to the plurality of breaking points to perform the breaking work within the range to be broken, further comprises:
acquiring an image of the range to be crushed after the crushing operation is completed, and taking the image as a third image;
based on the third image, obtaining the actual crushing area in the range to be crushed, and detecting whether the edge of the range to be crushed is crushed;
and when the difference value between the area contained in the range to be crushed and the actual crushing area is smaller than a preset difference value threshold value and/or the edge is not crushed, an alarm is sent out, and the breaking hammer is controlled to carry out crushing operation again in the range to be crushed or to prompt manual operation of the breaking hammer to carry out crushing operation.
7. The breaking hammer operation control method according to claim 1, further comprising, before the acquiring the first oil pressure and the drill rod position:
Acquiring a breaking mode starting signal;
receiving a feedback signal of the quick-change device, and acquiring oil pressure of an oil inlet of the breaking hammer;
judging whether replacement of the breaking hammer is finished or not based on the feedback signal and oil pressure of an oil inlet of the breaking hammer;
after the replacement of the breaking hammer is finished, judging whether a complete machine starting signal and a hydraulic system operation signal are received;
after receiving the complete machine starting signal and the hydraulic system operation signal, judging that the breaking hammer enters a hot standby state;
and after the breaking hammer enters a hot standby state, acquiring the first oil pressure.
8. A breaking hammer operation control system, comprising:
the acquisition module is used for acquiring a first oil pressure and a drill rod position, wherein the first oil pressure is the oil pressure of an oil inlet of the bucket rod oil cylinder;
the first control module is used for controlling the breaking hammer to start breaking operation when the first oil pressure is greater than or equal to a preset oil inlet pressure value and the drill rod position is located between a preset extending limit position and a preset retracting limit position;
and the second control module is used for determining whether the drill rod position reaches the preset extending limit position or not in the breaking operation process of the breaking hammer, and judging that the breaking operation is finished and controlling the breaking hammer to stop if the number of times that the drill rod position reaches the preset extending limit position exceeds the preset number of times.
9. The breaking hammer operation control system according to claim 8, wherein,
the acquisition module is further used for acquiring a nitrogen pressure value of the nitrogen cavity and a second oil pressure and/or a third oil pressure, wherein the second oil pressure is the oil inlet oil pressure of the breaking hammer, and the third oil pressure is the oil outlet oil pressure of the breaking hammer;
the first control module is further used for controlling the breaking hammer to break when the first oil pressure is greater than or equal to a preset oil inlet pressure value, the drill rod position is located between a preset extending limit position and a preset retracting limit position, and the nitrogen pressure value is greater than or equal to a preset first nitrogen pressure value;
the second control module is further used for judging that the crushing operation is finished and controlling the breaking hammer to stop when the frequency of continuously determining that the drill rod position reaches the preset extension limit position exceeds the preset frequency, the change rate of the second oil pressure and/or the third oil pressure is smaller than a preset oil pressure change threshold value, and the nitrogen pressure value is smaller than a preset second nitrogen pressure value;
the breaking hammer operation control system further includes:
the first pressure detection module is used for detecting the nitrogen pressure value;
A second pressure detection module for detecting the second oil pressure and/or the third oil pressure;
and the position detection module is used for detecting the position of the drill rod.
10. The breaking hammer operation control system according to claim 8 or 9, further comprising:
the image acquisition module is used for acquiring an image containing a region to be crushed and an image of a range to be crushed; the to-be-crushed range is a closed loop area in the to-be-crushed area; the image containing the area to be crushed is used for determining the range to be crushed; the image of the range to be crushed is used for determining coordinates of a plurality of crushing points in the range to be crushed;
the third control module is used for controlling the breaking hammer to sequentially act to a plurality of breaking points to perform breaking operation in the range to be broken;
and the touch display module is used for displaying the image containing the area to be crushed or the image of the range to be crushed and selecting a crushing mode.
11. A work machine comprising a breaking hammer work control system according to claim 10.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the breaking hammer operation control method according to any one of claims 1 to 7 when executing the program.
13. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the breaking hammer operation control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210869430.1A CN115305985B (en) | 2022-07-22 | 2022-07-22 | Breaking hammer operation control method and system and operation machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210869430.1A CN115305985B (en) | 2022-07-22 | 2022-07-22 | Breaking hammer operation control method and system and operation machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115305985A CN115305985A (en) | 2022-11-08 |
| CN115305985B true CN115305985B (en) | 2023-10-31 |
Family
ID=83856552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210869430.1A Active CN115305985B (en) | 2022-07-22 | 2022-07-22 | Breaking hammer operation control method and system and operation machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115305985B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB930621A (en) * | 1960-10-25 | 1963-07-03 | August Seim | Improvements in or relating to crust breaking apparatus |
| CN102667008A (en) * | 2009-12-21 | 2012-09-12 | 山特维克矿山工程机械有限公司 | Method for determining usage rate of breaking hammer, breaking hammer, and measuring device |
| CN102704461A (en) * | 2012-07-07 | 2012-10-03 | 西安长大公路养护技术有限公司 | Intelligent continuous dynamic compaction machine |
| CN104532896A (en) * | 2014-12-23 | 2015-04-22 | 南京工业职业技术学院 | Rotary hydraulic and pneumatic mixed impact breaking hammer |
| CN204343357U (en) * | 2014-12-23 | 2015-05-20 | 南京工业职业技术学院 | A kind of self-adapting intelligent liquid gas pressure impact grinding hammer |
| CN205707186U (en) * | 2016-03-16 | 2016-11-23 | 中交第三航务工程局有限公司江苏分公司 | A kind of plug in construction barrier that buries crushes workboat |
| WO2017064562A1 (en) * | 2015-10-15 | 2017-04-20 | Simsage Pty Ltd | Apparatus and method for determining the hardness of a granular material |
| CN108978769A (en) * | 2018-07-03 | 2018-12-11 | 柳州柳工挖掘机有限公司 | Excavator operating mode's switch clocking method and system and excavator |
| CN110262384A (en) * | 2019-07-23 | 2019-09-20 | 精英数智科技股份有限公司 | A kind of underground crusher autocontrol method and system based on image recognition |
| CN210013269U (en) * | 2019-05-07 | 2020-02-04 | 徐州徐工挖掘机械有限公司 | Two fender frequency modulation's quartering hammer control system and excavator |
| CN110820829A (en) * | 2019-11-21 | 2020-02-21 | 三一重机有限公司 | Broken confluence control system and excavator |
| CN110847274A (en) * | 2019-11-26 | 2020-02-28 | 上海三一重机股份有限公司 | Excavator crushing control method, excavator controller and excavator |
| CN111094662A (en) * | 2018-01-26 | 2020-05-01 | 株式会社小松制作所 | Working machine and method for controlling working machine |
| CN113325732A (en) * | 2021-06-30 | 2021-08-31 | 三一重机有限公司 | Breaking hammer striking control method and device, working machine and storage medium |
| KR102394454B1 (en) * | 2021-11-09 | 2022-05-04 | 임재선 | Hydraulic Rock Breaker with Improved Structure |
| CN114541504A (en) * | 2022-01-28 | 2022-05-27 | 徐州徐工挖掘机械有限公司 | Excavator breaking hammer protection control system and control method thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100465008B1 (en) * | 2004-03-05 | 2005-01-13 | 강대우 | Crushing method using large boreholes in underwater rock |
| JP4953325B2 (en) * | 2009-03-12 | 2012-06-13 | キャタピラー エス エー アール エル | Work machine |
-
2022
- 2022-07-22 CN CN202210869430.1A patent/CN115305985B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB930621A (en) * | 1960-10-25 | 1963-07-03 | August Seim | Improvements in or relating to crust breaking apparatus |
| CN102667008A (en) * | 2009-12-21 | 2012-09-12 | 山特维克矿山工程机械有限公司 | Method for determining usage rate of breaking hammer, breaking hammer, and measuring device |
| CN102704461A (en) * | 2012-07-07 | 2012-10-03 | 西安长大公路养护技术有限公司 | Intelligent continuous dynamic compaction machine |
| CN104532896A (en) * | 2014-12-23 | 2015-04-22 | 南京工业职业技术学院 | Rotary hydraulic and pneumatic mixed impact breaking hammer |
