CN113482074B - Intelligent shallow-buried underground excavation hydraulic driving method, device, medium and equipment - Google Patents

Abstract

The application discloses a hydraulic driving method and device for intelligent shallow-buried underground excavation, a computer readable storage medium and intelligent shallow-buried underground excavation equipment, wherein the excavation position of a bucket is obtained; driving a large arm hydraulic oil cylinder to drive a large arm to do pitching motion to a first state position according to the excavation position; according to the excavation position, driving a small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position; driving a hydraulic oil cylinder of the telescopic arm to drive the telescopic arm to do stretching motion so as to push the bucket to cut into an excavation position; the hydraulic bucket cylinder is driven to drive the bucket to rotate downwards around a hinge point of the bucket and the telescopic arm, and the hydraulic telescopic arm cylinder is synchronously driven to drive the telescopic arm to perform contraction action so as to realize excavation operation; the hydraulic drive large torque is used for adapting to various construction environments, automatic positioning of the bucket is achieved by automatically controlling each hydraulic drive component, and meanwhile, the difficulty of excavation operation is reduced by using the combined action of the bucket and the telescopic arm.

Description

A hydraulic drive method, device, medium and equipment for intelligent shallow burial

technical field

The present application relates to the technical field of tunnel construction, and in particular to a hydraulic driving method, device, computer-readable storage medium and intelligent shallow burial excavation equipment.

Background technique

Shallow burial is a method of underground excavation of various types of underground caverns near the surface. In the soft surrounding rock strata in cities and towns, the construction of underground works under shallow burial conditions is based on the premise of transforming geological conditions, focusing on controlling surface subsidence, and using grids (or other steel structures) and shotcrete as initial support methods.

Shallow burial and underground excavation method has better construction effect for underground engineering (such as subway, underground highway, etc.) However, due to the large land area of my country and the different construction environments in different places, some ground construction is difficult, for example, there are situations where the sand and pebble formations cannot be drilled through.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the present application is made. Embodiments of the present application provide a hydraulic driving method, device, computer-readable storage medium, and intelligent shallow digging equipment for intelligent shallow burrowing, which solves the problem that the above-mentioned shallow burial method is difficult to construct.

According to one aspect of the present application, there is provided a hydraulic driving method for intelligent shallow digging, which is applied to shallow digging equipment, wherein the shallow burying equipment includes: a large arm, a small arm, A telescopic arm, a bucket, and a boom hydraulic oil cylinder, a small arm hydraulic oil cylinder, a telescopic arm hydraulic oil cylinder, and a bucket hydraulic oil cylinder respectively arranged under the boom, the small arm, the telescopic arm, and the bucket , the boom hydraulic cylinder, the forearm hydraulic cylinder, the telescopic boom hydraulic cylinder and the bucket hydraulic cylinder drive the boom, the forearm, the telescopic arm and the bucket respectively; The hydraulic driving method for intelligent shallow burrowing includes: acquiring the excavation position of the bucket; according to the excavation position, driving the boom hydraulic cylinder to drive the boom to perform a pitching action to a first state position; according to the excavation position, drive the small arm hydraulic cylinder to drive the small arm to swing around the hinge point between the small arm and the big arm to the second state position; drive the telescopic arm hydraulic pressure an oil cylinder drives the telescopic arm to do a stretching action to push the bucket to cut into the excavation position; and drives the bucket hydraulic oil cylinder to drive the bucket to hinge around the bucket and the telescopic arm The point is rotated downward, and the hydraulic cylinder of the telescopic arm is driven synchronously to drive the telescopic arm to perform a retracting action, so as to realize the excavation operation; wherein, the large arm is located in the first state position and the small arm is located in the In the second state position, the bucket is at the same height as the excavation position.

In one embodiment, after driving the boom hydraulic cylinder to drive the boom to perform a pitching motion to a first state position, the hydraulic driving method further includes: locking the boom hydraulic cylinder to maintain The boom is in the first state position.

In one embodiment, locking the boom hydraulic cylinder to maintain the boom in the first state position includes: calculating a boom digging resistance transmitted to the boom during a digging operation; and according to The excavation resistance of the boom adjusts the driving force of the boom hydraulic cylinder.

In one embodiment, after the forearm hydraulic cylinder is driven to drive the forearm to swing around the hinge point between the forearm and the large arm to a second state position, the hydraulic driving method It also includes: locking the small arm hydraulic cylinder to maintain the small arm in the second state position.

In one embodiment, the locking of the forearm hydraulic cylinder to maintain the forearm in the second state position includes: calculating a forearm digging resistance transmitted to the forearm during a digging operation; and according to The digging resistance of the forearm adjusts the driving force of the hydraulic cylinder of the forearm.

In an embodiment, the boom hydraulic cylinder is communicated with the forearm hydraulic cylinder; wherein, before the boom hydraulic cylinder is driven to drive the boom to perform a pitching action to a first state position, the The hydraulic driving method further includes: closing the communication valve between the hydraulic cylinder of the boom and the hydraulic cylinder of the forearm; driving the hydraulic cylinder of the forearm to drive the forearm around the forearm and the After the hinge point of the boom moves to the second state position, the hydraulic driving method further includes: opening the communication valve.

In one embodiment, the acquiring the excavation position of the bucket includes: acquiring position information to be excavated; wherein the position information to be excavated includes boundary information of an area to be excavated; and according to the boundary information of the area to be excavated and the excavation state of the excavation area to determine the excavation position of the bucket.

According to another aspect of the present application, there is provided a hydraulic drive device for intelligent shallow burial excavation, wherein the shallow burial excavation equipment includes: a boom, a small boom, a telescopic boom, a bucket, and a The boom hydraulic cylinder, forearm hydraulic cylinder, telescopic boom hydraulic cylinder, bucket hydraulic cylinder arranged under the boom, the forearm, the telescopic boom, the bucket, the boom hydraulic cylinder, The arm hydraulic cylinder, the telescopic arm hydraulic cylinder and the bucket hydraulic cylinder drive the boom, the arm, the telescopic arm and the bucket respectively; The hydraulic drive device includes: a position acquisition module for acquiring the excavation position of the bucket; a boom drive module for driving the boom hydraulic cylinder to drive the boom to pitch according to the excavation position move to the first state position; the forearm drive module is used to drive the forearm hydraulic cylinder according to the excavation position to drive the forearm to swing around the hinge point between the forearm and the big arm to the second state position; a telescopic arm drive module, used for driving the telescopic arm hydraulic cylinder to drive the telescopic arm to do a stretching action, so as to push the bucket to cut into the excavation position; and an excavation execution module, used for Drive the bucket hydraulic oil cylinder to drive the bucket to rotate downward around the hinge point between the bucket and the telescopic arm, and synchronously drive the telescopic arm hydraulic oil cylinder to drive the telescopic arm to perform a retracting action, so as to The excavation operation is realized; wherein, when the boom is in the first state position and the small arm is in the second state position, the bucket is at the same height as the excavation position.

According to another aspect of the present application, a computer-readable storage medium is provided, and the storage medium stores a computer program, and the computer program is used to execute any one of the above-mentioned hydraulic driving methods for intelligent shallow burrowing.

According to another aspect of the present application, an intelligent shallow burial excavation equipment is provided, the intelligent shallow burial excavation equipment includes: a processor; a memory for storing executable instructions of the processor; the processor , which is used to execute any of the above-mentioned hydraulic driving methods for intelligent shallow burial.

The hydraulic driving method, device, computer-readable storage medium and intelligent shallow burial excavation provided by the present application, by acquiring the excavation position of the bucket; according to the excavation position, drive the hydraulic cylinder of the boom To drive the boom to do the pitching action to the first state position; according to the excavation position, drive the forearm hydraulic cylinder to drive the forearm to swing around the hinge point between the forearm and the boom to the second state position; drive the telescopic arm hydraulic cylinder To drive the telescopic arm to stretch to push the bucket to cut into the excavation position; and to drive the bucket hydraulic cylinder to drive the bucket to rotate downward around the hinge point between the bucket and the telescopic arm, and synchronously drive the telescopic arm hydraulic cylinder to drive the telescopic arm. The arm is retracted to realize the excavation operation; the large torque of the hydraulic drive is used to adapt to various construction environments, and the automatic positioning of the bucket is realized by automatically controlling each hydraulic drive part, and the compound of the bucket and the telescopic arm is used at the same time. action to reduce the difficulty of mining operations.

Description of drawings

The above and other objects, features and advantages of the present application will become more apparent from the detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application, constitute a part of the specification, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation to the present application. In the drawings, the same reference numbers generally refer to the same components or steps.

FIG. 1 is a schematic structural diagram of an intelligent shallow burial excavation device provided by an exemplary embodiment of the present application.

Fig. 2 is a schematic flowchart of a hydraulic driving method for intelligent shallow burial provided by an exemplary embodiment of the present application.

Fig. 3 is a schematic flowchart of a hydraulic driving method for intelligent shallow burial provided by another exemplary embodiment of the present application.

Fig. 4 is a schematic flowchart of a hydraulic driving method for intelligent shallow burial provided by another exemplary embodiment of the present application.

Fig. 5 is a schematic flowchart of a hydraulic driving method for intelligent shallow burial provided by another exemplary embodiment of the present application.

Fig. 6 is a schematic structural diagram of a hydraulic drive device for intelligent shallow burial provided by an exemplary embodiment of the present application.

Fig. 7 is a schematic structural diagram of a hydraulic drive device for intelligent shallow burial provided by another exemplary embodiment of the present application.

FIG. 8 is a structural diagram of an electronic device provided by an exemplary embodiment of the present application.

Detailed ways

Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.

FIG. 1 is a schematic structural diagram of an intelligent shallow burial excavation device provided by an exemplary embodiment of the present application. As shown in FIG. 1 , the shallow buried excavation equipment includes: a boom 1, a forearm 2, a telescopic boom 3, a bucket 4, and a boom 1, a forearm 2, a telescopic boom 3, and a shovel, which are connected in sequence. Boom hydraulic cylinder 5, forearm hydraulic cylinder 6, telescopic boom hydraulic cylinder 7, bucket hydraulic cylinder 8, boom hydraulic cylinder 5, forearm hydraulic cylinder 6, telescopic boom hydraulic cylinder 7, bucket hydraulic cylinder 8. Drive the boom 1, the forearm 2, the telescopic boom 3, and the bucket 4 respectively. The boom 1, the forearm 2 and the telescopic arm 3 are used to adjust the spatial position of the bucket 4 to move the bucket 4 to the excavation position, so as to realize the excavation operation; and the boom hydraulic cylinder 5 and the forearm hydraulic cylinder are used 6. The telescopic arm hydraulic cylinder 7 and the bucket hydraulic cylinder 8 respectively realize the position adjustment of the bucket 4 and the excavation operation, and use the large hydraulic driving force to adapt to the excavation scenes with various driving force requirements.

Fig. 2 is a schematic flowchart of a hydraulic driving method for intelligent shallow burial provided by an exemplary embodiment of the present application. The hydraulic driving method of the intelligent shallow burial is applied to the control device of the above-mentioned shallow burial equipment. As shown in FIG. 2 , the hydraulic driving method of the intelligent shallow burial includes:

Step 210: Obtain the excavation position of the bucket.

In one embodiment, the specific implementation manner of step 210 may be: acquiring location information to be excavated, wherein the location information to be excavated includes boundary information of the area to be excavated, and determining the location according to the boundary information of the area to be excavated and the excavation state of the excavation area. The excavation position of the bucket. After the boundary information of the to-be-excavated sampling is determined, the excavation position is determined according to the boundary information and the excavation state of the to-be-excavated area. For example, the upper area of the to-be-excavated area has been excavated, and at this time, the lower area of the to-be-excavated area is used as the excavation location.

Because the tunnel excavation construction length is usually long, and the construction location information such as the length, direction and boundary coordinates of the construction area are preset, and in order to adapt to the urban environment, many tunnels are not set along a straight line. For accurate construction, the construction location information of the construction area (that is, the location information of the area to be excavated) needs to be obtained before construction. According to the preset construction location information, accurate construction can be achieved and construction accuracy can be improved. In the embodiment of the present application, the leading ducts can be set along the boundary of the construction area (ie, the excavation contour line) within a range of 120 degrees, that is, the arc formed by all the leading ducts arranged on the boundary of the construction area is 120 degrees. The length of the lead duct in the embodiment of the present application can be the height of the step in the step method plus 2 meters, the diameter of the lead duct can be 38-50 mm, and the front section of the lead duct can be made into a conical shape with a length of about 10 cm. End welded steel hoops with a diameter of 6-8 mm. In one embodiment, the included angle between the drilling direction and the vertical direction of the outer wall surface of the construction area may range from 10° to 15°. In order to adapt to the overall extension direction of the tunnel, the drilling direction can be adjusted appropriately. However, if the drilling direction is too deviated, it will increase the difficulty of driving the advanced catheter and the direction control of the advanced catheter. Therefore, controlling the drilling direction can satisfy the tunnel extension. While meeting the requirements of the direction, the construction difficulty is reduced. In a further embodiment, when the bending angle of the current section of the construction area is greater than 15°, the length of the leading duct can be shortened to reduce the angle between the drilling direction and the vertical direction of the outer wall of the construction area to avoid Construction difficulty increases. Specifically, after the drilling position and drilling direction are determined, the spatial position of the drilling rig can be adjusted so that the drill bit of the drilling rig corresponds to the drilling position and the travel direction of the drill bit is consistent with the drilling direction, so as to ensure the accurate drilling of the advanced conduit. enter. The specific implementation method may be to use the structure such as the turntable between the drilling rig and the body to realize the adjustment of the horizontal position of the drilling rig arm, realize the adjustment of the height position of the drilling rig through the luffing mechanism at the drilling rig arm, etc., and pass the gap between the drilling rig arm and the drill bit. The rotating mechanism realizes the adjustment of the inclination angle of the drill bit, so as to meet the needs of drilling in various positions and directions.

Step 220 : according to the excavation position, drive the hydraulic cylinder of the boom to drive the boom to perform a pitching action to the first state position.

After the excavation position is determined, according to the spatial coordinate information of the excavation position (that is, the position information of the excavation point), the boom hydraulic cylinder 5 is driven to drive the boom 1 to perform a pitching action to the first state position, that is, according to the target The position (excavation position) drives the boom 1 to perform a pitching motion to transport the bucket 4 to the excavation position.

Step 230 : according to the excavation position, drive the forearm hydraulic cylinder to drive the forearm to swing around the hinge point between the forearm and the boom to the second state position.

After the excavation position is determined, according to the spatial coordinate information of the excavation position (that is, the position information of the excavation point), the forearm hydraulic cylinder 6 is driven to drive the forearm 2 to move around the hinge point between the forearm 2 and the boom 1. The swinging action reaches the second state position, that is, the forearm 2 is driven to perform a swinging action according to the target position (excavation position) to transport the bucket 4 to the excavation position. Among them, when the boom 1 is in the first state position and the forearm 2 is in the second state position, the bucket 4 is at the same height as the excavation position, and the action of the boom 1 and the forearm 2 is used to transport the bucket 4 to the same height as the excavation position. Dig at the same height as the location.

Step 240: Drive the hydraulic cylinder of the telescopic arm to drive the telescopic arm to perform a stretching action, so as to push the bucket to cut into the excavation position.

After the bucket 4 reaches the position at the same height as the excavation position, the telescopic arm 3 is driven by the telescopic arm hydraulic cylinder 7 to perform a stretching action to push the bucket 4 to the excavation position, so that the bucket 4 can perform the excavation operation. previous positioning work.

Step 250 : Drive the bucket hydraulic cylinder to drive the bucket to rotate downward around the hinge point between the bucket and the telescopic arm, and synchronously drive the telescopic arm hydraulic cylinder to drive the telescopic arm to retract to realize the excavation operation.

When the bucket 4 reaches the target position (that is, the excavation position), the bucket hydraulic cylinder 8 is driven to drive the bucket 4 to rotate downward around the hinge point of the bucket 4 and the telescopic arm 3 to realize the excavation operation and synchronize The telescopic arm hydraulic cylinder 7 is driven to drive the telescopic arm 3 to perform a retracting action, so that the bucket 4 can be withdrawn from the soil layer, thereby assisting the excavation operation.

A hydraulic driving method for intelligent shallow burial and underground excavation provided by the present application is obtained by obtaining the excavation position of the bucket; according to the excavation position, the boom hydraulic cylinder is driven to drive the boom to perform a pitching action to a first state position; according to the excavation position In the digging position, drive the hydraulic cylinder of the forearm to drive the forearm to swing around the hinge point of the forearm and the boom to the second state position; drive the hydraulic cylinder of the telescopic arm to drive the telescopic arm to stretch to push the bucket to cut into the excavation position; and drive the bucket hydraulic cylinder to drive the bucket to rotate downward around the hinge point of the bucket and the telescopic arm, and synchronously drive the telescopic arm hydraulic cylinder to drive the telescopic arm to retract to realize the excavation operation; use the hydraulically driven large The torque can be adapted to various construction environments, and the automatic positioning of the bucket can be realized by automatically controlling each hydraulic drive component, and the compound action of the bucket and the telescopic arm can be used to reduce the difficulty of excavation operations.

Fig. 3 is a schematic flowchart of a hydraulic driving method for intelligent shallow burial provided by another exemplary embodiment of the present application. As shown in FIG. 3, after step 220, the above-mentioned hydraulic driving method may further include:

Step 260: Lock the boom hydraulic cylinder to maintain the boom in the first state position.

After the boom 1 reaches the first state position (the corresponding position of the boom 1 when the bucket 4 reaches the excavation position), lock the boom hydraulic cylinder 5 to maintain the boom 1 in the first state position to avoid the excavation operation process The shaking of the middle arm 1. Specifically, the implementation of step 260 may be: calculating the boom excavation resistance transmitted to the boom during the excavation operation, and then adjusting the driving force of the boom hydraulic cylinder according to the boom excavation resistance to ensure that the boom is in the excavation process. It will not shake due to digging resistance, thus improving the digging effect.

The excavation resistance is mainly composed of the cutting resistance of the soil, the friction force of the soil layer on the bucket and the additional resistance of loading soil. for:

F _i =σ _w bc;

Among them, F _i is the excavation resistance (N); b is the bucket cutting width (m); σ _w is the excavation resistance ratio (N/m ² ); c is the thickness of the cutting soil layer (m), and the specific calculation method of c is: :

为转斗挖掘时的铲斗转角(rad)。Among them, R _D is the bucket cutting radius (m);

It is the bucket rotation angle (rad) when the bucket is digging.

When the excavating arm is in the bucket excavation project, when the bucket is rotated to the lowest position, the bucket hydraulic cylinder obtains the minimum force arm, and the digging resistance and its force arm remain unchanged during the bucket excavation process. At this time, the hydraulic cylinder needs to provide the maximum force to complete the bucket excavation process.

Bucket hydraulic cylinder force can be calculated by the following formula:

Among them, F ₁ is the digging resistance; L ₁ is the moment arm of F ₁ on the bucket hinge point; L _c is the force of the bucket hydraulic cylinder and the moment arm of the bucket hinge point.

During the excavation operation, the other hydraulic cylinders of the digging arm are in a locked state. The locking force of the hydraulic cylinder of the telescopic arm only needs to meet the self-weight of the maintenance mechanism. The reaction force of the hydraulic cylinder from other mechanisms is extremely small and can be ignored. In the process of bucket excavation, the digging resistance of the bucket is the largest from the hinge point of each excavating arm, and the locking force required by each hydraulic cylinder is also the largest. At this time, the locking force of the boom cylinder needs to meet the formula:

Among them, L _d is the moment arm of the locking force of the boom hydraulic cylinder to the hinge point of the boom and the coupling seat; L ₃ is the moment arm of F ₁ to the hinge point of the boom and the coupling seat; L' _d is the moment of F ₁ ' to the hinge point of the boom The moment arm with the hinge point of the rack.

Fig. 4 is a schematic flowchart of a hydraulic driving method for intelligent shallow burial provided by another exemplary embodiment of the present application. As shown in FIG. 4, after step 230, the above-mentioned hydraulic driving method may further include:

Step 270 : Lock the forearm hydraulic cylinder to maintain the forearm in the second state position.

After the forearm 2 reaches the first state position (the corresponding position of the forearm 2 when the bucket 4 reaches the excavation position), lock the forearm hydraulic cylinder 6 to maintain the forearm 2 in the first state position to avoid the excavation operation process The shaking of the forearm 2. Specifically, the implementation manner of step 270 may be: calculating the forearm excavation resistance transmitted to the forearm during the excavation operation, and then adjusting the driving force of the forearm hydraulic cylinder according to the excavation resistance of the forearm.

During the excavation operation, the other hydraulic cylinders of the digging arm are in a locked state. The locking force of the hydraulic cylinder of the telescopic arm only needs to meet the self-weight of the maintenance mechanism. The reaction force of the hydraulic cylinder from other mechanisms is extremely small and can be ignored. In the process of bucket excavation, the digging resistance of the bucket is the largest from the hinge point of each excavating arm, and the locking force required by each hydraulic cylinder is also the largest. At this time, the locking force of the forearm cylinder needs to meet the formula:

Among them, L _x is the moment arm of the locking force of the forearm hydraulic cylinder to the hinge point of the forearm and the boom; L ₂ is the moment arm of F ₁ to the hinge point of the forearm and the boom; L' _x is the moment of F ₁ ' to the forearm The moment arm at the hinge point of the boom; F ₁ ' is the normal component force of the digging resistance, which is taken as 0.15F ₁ .

Fig. 5 is a schematic flowchart of a hydraulic driving method for intelligent shallow burial provided by another exemplary embodiment of the present application. The boom hydraulic cylinder 5 is communicated with the forearm hydraulic cylinder 6; as shown in FIG. 5, before step 220, the above-mentioned hydraulic driving method may further include:

Step 280: Close the communication valve between the hydraulic cylinder of the boom and the hydraulic cylinder of the forearm.

By setting the boom hydraulic cylinder 5 to communicate with the forearm hydraulic cylinder 6, the same hydraulic circuit (including an oil tank) can be used to realize the hydraulic drive of the boom 1 and the forearm 2, and the boom hydraulic cylinder 5 can be used to communicate with the forearm hydraulic pressure. The oil circuit connectivity of the oil cylinder 6 realizes the power interconnection and improves the overall driving force and stability.

Moreover, after step 230, the above-mentioned hydraulic driving method may further include:

Step 290: Open the communication valve.

After the boom 1 and the forearm 2 reach the first state position and the second state position respectively, the boom hydraulic cylinder 5 and the forearm hydraulic cylinder 6 need to be locked to fix the state of the boom 1 and the forearm 2. At this time Open the communication valve to realize the power communication between the hydraulic cylinder 5 of the boom and the hydraulic cylinder 6 of the forearm, thereby improving the stability of the boom 1 and the forearm 2.

Fig. 6 is a schematic structural diagram of a hydraulic drive device for intelligent shallow burial provided by an exemplary embodiment of the present application. The hydraulic drive device may include the control device of the above-mentioned shallow buried excavation equipment. As shown in FIG. 6 , the hydraulic drive device 60 includes: a position acquisition module 61 for acquiring the excavation position of the bucket; a boom drive module 62, It is used to drive the hydraulic cylinder of the boom to drive the boom to the first state position according to the excavation position; the forearm drive module 63 is used to drive the hydraulic cylinder of the forearm to drive the forearm to go around the forearm according to the excavation position The hinge point with the boom swings to the second state position; the telescopic arm drive module 64 is used to drive the telescopic arm hydraulic cylinder to drive the telescopic arm to stretch to push the bucket to cut into the excavation position; and the excavation execution module 65 , used to drive the bucket hydraulic cylinder to drive the bucket to rotate downward around the hinge point between the bucket and the telescopic arm, and synchronously drive the telescopic arm hydraulic cylinder to drive the telescopic arm to retract to realize the excavation operation; where the boom is located in When the first state position and the forearm are in the second state position, the bucket and the excavation position are at the same height.

A hydraulic drive device for intelligent shallow burial and underground excavation provided by the present application obtains the excavation position of the bucket through the position acquisition module 61; the boom drive module 62 drives the boom hydraulic cylinder to drive the boom to pitch according to the excavation position. Move to the first state position; the arm drive module 63 drives the arm hydraulic cylinder according to the excavation position to drive the arm to swing around the hinge point between the arm and the boom to the second state position; the telescopic arm drive module 64 drives The telescopic arm hydraulic cylinder drives the telescopic arm to stretch to push the bucket to cut into the excavation position; and the excavation execution module 65 drives the bucket hydraulic cylinder to drive the bucket to rotate downward around the hinge point between the bucket and the telescopic arm, and is synchronized Drive the telescopic boom hydraulic cylinder to drive the telescopic boom to retract to realize the excavation operation; use the large torque of the hydraulic drive to adapt to a variety of construction environments, and automatically control the various hydraulic drive components to achieve automatic positioning of the bucket, and at the same time Utilize the compound action of bucket and telescopic boom to reduce the difficulty of digging operations.

In one embodiment, the location acquisition module 61 may be further configured to: acquire location information to be excavated, wherein the location information to be excavated includes boundary information of the area to be excavated, and determine the location according to the boundary information of the area to be excavated and the excavation state of the excavated area. The excavation position of the bucket.

Fig. 7 is a schematic structural diagram of a hydraulic drive device for intelligent shallow burial provided by another exemplary embodiment of the present application. As shown in FIG. 7 , the hydraulic driving device 60 may further include: a boom locking module 66 for locking the boom hydraulic cylinder to maintain the boom in the first state position.

In one embodiment, as shown in FIG. 7 , the hydraulic driving device 60 may further include: a forearm locking module 67 for locking the forearm hydraulic cylinder to maintain the forearm at the second state position.

In one embodiment, as shown in FIG. 7 , the hydraulic driving device 60 may further include: a valve control module 68 for closing the communication between the hydraulic cylinder of the boom and the hydraulic cylinder of the forearm before driving the boom and the forearm The valve is opened, and the communication valve is opened after the big arm and the small arm reach the first state position and the second state position respectively.

Hereinafter, an electronic device according to an embodiment of the present application will be described with reference to FIG. 8 . The electronic device may be either or both of the first device and the second device, or a stand-alone device independent of them that can communicate with the first device and the second device to receive the collected data from them input signal.

8 illustrates a block diagram of an electronic device according to an embodiment of the present application.

As shown in FIG. 8 , the electronic device 10 includes one or more processors 11 and a memory 12 .

Processor 11 may be a central processing unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in electronic device 10 to perform desired functions.

Memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and/or cache memory, or the like. The non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions, so as to realize the hydraulic pressure of the intelligent shallow burrowing according to the various embodiments of the present application described above. drive method and/or other desired functionality. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

In one example, the electronic device 10 may also include an input device 13 and an output device 14 interconnected by a bus system and/or other form of connection mechanism (not shown).

When the electronic device is a stand-alone device, the input device 13 may be a communication network connector for receiving the collected input signals from the first device and the second device.

In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

The output device 14 can output various information to the outside, including the determined distance information, direction information, and the like. The output devices 14 may include, for example, displays, speakers, printers, and communication networks and their connected remote output devices, among others.

Of course, for simplicity, only some of the components in the electronic device 10 related to the present application are shown in FIG. 8 , and components such as buses, input/output interfaces and the like are omitted. Besides, the electronic device 10 may also include any other suitable components according to the specific application.

Exemplary computer program product and computer readable storage medium

In addition to the methods and apparatuses described above, embodiments of the present application may also be computer program products comprising computer program instructions that, when executed by a processor, cause the processor to perform the "exemplary methods" described above in this specification The steps in the hydraulically driven method for intelligent shallow burrowing according to various embodiments of the present application described in the section.

The computer program product can write program codes for performing the operations of the embodiments of the present application in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, etc. , also includes conventional procedural programming languages, such as "C" language or similar programming languages. The program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.

In addition, embodiments of the present application may also be computer-readable storage media having computer program instructions stored thereon, the computer program instructions, when executed by a processor, cause the processor to perform the above-mentioned "Example Method" section of this specification Steps in the hydraulic drive method for intelligent shallow burial according to various embodiments of the present application described in .

The computer-readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses or devices, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be pointed out that the advantages, advantages, effects, etc. mentioned in the present application are only examples rather than limitations, and these advantages, advantages, effects, etc., are not considered to be Required for each embodiment of this application. In addition, the specific details disclosed above are only for the purpose of example and easy understanding, rather than limiting, and the above-mentioned details do not limit the application to be implemented by using the above-mentioned specific details.

The block diagrams of devices, apparatus, apparatuses, and systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, or configurations must be in the manner shown in the block diagrams. As those skilled in the art will appreciate, these means, apparatuses, apparatuses, systems may be connected, arranged, configured in any manner. Words such as "including", "including", "having" and the like are open-ended words meaning "including but not limited to" and are used interchangeably therewith. As used herein, the words "or" and "and" refer to and are used interchangeably with the word "and/or" unless the context clearly dictates otherwise. As used herein, the word "such as" refers to and is used interchangeably with the phrase "such as but not limited to".

It should also be pointed out that in the apparatus, equipment and method of the present application, each component or each step can be decomposed and/or recombined. These disaggregations and/or recombinations should be considered as equivalents of the present application.

The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Therefore, this application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for the purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims (9)

1. The utility model provides a shallow hydraulic drive method who buries undercut of intelligence, is applied to shallow undercut equipment, wherein, shallow undercut equipment includes: the hydraulic shovel comprises a large arm, a small arm, a telescopic arm, a shovel and a large arm hydraulic oil cylinder, a small arm hydraulic oil cylinder, a telescopic arm hydraulic oil cylinder and a shovel hydraulic oil cylinder which are arranged below the large arm, the small arm, the telescopic arm and the shovel respectively, wherein the large arm hydraulic oil cylinder, the small arm hydraulic oil cylinder, the telescopic arm hydraulic oil cylinder and the shovel hydraulic oil cylinder respectively drive the large arm, the small arm, the telescopic arm and the shovel; the hydraulic driving method for the intelligent shallow-buried underground excavation is characterized by comprising the following steps:

acquiring the excavation position of the bucket;

driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position;

driving the small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position according to the excavation position;

the hydraulic oil cylinder of the telescopic arm is driven to drive the telescopic arm to extend so as to push the bucket to cut into the excavation position, and when the large arm is located at the first state position and the small arm is located at the second state position, the bucket and the excavation position are located at the same height; and

the hydraulic bucket cylinder is driven to drive the bucket to rotate downwards around a hinged point of the bucket and the telescopic arm, and the hydraulic telescopic arm cylinder is synchronously driven to drive the telescopic arm to contract so as to realize excavation operation;

after the driving of the large arm hydraulic oil cylinder drives the large arm to perform the pitching motion to the first state position, the method further comprises the following steps:

and locking the large arm hydraulic oil cylinder to maintain the large arm at the first state position.

2. The hydraulic drive method of claim 1 wherein said locking the boom hydraulic ram to maintain the boom in the first state position comprises:

calculating a boom excavation resistance transmitted to the boom during an excavation operation; and

and adjusting the driving force of the large arm hydraulic oil cylinder according to the large arm excavating resistance.

3. The hydraulic driving method according to claim 1, further comprising, after driving the small arm hydraulic cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position:

and locking the small arm hydraulic oil cylinder to maintain the small arm at the second state position.

4. The hydraulic drive method of claim 3, wherein the locking the arm hydraulic ram to maintain the arm in the second state position comprises:

calculating the forearm excavating resistance transmitted to the forearm in the excavating operation process; and

and adjusting the driving force of the small arm hydraulic oil cylinder according to the small arm excavating resistance.

5. The hydraulic drive method of claim 1, wherein the large arm hydraulic ram is in communication with the small arm hydraulic ram;

before driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to the first state position, the method further comprises the following steps:

closing a communicating valve between the large arm hydraulic oil cylinder and the small arm hydraulic oil cylinder;

after the driving the small arm hydraulic oil cylinder drives the small arm to swing around the hinge point of the small arm and the large arm to a second state position, the driving device further comprises:

and opening the communication valve.

6. The hydraulic drive method of claim 1, wherein the obtaining the excavation position of the bucket comprises:

acquiring position information to be excavated; the position information to be excavated comprises boundary information of an area to be excavated; and

and determining the excavation position of the bucket according to the boundary information of the area to be excavated and the excavation state of the excavation area.

7. The utility model provides a shallow hydraulic drive device who buries undercut of intelligence, wherein, shallow undercut equipment that buries includes: the hydraulic shovel comprises a large arm, a small arm, a telescopic arm, a shovel and a large arm hydraulic oil cylinder, a small arm hydraulic oil cylinder, a telescopic arm hydraulic oil cylinder and a shovel hydraulic oil cylinder which are arranged below the large arm, the small arm, the telescopic arm and the shovel respectively, wherein the large arm hydraulic oil cylinder, the small arm hydraulic oil cylinder, the telescopic arm hydraulic oil cylinder and the shovel hydraulic oil cylinder respectively drive the large arm, the small arm, the telescopic arm and the shovel; its characterized in that, shallow hydraulic drive device who digs that buries of intelligence includes:

the position acquisition module is used for acquiring the excavation position of the bucket;

the large arm driving module is used for driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position;

the small arm driving module is used for driving the small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position according to the excavation position;

the telescopic arm driving module is used for driving the telescopic arm hydraulic oil cylinder to drive the telescopic arm to perform stretching action so as to push the bucket to cut into the excavation position;

the excavation execution module is used for driving the bucket hydraulic oil cylinder to drive the bucket to rotate downwards around a hinged point of the bucket and the telescopic arm, and synchronously driving the telescopic arm hydraulic oil cylinder to drive the telescopic arm to contract so as to realize excavation operation; and

the large arm locking module is used for locking the large arm hydraulic oil cylinder so as to maintain the large arm to be positioned at the first state position;

when the large arm is located at the first state position and the small arm is located at the second state position, the bucket and the excavation position are located at the same height.

8. A computer-readable storage medium storing a computer program for executing the hydraulic driving method of intelligent shallow excavation according to any one of claims 1 to 6.

9. The utility model provides a shallow undercut equipment that buries of intelligence, shallow undercut equipment that buries of intelligence includes:

a processor;

a memory for storing the processor-executable instructions;

the processor is used for executing the hydraulic driving method of the intelligent shallow excavation according to any one of the claims 1 to 6.

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