CN112255958A - Automatic change excavation transportation system - Google Patents
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- CN112255958A CN112255958A CN202011190763.9A CN202011190763A CN112255958A CN 112255958 A CN112255958 A CN 112255958A CN 202011190763 A CN202011190763 A CN 202011190763A CN 112255958 A CN112255958 A CN 112255958A
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- 238000009412 basement excavation Methods 0.000 title claims abstract description 61
- 230000008859 change Effects 0.000 title description 2
- 238000010276 construction Methods 0.000 claims abstract description 57
- 230000007613 environmental effect Effects 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims description 34
- 238000012937 correction Methods 0.000 claims description 13
- 238000012806 monitoring device Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005065 mining Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 22
- 230000008569 process Effects 0.000 abstract description 21
- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- 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
- E02F9/2054—Fleet management
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- Automation & Control Theory (AREA)
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- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
本发明公开了一种自动化挖掘运输系统，包括：挖掘设备和至少一运输设备；所述挖掘设备的信息采集模块实时采集施工现场的环境信息，并发送至第一控制模块；第一控制模块根据所述环境信息，控制第一执行模块执行移动和挖掘动作。所述挖掘设备的第一匹配模块与任一运输设备的第二匹配模块进行匹配，并进行位置信息的传递，使得与挖掘设备形成匹配关系的运输设备的第二控制模块根据所述挖掘设备的位置信息，控制第二执行模块实时跟随所述挖掘设备行进。本发明能智能化完成隧道施工过程中的挖掘和运输工作，增加了施工作业的自动化程度，减少了施工人员配置，保障了施工人员的安全。
The invention discloses an automatic excavation and transportation system, comprising: excavation equipment and at least one transportation equipment; an information collection module of the excavation equipment collects environmental information of a construction site in real time, and sends it to a first control module; The environmental information controls the first execution module to perform movement and excavation actions. The first matching module of the excavation equipment is matched with the second matching module of any transportation equipment, and the position information is transmitted, so that the second control module of the transportation equipment that forms a matching relationship with the excavation equipment is based on the excavation equipment. The position information is used to control the second execution module to follow the excavation equipment in real time. The invention can intelligently complete the excavation and transportation in the tunnel construction process, increases the automation degree of the construction operation, reduces the configuration of construction personnel, and ensures the safety of the construction personnel.
Description
Technical Field
The invention relates to the technical field of construction safety, in particular to an automatic excavating and transporting system.
Background
With the rapid development of society and the continuous acceleration of urbanization process, the traffic construction field is also rapidly developed. In the construction process of the current subway tunnel, the tunnel at the excavation position usually solidifies the excavation soil body and the slurry together through construction methods such as grouting and the like, the support effect is achieved, then excavation construction is carried out through tools such as a manually-driven excavator, and the excavated soil is transported to a designated place outside the tunnel through a manually-driven transport vehicle and stacked.
However, in the process of implementing the invention, the inventor finds that the prior art has at least the following problems: due to the complex geological conditions of underground engineering, there are many factors which are not stress-resistant and uncertain. If accidents such as collapse, digging of underground rivers, quicksand, toxic gas leakage or explosion and the like occur in the construction of the subway tunnel, the casualties of constructors driving an excavator and a transport vehicle can be caused, and the life safety of the constructors is seriously threatened.
Disclosure of Invention
The embodiment of the invention aims to provide an automatic excavation and transportation system which can intelligently complete excavation and transportation in the tunnel construction process, greatly increase the automation degree of construction operation, reduce the configuration of constructors and ensure the safety of the constructors.
In order to achieve the above object, an embodiment of the present invention provides an automated excavation transportation system, including: excavating equipment and at least one transport equipment; the mining equipment comprises a first control module, an information acquisition module, a first execution module and a first matching module; the transportation equipment comprises a second control module, a second execution module and a second matching module;
the information acquisition module of the excavating equipment is used for acquiring environment information of a construction site and sending the environment information to the first control module; the first control module is used for processing the environment information to generate a first control instruction and sending the first control instruction to the first execution module; the first execution module is used for executing movement and excavation actions according to the first control instruction;
the first matching module of the excavating equipment is used for matching with the second matching module of any one transport equipment so as to enable the transport equipment and the excavating equipment to form a matching relationship; the first matching module of the excavating equipment is also used for sending the position information of the excavating equipment to the transportation equipment which forms the matching relation;
the second control module of the transport equipment with the matching relationship is used for generating a second control instruction according to the position information and sending the second control instruction to the second execution module; and the second execution module is used for following the excavating equipment to travel in real time according to the second control instruction.
As an improvement of the above scheme, the automated excavation transportation system further comprises background monitoring equipment; the first control module of the excavating equipment is also used for sending the received environmental information to the background monitoring equipment;
the background monitoring equipment is used for displaying the environmental information.
As an improvement of the above scheme, the background monitoring device is further configured to send a correction instruction to a first control module of the excavation device when receiving the correction instruction;
the first control module is further used for generating a third control instruction according to the correction instruction and sending the third control instruction to the first execution module; the first execution module is further configured to execute the movement and the excavation according to the third control instruction.
As an improvement of the above scheme, the information acquisition module of the excavating equipment comprises at least one video monitoring unit and at least one sound acquisition unit;
the environment information includes video information and image information recorded by the video monitoring unit, and audio information acquired by the sound acquisition module.
As an improvement of the above scheme, the transportation device further comprises a threshold monitoring module;
for the transportation equipment with the matched relationship, the threshold monitoring module is used for monitoring the loading capacity and the loading weight of the transportation equipment in real time and sending threshold alarm information to the second control module when the loading capacity of the transportation equipment reaches a preset capacity threshold value or the loading weight of the transportation equipment reaches a preset weight threshold value;
the second control module is further configured to generate a fourth control instruction according to the threshold alarm information, and send the fourth control instruction to the second execution module; and the second execution module is also used for moving to a target stacking position according to the fourth control instruction.
As an improvement of the above scheme, the second control module is further configured to generate a unbinding instruction according to the threshold alarm information, and send the unbinding instruction to the second matching module;
the second matching module is also used for sending the unbinding instruction to the first matching module of the excavating equipment so as to enable the excavating equipment to be in unmatched relation with the transportation equipment which forms the matched relation.
As an improvement of the above scheme, the transportation equipment further comprises a discharging module;
the unloading module is used for controlling the transportation equipment to open a valve for unloading when the transportation equipment is detected to be at the target stacking position.
As an improvement of the scheme, the video monitoring unit is a high-definition camera.
As an improvement of the above scheme, the sound collection unit is a microphone.
As an improvement of the above scheme, the first control module of the excavating equipment and the background detection system communicate with each other by using wireless signals; and the first matching module of the excavating equipment and the second matching module of the transporting equipment are communicated with each other by adopting wireless signals.
Compared with the prior art, the automatic excavating and transporting system disclosed by the invention comprises excavating equipment, at least one transporting equipment and background monitoring equipment. The excavating equipment is matched with any one of the transporting equipment to cooperatively complete the excavating and transporting tasks. The excavation equipment automatically acquires video, image and audio information of a construction site, generates a corresponding control instruction to control the execution module to complete excavation work, and meanwhile receives a correction instruction of the background monitoring equipment to correct the working state of the execution module. The matched transportation equipment moves forwards along with the excavating equipment in real time, automatically unbinds from the excavating equipment after judging that the loading capacity or the weight of the transportation equipment reaches a threshold value, and moves to a stacking place for unloading. The automatic excavation and transportation system provided by the embodiment of the invention can automatically complete tunnel construction tasks, does not need constructors to visit the site, ensures the personal safety of the constructors, reduces the construction potential safety hazard of the construction site, simultaneously reduces the waste of human resources by an automatic working process, and greatly improves the working efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an automated excavation transportation system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a preferred automated excavation transportation system according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an information acquisition module in a third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an automated excavation transportation system according to an embodiment of the present invention. The embodiment of the invention provides an automatic excavating and transporting system, which comprises: an excavating apparatus 10 and at least one transport apparatus 20; the excavating equipment 10 comprises a first control module 11, an information acquisition module 12, a first execution module 13 and a first matching module 14; the transport apparatus 20 comprises a second control module 21, a second execution module 22 and a second matching module 23.
The information acquisition module 12 of the excavating equipment 10 is configured to acquire environment information of a construction site and send the environment information to the first control module 11; the first control module 11 is configured to process the environment information to generate a first control instruction, and send the first control instruction to the first execution module 13; the first execution module 13 is configured to execute the movement and excavation actions according to the first control instruction;
the first matching module 14 of the excavating equipment 10 is used for matching with the second matching module 23 of any one transport equipment 20 so as to enable the transport equipment 20 and the excavating equipment 10 to form a matching relationship; the first matching module 14 of the excavating equipment 10 is also used for sending the position information of the excavating equipment 10 to the transportation equipment 20 which forms the matching relation;
the second control module 21 of the transportation device 20 with the matching relationship is configured to generate a second control instruction according to the position information, and send the second control instruction to the second execution module 22; the second executing module 22 is configured to follow the excavating equipment 10 to travel in real time according to the second control instruction.
Specifically, in the automated excavating and transporting system, the excavating equipment 10 is provided with a plurality of transporting equipment 20, the excavating equipment 10 can be an excavator, an excavating robot and the like, and the transporting equipment can be a transporting vehicle and the like. In the tunnel construction process, the excavating equipment 10 is responsible for the excavation work ahead and puts the excavated earth ore into the transporting equipment 20 matched with the excavating equipment, and the transporting equipment 20 is responsible for loading and transporting the earth ore excavated by the excavating equipment 10.
In the excavating equipment 10, a first control module 11, an information acquisition module 12, a first execution module 13 and a first matching module 14 are provided. The output end of the information acquisition module 12 is connected with the input end of the first control module 11, so that the information acquisition module 11 can send the acquired environmental information to the first control module 11; the input end of the first execution module 13 is connected with the output end of the first control module 11, so that the first control module 11 sends a first control instruction generated after processing and analyzing according to the environment information to the first execution module 13, and the first execution module 13 is controlled to execute corresponding actions, and excavation and moving work in the tunnel construction process is realized.
In each of the transport apparatuses 20, a second control module 21, a second execution module 22, and a second matching module 23 are provided. The output end of the second control module 21 is connected with the input end of the second execution module 22, so that the second control module 21 sends the generated second control instruction to the second execution module 23, and the second execution module 23 is controlled to execute corresponding actions, thereby realizing loading and transportation work in the tunnel construction process.
In order to complete the excavation and transportation work in the tunnel construction process in a matched and orderly manner, the excavation equipment 10 is further provided with a first matching module 14, the transportation equipment 20 is further provided with a second matching module 23, and the first matching module 14 of the excavation equipment 10 and the second matching module 23 of any transportation equipment 20 adopt wireless signals to carry out mutual communication, so that the excavation equipment 10 can realize the matching relationship with any transportation equipment 20.
It should be noted that the excavating equipment 10 is matched with only one transport equipment 20 at the same time, and other transport equipment 20 which are not matched are in a standby state. During the tunnel construction, the excavating equipment 10 works in cooperation with the transportation equipment 20 forming a matching relationship, the first matching module 14 of the excavating equipment 10 sends the position information of the excavating equipment 10 to the second matching module of the matched transportation equipment 20 in real time, so that the matched transportation equipment 20 can move forward following the excavating equipment 10 according to the position information, and the excavating equipment 10 puts excavated earth ore into the transportation equipment 20 forming a matching relationship with the excavating equipment 10, thereby cooperatively completing the excavating, loading and transporting engineering during the tunnel construction.
The embodiment of the invention provides an automatic excavating and transporting system, wherein excavating equipment 10 and any transporting equipment 11 form a matching relation to realize cooperative work. The excavating equipment 10 can automatically collect environmental information of a construction site and perform analysis processing to execute corresponding excavating engineering, and the transportation equipment 20 can receive position information sent by the excavating equipment 10 and automatically move forward along with the excavating equipment to load earth ores excavated by the excavating equipment. The automatic excavating and transporting system can be automatically completed in the whole tunnel construction process, construction personnel do not need to visit the site, personal safety of the construction personnel is guaranteed, construction potential safety hazards of the construction site are reduced, meanwhile, the automatic working process also reduces human resource waste, and the working efficiency is greatly improved.
Fig. 2 is a schematic structural diagram of a preferred automated excavation transportation system according to a second embodiment of the present invention. The second embodiment of the present invention is implemented on the basis of the first embodiment. The automated excavation transportation system further comprises a background monitoring device 30. The first control module 11 of the excavation device 10 is further configured to send the received environmental information to the background monitoring device 30; the background monitoring device 30 is configured to display the environmental information. And the first control module of the excavating equipment and the background detection system are communicated with each other by adopting a wireless signal.
In the embodiment of the present invention, the background monitoring device 30 includes a display module, and the background monitoring device 30 is configured to receive and display the environmental information of the construction site, so as to facilitate the workers to monitor the construction process and the construction condition of the construction site at any time, so that when a construction problem occurs in the construction site, such as a machine failure, a device construction track does not conform to a predetermined direction, and the like, the workers can find and solve the problem in time.
In a preferred embodiment, the background monitoring device 30 is further configured to receive a correction instruction, and send the correction instruction to the first control module 11 of the excavation device 10 when receiving the correction instruction. The first control module 11 is further configured to generate a third control instruction according to the correction instruction, and send the third control instruction to the first execution module 13; the first executing module 13 is further configured to execute the moving and digging actions according to the third control instruction.
In this embodiment of the present invention, the background monitoring device 30 further includes an input module, configured to receive a modification instruction. For example, when a worker finds that a construction problem occurs in a construction site through the background monitoring device, a correction instruction may be input through the input module of the background monitoring device 30. The background monitoring device 30 sends the correction instruction to the excavating device 10, so that the excavating device 10 corrects the current construction track and the construction state according to the correction instruction.
By adopting the technical means of the embodiment of the invention, in the process of automatically completing the construction work of the automatic excavation and transportation system, a worker can realize the inspection of a construction site and the control of the working state and the working track of the automatic excavation and transportation system through the background monitoring equipment 30. The automatic excavating and transporting system can be remotely monitored by constructors without visiting the site, so that the personal safety of the constructors is effectively guaranteed; meanwhile, in the automatic working process of the automatic excavation and transportation system, manual regulation and control are added, and the normal propulsion of the tunnel construction process can be further ensured.
As a preferred embodiment, referring to fig. 2, the transport apparatus 20 further comprises a threshold monitoring module 24. For the transportation devices 20 with the matching relationship, the threshold monitoring module 24 is configured to monitor the loading capacity and the loading weight of the transportation device 20 in real time, and send threshold alarm information to the second control module 21 when the loading capacity of the transportation device 20 reaches a preset capacity threshold or the loading weight of the transportation device 20 reaches a preset weight threshold.
The second control module 21 is further configured to generate a fourth control instruction according to the threshold alarm information, and send the fourth control instruction to the second execution module 22; the second executing module 22 is further configured to move to a target stacking position according to the fourth control instruction.
As a preferred embodiment, the second control module 21 is further configured to generate a unbinding instruction according to the threshold alarm information, and send the unbinding instruction to the second matching module 23; the second matching module 23 is further configured to send the unbinding instruction to the first matching module 14 of the excavating equipment, so that the excavating equipment 10 is unmatched with the transportation equipment 20 which has formed a matching relationship.
As a preferred embodiment, the transport device further comprises a discharge module 25,. The unloading module 25 is configured to control the transportation device 20 to open a valve for unloading when the transportation device 20 is detected to be in the target stacking position.
In the embodiment of the present invention, the transportation device 20 is provided with a threshold monitoring module 24, and an output end of the threshold monitoring module 24 is connected with an input end of the second control module 21. The method comprises the steps of presetting a capacity threshold value and a weight threshold value, and storing the capacity threshold value and the weight threshold value in the threshold value monitoring module. In the tunnel construction process, after any one of the transportation devices 20 forms a matching relationship with the excavation device 10, the threshold monitoring module 24 of the matched transportation device 20 monitors the loading capacity and the loading weight of the transportation device 20 in real time, and sends out threshold alarm information when the loading capacity of the transportation device 20 reaches a preset capacity threshold value or the loading weight reaches a preset weight threshold value.
It is understood that the capacity threshold and the weight threshold are preset values, and may be determined according to the actual loading capacity of the transportation device 20, and are not limited thereto.
After receiving the threshold alarm information, the second control module 21 of the transportation device 20 generates a fourth control instruction and a unbinding instruction, sends the fourth control instruction to the second execution module 22, and sends the unbinding instruction to the second matching module 23. The fourth control instruction is used for controlling the second execution module to move to the target stacking position; the unbinding instruction is used for controlling the second matching module 23 to interact with the first matching module 14 of the excavating equipment 10, so that the unbinding between the excavating equipment and the matched transporting equipment is realized.
By adopting the technical means of the embodiment of the invention, in the tunnel construction process, when the matched transportation equipment 20 detects that the loading capacity or the loading weight of the matched transportation equipment reaches the upper limit, the matched transportation equipment is automatically separated from the excavating equipment 10, and the matched transportation equipment is moved to the target stacking position to carry out the unloading task of the loaded soil, ore and the like. When the excavating equipment 10 is in an unmatched state, the excavating equipment can be matched with other standby transportation equipment 20, so that excavating and transportation tasks in the construction process are continuously completed, the orderly proceeding of tunnel construction tasks is effectively guaranteed, and the construction efficiency is greatly improved.
Fig. 3 is a schematic structural diagram of an information acquisition module in a third embodiment of the present invention. The third embodiment of the present invention is implemented on the basis of the first or second embodiment. The information collecting module 12 of the excavating equipment 10 comprises at least one video monitoring unit 121 and at least one sound collecting unit 122.
The environmental information collected by the information collection module 12 includes: the video monitoring unit 121 captures video information and image information, and the sound acquisition module 122 acquires audio information.
Preferably, the video monitoring unit is a high-definition camera; the sound collection unit is a microphone.
In the embodiment of the present invention, a plurality of high definition cameras are arranged on the excavating equipment 10, and are used for shooting environmental information of a construction site in an all-around manner, and transmitting video information and image information obtained by shooting to the background monitoring equipment 30, at the same time, at least one microphone is arranged on the excavating equipment 10, and is used for acquiring sound of the construction site, and transmitting acquired audio information to the background monitoring equipment 30, and the background monitoring equipment 30 displays and plays the received video information, image information and audio information.
It should be noted that the number and the installation positions of the high-definition cameras and the microphones provided on the excavating equipment 10 may be determined according to actual situations, and are not particularly limited herein. For example, four high-definition cameras can be arranged and respectively installed at the front, rear, left and right positions of the excavating equipment; or positions at the front left, front right, rear left, and rear right of the excavating equipment, and the like. And a microphone is provided and installed right in front of the excavating equipment, etc. The beneficial effects obtained by the invention are not affected.
The embodiment of the invention provides an automatic excavating and transporting system which comprises excavating equipment, at least one transporting device and background monitoring equipment. The excavating equipment is matched with any one of the transporting equipment to cooperatively complete the excavating and transporting tasks. The excavation equipment automatically acquires video, image and audio information of a construction site, generates a corresponding control instruction to control the execution module to complete excavation work, and meanwhile receives a correction instruction of the background monitoring equipment to correct the working state of the execution module. The matched transportation equipment moves forwards along with the excavating equipment in real time, automatically unbinds from the excavating equipment after judging that the loading capacity or the weight of the transportation equipment reaches a threshold value, and moves to a stacking place for unloading. The automatic excavation and transportation system provided by the embodiment of the invention can automatically complete tunnel construction tasks, does not need constructors to visit the site, ensures the personal safety of the constructors, reduces the construction potential safety hazard of the construction site, simultaneously reduces the waste of human resources by an automatic working process, and greatly improves the working efficiency.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An automated excavation transport system, comprising: excavating equipment and at least one transport equipment; the mining equipment comprises a first control module, an information acquisition module, a first execution module and a first matching module; the transportation equipment comprises a second control module, a second execution module and a second matching module;
the information acquisition module of the excavating equipment is used for acquiring environment information of a construction site and sending the environment information to the first control module; the first control module is used for processing the environment information to generate a first control instruction and sending the first control instruction to the first execution module; the first execution module is used for executing movement and excavation actions according to the first control instruction;
the first matching module of the excavating equipment is used for matching with the second matching module of any one transport equipment so as to enable the transport equipment and the excavating equipment to form a matching relationship; the first matching module of the excavating equipment is also used for sending the position information of the excavating equipment to the transportation equipment which forms the matching relation;
the second control module of the transport equipment with the matching relationship is used for generating a second control instruction according to the position information and sending the second control instruction to the second execution module; and the second execution module is used for following the excavating equipment to travel in real time according to the second control instruction.
2. The automated excavation transport system of claim 1, wherein the automated excavation transport system further comprises a back-office monitoring device; the first control module of the excavating equipment is also used for sending the received environmental information to the background monitoring equipment;
the background monitoring equipment is used for displaying the environmental information.
3. The automated excavation transport system of claim 2, wherein the background monitoring device is further configured to, upon receiving a corrective instruction, send the corrective instruction to the first control module of the excavation device;
the first control module is further used for generating a third control instruction according to the correction instruction and sending the third control instruction to the first execution module; the first execution module is further configured to execute the movement and the excavation according to the third control instruction.
4. The automated excavation transport system of claim 1, wherein the information collection module of the excavation equipment comprises at least one video monitoring unit and at least one sound collection unit;
the environment information includes video information and image information recorded by the video monitoring unit, and audio information acquired by the sound acquisition module.
5. The automated excavation transport system of claim 1, wherein the transport apparatus further comprises a threshold monitoring module;
for the transportation equipment with the matched relationship, the threshold monitoring module is used for monitoring the loading capacity and the loading weight of the transportation equipment in real time and sending threshold alarm information to the second control module when the loading capacity of the transportation equipment reaches a preset capacity threshold value or the loading weight of the transportation equipment reaches a preset weight threshold value;
the second control module is further configured to generate a fourth control instruction according to the threshold alarm information, and send the fourth control instruction to the second execution module; and the second execution module is also used for moving to a target stacking position according to the fourth control instruction.
6. The automated excavation transport system of claim 5, wherein the second control module is further configured to generate unbinding instructions based on the threshold alert information and send the unbinding instructions to the second matching module;
the second matching module is also used for sending the unbinding instruction to the first matching module of the excavating equipment so as to enable the excavating equipment to be in unmatched relation with the transportation equipment which forms the matched relation.
7. The automated excavation transport system of claim 5, wherein the transport apparatus further comprises a dump module;
the unloading module is used for controlling the transportation equipment to open a valve for unloading when the transportation equipment is detected to be at the target stacking position.
8. The automated excavation transport system of claim 4, wherein the video monitoring unit is a high-definition camera.
9. The automated excavation transport system of claim 4, wherein the sound collection unit is a microphone.
10. The automated excavation transport system of claim 1, wherein the first control module of the excavation equipment and the background detection system communicate with each other using wireless signals;
and the first matching module of the excavating equipment and the second matching module of the transporting equipment are communicated with each other by adopting wireless signals.
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