| CN204343357U (en) * | 2014-12-23 | 2015-05-20 | 南京工业职业技术学院 | A kind of self-adapting intelligent liquid gas pressure impact grinding hammer |
| WO2017064562A1 (en) * | 2015-10-15 | 2017-04-20 | Simsage Pty Ltd | Apparatus and method for determining the hardness of a granular material |
| CN205707186U (en) * | 2016-03-16 | 2016-11-23 | 中交第三航务工程局有限公司江苏分公司 | A kind of plug in construction barrier that buries crushes workboat |
| CN111094662A (en) * | 2018-01-26 | 2020-05-01 | 株式会社小松制作所 | Working machine and method for controlling working machine |
| CN108978769A (en) * | 2018-07-03 | 2018-12-11 | 柳州柳工挖掘机有限公司 | Excavator operating mode's switch clocking method and system and excavator |
| CN210013269U (en) * | 2019-05-07 | 2020-02-04 | 徐州徐工挖掘机械有限公司 | Two fender frequency modulation's quartering hammer control system and excavator |
| CN110262384A (en) * | 2019-07-23 | 2019-09-20 | 精英数智科技股份有限公司 | A kind of underground crusher autocontrol method and system based on image recognition |
| CN110820829A (en) * | 2019-11-21 | 2020-02-21 | 三一重机有限公司 | Broken confluence control system and excavator |
| CN110847274A (en) * | 2019-11-26 | 2020-02-28 | 上海三一重机股份有限公司 | Excavator crushing control method, excavator controller and excavator |
| CN113325732A (en) * | 2021-06-30 | 2021-08-31 | 三一重机有限公司 | Breaking hammer striking control method and device, working machine and storage medium |
| KR102394454B1 (en) * | 2021-11-09 | 2022-05-04 | 임재선 | Hydraulic Rock Breaker with Improved Structure |
| CN114541504A (en) * | 2022-01-28 | 2022-05-27 | 徐州徐工挖掘机械有限公司 | Excavator breaking hammer protection control system and control method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 液压挖掘机自动控制破碎锤模式;甄建军;王洪光;刘微;马彦华;;工程机械(第01期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115305985A (en) | 2022-11-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111148878B (en) | Excavator and management system thereof | |
| JP5264937B2 (en) | Semi-autonomous excavation control system | |
| CN111954737B (en) | Excavator | |
| EP3812517A1 (en) | Excavator and information processing device | |
| CN109132592B (en) | Bucket wheel machine unattended operation control method based on PLC data partition storage | |
| US8437921B2 (en) | Method and apparatus for controlling the depth of cut of a trackhoe bucket | |
| EP3597830A1 (en) | Work machinery | |
| CN110924391A (en) | Automatic piling control method and device and pile driver | |
| CN113325732B (en) | Breaking hammer striking control method, breaking hammer striking control device, working machine and storage medium | |
| CN115305985B (en) | Breaking hammer operation control method and system and operation machine | |
| JP6863951B2 (en) | Wire disconnection predictor | |
| CN113944197A (en) | Land leveling auxiliary system, method and working machine | |
| CN114688004B (en) | Flow distribution method and device and working machine | |
| CN112601864B (en) | Working machine | |
| CN113846715B (en) | Land leveler control method and device and land leveler | |
| CN113167057A (en) | Shovel, control device for shovel | |
| KR20180135788A (en) | Manipulators of working machines | |
| US11959247B2 (en) | Shovel and information processing apparatus | |
| CN110258713A (en) | The acquisition methods of working device of loader location parameter data | |
| JP2011094453A (en) | Working method of construction machine, and construction machine | |
| EP3901382B1 (en) | Work machine target position estimation device | |
| CN105174141B (en) | Door frame mechanism localization method, controller and system | |
| CN104294871B (en) | The control method at perching knife inclination angle and control system | |
| CN115387415A (en) | Pose resetting control method, device and system and working machine | |
| Hayashi et al. | Development of D61EXi/PXi-23 bulldozer with automatic control system of work equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |