CN115305985A - Breaking hammer operation control method and system and operation machine - Google Patents
Breaking hammer operation control method and system and operation machine Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 70
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 119
- 229910052757 nitrogen Inorganic materials 0.000 claims description 55
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
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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
- E02F9/2037—Coordinating the movements of the implement and of the frame
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- 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
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- 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
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- 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
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- 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
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- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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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 greater than or equal to a preset oil inlet pressure value and the drill rod position is between a preset extending limit position and a preset retracting limit position, controlling the breaking hammer to start breaking operation; and determining whether the position of the drill rod reaches a preset extending limit position, and judging that the crushing operation is finished and controlling the crushing hammer to stop acting if the number of times that the position of the drill rod reaches the preset extending limit position is continuously determined to exceed the preset number of times. The invention is used for solving the defects of operator operation fatigue and energy waste caused by the lack of automatic control logic for reasonably starting and stopping the breaking hammer during the breaking operation in the prior art, realizes the automatic and reasonable starting and stopping of the breaking hammer, facilitates the operation of the operator and reduces the personal skill requirement of an operator.
Description
Technical Field
The invention relates to the technical field of crushing control, in particular to a method and a system for controlling operation of a crushing hammer and an operating machine.
Background
However, in the operation process of the existing 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 paid attention to all the time, and after the breaking hammer is determined to be finished, the action of the breaking hammer is stopped. When the operator controls the operation machine, the operator needs to pay attention to the action of the breaking hammer at any time so as to control the breaking hammer, the workload of the operator is increased, and the operator is very easy to fatigue.
At present, the 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, although the control mode simplifies the operation steps of an operating hand to a certain extent and improves the operation efficiency, the problem that the starting and stopping of the breaking hammer are required to be controlled by the operating hand is not solved, namely, the key point of the breaking hammer stopping work is lacked when the automatic judgment on the breaking hammer is started and is judged to be successful.
Aiming at the problem, at present, a technical scheme of performing the action of the breaking hammer by adopting a long-time flow method is also provided, namely, the breaking hammer starts to act by manually triggering a 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 operating machine, which are used for overcoming the defects of operator operation fatigue and energy waste caused by the lack of automatic control logic for reasonable starting and stopping of a breaking hammer during breaking operation in the prior art, realizing the automatic reasonable starting and stopping of the breaking hammer, facilitating the operation of an operator and reducing the personal skill requirement on an operator.
The invention provides a method for controlling operation of a breaking hammer, 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 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, controlling a crushing hammer to start crushing operation;
and in the process of the crushing operation of the crushing hammer, determining whether the position of the drill rod reaches the preset extending limit position, if the number of times that the position of the drill rod reaches the preset extending limit position is continuously determined to exceed the preset number of times, judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
The method for controlling the operation of the breaking hammer further comprises the following steps:
acquiring a nitrogen pressure value and a second oil pressure and/or a third oil pressure of a nitrogen cavity, 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 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 is controlled to break;
and when the number of times that the position of the drill rod reaches the preset extension limit position is continuously determined to exceed the preset number of times, 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, judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
The method for controlling the operation of the breaking hammer 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 carry out the breaking operation within the range to be broken.
According to the method for controlling the operation of the breaking hammer, the step of acquiring 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 to-be-crushed area as a first image;
determining the range to be crushed from the area to be crushed based on the first image; the range to be crushed is a closed loop range in the area to be crushed;
acquiring an image of the range to be crushed as a second image;
marking coordinates of a plurality of the crushing points on the second image based on a current position of the crushing hammer and a coverage of a single crushing point crushing.
According to the method for controlling the operation of the breaking hammer, the method for controlling the breaking hammer to sequentially operate to a plurality of breaking points to perform the breaking operation within the range to be broken comprises the following steps:
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 to-be-crushed range 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 area to be broken at the corrected position.
According to the method for controlling the operation of the breaking hammer of the present invention, after the breaking operation within the range to be broken is performed by controlling the breaking hammer to sequentially operate at a plurality of breaking points, the method further includes:
acquiring an image of the range to be crushed after the crushing operation is finished, and taking the image as a third image;
obtaining the actual crushing area in the range to be crushed based on the third image, 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 threshold value and/or the edge is not crushed, giving an alarm, and controlling the crushing hammer to perform crushing operation again in the range to be crushed or prompting the manual operation of the crushing hammer to perform crushing operation.
According to the method for controlling the operation of the breaking hammer, before the first oil pressure and the position of the drill rod are obtained, the method further comprises the following steps:
acquiring a crushing mode starting signal;
receiving a feedback signal of a quick change device, and acquiring oil pressure of an oil inlet of the breaking hammer;
judging whether the 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 or not;
after the complete machine starting signal and the hydraulic system operation signal are received, judging that the breaking hammer enters a hot standby state;
and acquiring the first oil pressure after the breaking hammer enters a hot standby state.
The invention also provides 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 an oil pressure of an oil inlet of a bucket rod oil cylinder;
the first control module is used for controlling the breaking hammer to start the 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 position of the drill rod reaches the preset extending limit position or not in the process of the breaking operation of the breaking hammer, and if the number of times that the position of the drill rod reaches the preset extending limit position is continuously determined to exceed the preset number of times, judging that the breaking operation is finished, and controlling the breaking hammer to stop acting.
According to the operation control system of the breaking hammer, the acquisition module is further used for 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;
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 crushing hammer to stop acting when the times that the position of the drill rod reaches the preset extending limit position continuously exceed the preset times, 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 demolition hammer operation control system further includes:
the first pressure detection module is used for detecting the nitrogen pressure value;
a second pressure detection module to detect 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 operation control system for the breaking hammer 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 range to be crushed is a closed loop area in the area to be crushed; 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 the 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 carry out breaking operation within 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 a breaking hammer operation control system as defined in any one of the above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement the method for controlling the operation of the breaking hammer.
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 demolition hammer operation control method as in any one of the above.
The invention provides a breaking hammer operation control method, a system and an operation machine, wherein 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, breaking conditions are met, the breaking hammer is controlled to start breaking operation, then in the breaking operation process of the breaking hammer, whether the drill rod position reaches the preset extending limit position or not is determined in real time, when the number of times that the drill rod position reaches the preset extending limit position is continuously determined to exceed the preset number of times, the breaking task of a breaking point is determined to be completed, and then the breaking hammer is controlled to stop breaking. The purposes of reliably and effectively judging the starting time and the finishing time of the breaking stroke of the breaking hammer based on the self signal change of the breaking hammer are achieved, and therefore the breaking hammer is automatically and reasonably controlled to start and stop.
Through the oil pressure of the nitrogen pressure value of acquireing nitrogen gas chamber and the oil inlet of quartering hammer and/or oil-out, the oil pressure rate of change through nitrogen gas pressure value and quartering hammer combines with the oil inlet oil pressure and the drill rod position of dipper hydro-cylinder to further judge the broken stroke start moment and the completion moment of quartering hammer for to opening of quartering hammer and stop control more accurate.
Through determining a plurality of broken points waiting to be broken within range, then control the quartering hammer and move in proper order and wait the broken operation of broken within range to a plurality of broken points, realized the automatic completion to setting for the regional interior crushing task, simplified the operating procedure of operative employee greatly to crushing efficiency has been improved.
The image containing the to-be-crushed area is obtained, the to-be-crushed range in the to-be-crushed area is determined based on the image containing the to-be-crushed area, then a plurality of crushing points are marked on the image of the to-be-crushed area based on the image of the to-be-crushed range, the current position of the crushing hammer and the coverage area of single crushing point crushing, so that the determination of the position of the crushing point is more convenient and accurate, and the comprehensive crushing of the to-be-crushed area in the to-be-crushed area based on the crushing point is conveniently guided by the crushing hammer.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for controlling the operation of a demolition hammer according to the present disclosure;
FIG. 2 is a schematic flow chart of an automatic start-stop control method of a breaking hammer for a single breaking point, provided by the invention;
fig. 3 is a schematic flow diagram of a control method for automatic crushing of a crushing hammer according to the invention for an area to be crushed comprising a plurality of crushing points;
fig. 4 is a schematic structural diagram of a breaking hammer operation control system provided by the present invention;
FIG. 5 is a schematic structural diagram of a breaking hammer control structure of an excavator based on a single breaking point according to the present invention;
FIG. 6 is a schematic structural view of a control structure of a breaking hammer of the excavator provided by the present invention for an area to be broken including a plurality of breaking points;
FIG. 7 is a schematic 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: an oil inlet pressure sensor; 5: an oil return pressure sensor; 6: a breaking hammer; 7: an oil inlet electromagnetic valve; 8: an oil return port solenoid valve; 9: a drill rod upper limit position sensor; 10: a drill rod lower limit position sensor; 11: a nitrogen pressure sensor; 12: a bucket rod extends out of the action pressure sensor; 13: a camera; 14: a rotation control module; 15: the bucket rod and the movable arm control module.
Detailed Description
In order to make 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 obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
In the following, a method for controlling a work of a breaking hammer according to the present invention will be described with reference to fig. 1 to 3, which is implemented by a controller of a working machine and/or software or hardware thereof, and as shown in fig. 1, the method for controlling a work of a breaking hammer 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 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, controlling the breaking hammer to start breaking operation;
103. and in the process of the crushing operation of the crushing hammer, determining whether the position of the drill rod reaches a preset extending limit position, if the number of times that the position of the drill rod reaches the preset extending limit position is continuously determined to exceed the preset number of times, judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
It will be appreciated that when it is desired to carry out a crushing operation with a crushing hammer on a work surface to be crushed, it is first necessary to bring the crushing hammer into contact with the work surface to be crushed in order to start 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 be retracted, and is also the initial position before the operation of the breaking hammer. 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 is extended from an initial position, and when in contact with the work surface to be broken, the drill rod is retracted by a certain amount compared to the extended extreme position. Therefore, when the acquired oil pressure of the oil inlet is greater than or equal to the preset oil pressure value of the oil inlet and the position of the drill rod is located between the preset extending limit position and the preset retracting limit position, the controller can judge that the breaking hammer is inconsistent with the working surface to be broken, namely the breaking hammer has the capacity of breaking the working surface to be broken.
It can be understood that the breaking hammer can only perform the breaking operation when the oil inlet solenoid valve and the oil return solenoid valve of the breaking hammer are opened. At the same time, the shank of the breaking hammer cannot be fully extended because the working surface to be broken has not yet been broken or completely broken. Thus, when the crushing is completed, the drill rod will be able to extend to the set maximum position, i.e. the preset limit of extension.
More specifically, through controller automatic control oil feed solenoid valve and oil return solenoid valve open, then can realize the quartering hammer and open crushing operation.
Further, during the crushing process, along with the reciprocating motion of the crushing hammer, the drill rod position occasionally reaches the preset extending limit position along with the non-completion of the crushing of the working surface to be crushed, but before the crushing is completed, the situation that the drill rod position continuously and repeatedly reaches the preset extending limit position does not occur, therefore, whether the crushing is completed or not can be judged by recording the times when the drill rod position reaches the preset extending limit position from the beginning of the crushing operation, and the risk of misjudgment can be caused, and whether the crushing of the working surface to be crushed is completed or not can be accurately judged by continuously determining whether the times when the drill rod position reaches the preset extending limit position exceeds the preset times, such as 4 times, 5 times and the like, and further, when the crushing operation is judged to be completed, the stopping action of the crushing hammer is controlled by a controller, the purposes of reliably and effectively judging the starting time and the completing time of the crushing stroke of the crushing hammer based on the self-signal change of the crushing hammer are realized, so that the starting time and the completing time of the crushing stroke of the crushing hammer are automatically and reasonably controlled, thereby not only reducing the workload of operators, the requirements on personal skills, but also avoiding the waste of energy.
As an embodiment of the present invention, the method for controlling the operation of the breaking hammer further includes:
acquiring a nitrogen pressure value and a second oil pressure and/or a third oil pressure of the nitrogen cavity, 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 is positioned 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 is controlled to break;
and when the number of times that the position of the drill rod reaches the preset extension limit position is continuously determined to exceed 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, judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
It should be noted that, when the quartering hammer is inconsistent with the work surface of treating broken, the nitrogen gas pressure value of nitrogen gas chamber can increase, and the nitrogen gas pressure value can keep at a great value simultaneously in crushing process, and the oil pressure of the oil inlet of quartering hammer and oil-out also can be because of broken operation, and take place great fluctuation. And when the breakage was accomplished, the nitrogen gas pressure value will reduce again, and simultaneously, the oil pressure change of the oil inlet of quartering hammer and oil-out will also no longer take place big fluctuation, and become level and smooth.
Specifically, through the nitrogen pressure value of obtaining nitrogen gas chamber and the oil pressure of the oil inlet of quartering hammer and/or oil-out to combine the nitrogen gas pressure value of nitrogen gas chamber and the oil pressure of the oil inlet of quartering hammer and/or oil-out with the drill rod position and the oil inlet oil pressure of dipper hydro-cylinder, be used for the quartering hammer to open and stop the judgement constantly, further improved the quartering hammer and opened the accuracy of opening and stopping judgement constantly.
As an embodiment of the present invention, the method for controlling operation of a demolition hammer further includes:
acquiring 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 the breaking operation within the range to be broken.
Specifically, a plurality of crushing points are determined in the range to be crushed, then the controller sequentially acts on the crushing points based on the positions of the crushing points, and then the starting and stopping control of the crushing hammer is performed on the crushing points based on the control logic of the embodiment, so that the automatic crushing of the region to be crushed in the whole range to be crushed is realized based on the point-by-point crushing of the crushing points, the operation steps of an operator are further simplified, and the crushing operation efficiency is greatly improved.
As an embodiment of the present invention, acquiring a range to be crushed and determining a plurality of crushing points within the range to be crushed, includes:
acquiring an image containing a to-be-crushed area as a first image;
determining a range to be crushed from the region to be crushed based on the first image; the range to be crushed is a closed loop area in the area to be crushed;
acquiring an image of a range to be crushed as a second image;
the coordinates of the plurality of crushing points are marked on the second image based on the current position of the crushing hammer and the coverage of the single crushing point crushing.
Specifically, by acquiring an image containing a region to be crushed, a user can plan a region to be crushed, which is desired to be automatically crushed, on the image containing the region to be crushed, and then by based on the current position of the breaking hammer and the coverage range, which can be crushed by a single breaking point, on the acquired image containing the region to be crushed, the distribution of the breaking points covering the region to be crushed in the whole region to be crushed can be conveniently planned, that is, the coordinates of each breaking point are obtained, so that the breaking hammer is controlled to automatically move to the next breaking point for carrying out crushing operation after carrying out the crushing operation of one breaking point through the coordinates of each breaking point until all the breaking points are traversed, that is, the region to be crushed in the region to be crushed is completely crushed.
More specifically, an image containing a to-be-crushed area can be displayed through a touch screen connected with a controller, then a user draws a to-be-crushed range on the touch screen through a tool such as a capacitance pen, the controller can acquire a specific range of the to-be-crushed area which is to be crushed and is to be automatically completed, then based on the image in the to-be-crushed range, coordinates of the current position of a crushing hammer on the image in the to-be-crushed range and a range which can be covered by single crushing point crushing, coordinates of each crushing point can be planned on the image in the to-be-crushed range, then the controller can control the crushing hammer to perform single-point crushing first, and after the single-point crushing is completed, the image is automatically moved to a next crushing point according to the coordinates of the crushing point on the image in the to-be-crushed range, and then the 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 during point-by-point crushing, that is, after completing the crushing of one crushing point, the controller moves to the nearest next crushing point to perform the crushing operation, for example: and sequentially crushing the two-dimensional area of the image of the area to be crushed according to the horizontal movement and then the vertical movement, or sequentially crushing the two-dimensional area of the image of the area to be crushed according to the vertical movement and then the horizontal movement.
Further, taking an excavator as an example, a movable arm, a bucket rod and rotation of the excavator are all controlled by an electric control proportional solenoid valve, and the action strategy is that each crushing point is sequentially crushed according to a two-dimensional area of an image in a range to be crushed, wherein the two-dimensional area is horizontal and then vertical. At this time, after the coordinates of each crushing point are acquired, the rotation controlled according to the coordinates of each crushing point is sequentially operated, and after the set edge is reached, the bucket rod is contracted by a proper proportion, and the next cycle is continued.
As an embodiment of the invention, the method for controlling the breaking hammer to sequentially act to a plurality of breaking points to carry out the breaking operation within the range to be broken comprises the following steps:
controlling the breaking hammer to move to a corresponding position in a range to be broken based on the coordinates of the breaking points;
acquiring an image of a to-be-crushed range 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 area to be broken at the corrected position.
It can be understood that the acquisition of the image of the area to be crushed depends on a camera, a camera and other shooting equipment, so that the acquired image is under an image coordinate system, and the crushing hammer is under a world coordinate system, so that the coordinates of the image need to be calibrated under the world coordinate system, that is, the size and the depth of field in the image field of the image of the distorted area to be crushed are corrected, so that the coordinates of the planned crushing point on the image can be used for guiding the position of the crushing hammer.
Specifically, based on the coordinates of the crushing point, the movement of the crushing hammer to the corresponding position within the range to be crushed is controlled by the controller.
More specifically, in order to ensure that the position to which the breaking hammer moves can be accurately matched with the coordinate of the corresponding breaking point planned on the image in the range to be broken, after the breaking hammer moves each time, the image of the area to be broken is obtained again, and then the controller can compare the coordinate of the breaking point with the coordinate of the position to which the breaking hammer moves on a new range to be broken, so that when deviation occurs, the position of the breaking hammer is adjusted, the correctness 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 move to a plurality of breaking points for performing a breaking operation within a to-be-broken range, the method further includes:
acquiring an image of the range to be crushed after the crushing operation is finished, and taking the image as a third image;
obtaining the actual crushing area in the range to be crushed based on the third image, 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 threshold value and/or the edge is not crushed, giving an alarm, and controlling the crushing hammer to perform crushing operation again in the range to be crushed or prompting the manual operation of the crushing hammer to perform crushing operation.
Specifically, the image of the to-be-crushed range after crushing is analyzed through the controller, and when the situation that the edge of the to-be-crushed range is not crushed or is completely crushed is detected, or the difference value between the area contained in the to-be-crushed range and the actual crushing area is smaller than a preset difference value threshold value, an alarm is given out, so that an operator is reminded of incomplete crushing, the controller can control the crushing hammer to perform crushing operation in the to-be-crushed range again, and the operator can be reminded of manually controlling the crushing hammer to perform crushing operation on the uncrushed area.
More specifically, the area difference may be flexibly set according to the 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 crushing 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 the replacement of the breaking hammer is finished or not based on the feedback signal and the oil pressure of the 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 or not;
after receiving a complete machine starting signal and a hydraulic system operation signal, 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 a prerequisite for enabling the breaking operation of the breaking hammer is that the breaking hammer can be brought into a hot standby state, so that it is first ensured that the breaking hammer has been brought into a hot standby state before the breaking hammer is controlled to carry out the breaking operation.
Specifically, after the operation machine is powered on, and when the operation machine is switched to a crushing mode, the corresponding crushing hammer needs to be replaced through the quick-change device according to the selection of the crushing mode, then after the replacement of the crushing hammer is finished, the oil pressure of an oil inlet of the crushing hammer can also be changed, then the whole machine is started, and the hydraulic system is enabled to run, and the crushing hammer can only enter a hot standby state.
In summary, the method for controlling the operation of the breaking hammer according to the embodiment of the present invention includes a method for controlling the automatic start and stop of the breaking hammer for a single breaking point and a method for controlling the automatic breaking of the breaking hammer for a region to be broken including a plurality of breaking points.
Specifically, the automatic start-stop control method for the breaking hammer of a single breaking point comprises the following steps as shown in fig. 2:
201. selecting a crushing mode;
202. judging whether the crushing condition is 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 acquired oil pressure of an oil inlet of the bucket rod oil cylinder is greater than or equal to a preset oil inlet pressure value or not, the position of a drill rod 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 or not; if yes, go to step 205; if not, returning to the step 203;
205. controlling the crushing operation of the crushing hammer;
206. determining whether the position of the drill rod reaches a preset extending limit position, and judging whether the number of times that the position of the drill rod reaches the preset extending limit position exceeds a preset number of times, 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 whether the nitrogen pressure value is smaller than a preset second nitrogen pressure value; if yes, go to step 207; if not, returning to the step 205;
207. and (5) judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
A method for controlling the automatic crushing of a crushing hammer for an area to be crushed comprising a plurality of crushing points, comprising the following steps, as shown in fig. 3:
301. selecting a crushing mode;
302. judging whether the crushing condition is 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 acquired oil pressure of an oil inlet of the bucket rod oil cylinder is greater than or equal to a preset oil inlet pressure value or not, the position of a drill rod 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 or not; if yes, go to step 305; if not, returning to the step 303;
305. controlling the crushing operation of the crushing hammer;
306. determining whether the position of the drill rod reaches a preset extending limit position, and judging whether the number of times that the position of the drill rod reaches the preset extending limit position exceeds a preset number of times, 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 whether the nitrogen pressure value is smaller than a preset second nitrogen pressure value; if yes, go to step 307; if not, returning to the step 305;
307. after 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, returning to the step 305;
308. judging whether the crushing operation of all crushing points in the range to be crushed is finished or not; if yes, go to step 309; if not, returning to the step 305;
309. and judging that the crushing operation in the range to be crushed is finished, and controlling the crushing hammer to stop acting.
According to the operation control method for the breaking hammer, automatic breaking work judgment is achieved based on the signal change of the breaking hammer, automatic breaking is achieved in a breaking mode, repeated actions of an operator are effectively reduced, operation comfort is greatly improved, and the requirement on personal skills of the operator is lowered.
The following describes a breaking hammer operation control system provided by the present invention, and a breaking hammer operation control system described below and a breaking hammer operation control method described above may be referred to in correspondence with each other.
As shown in fig. 4, the system for controlling the operation of a breaking hammer according to the present invention includes: an acquisition module 410, a first control module 420, and a second control module 430;
the obtaining module 410 is configured to obtain a first oil pressure and a drill rod position, where the first oil pressure is an oil pressure of an oil inlet of a bucket rod oil cylinder;
the first control module 420 is used for controlling the breaking hammer to start the 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;
the second control module 430 is configured to determine whether the drill rod position reaches the preset extension limit position during a crushing operation of the hammer, determine that the crushing operation is completed if it is continuously determined that the number of times that the drill rod position reaches the preset extension limit position exceeds the preset number of times, and control the hammer to stop operating.
Specifically, by acquiring the oil pressure of an oil inlet of a bucket rod oil cylinder and the position of a drill rod, 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 a breaking hammer is contacted with a to-be-broken working surface, breaking conditions are met, the breaking hammer is controlled to start breaking operation, then in the breaking operation process of the breaking hammer, whether the position of the drill rod reaches the preset extending limit position or not is determined, 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, it is determined that the breaking task of a breaking point is 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 stroke of the breaking hammer based on the signal change of the breaking hammer is achieved, and therefore automatic and reasonable control is carried out on starting and stopping of the breaking hammer.
As an embodiment of the invention, the obtaining module is further configured to obtain a nitrogen pressure value of the nitrogen chamber and a second oil pressure and/or a third oil pressure, where the second oil pressure is an oil pressure at an oil inlet of the breaking hammer, and the third oil pressure is an oil pressure at an oil outlet 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 crushing hammer to stop acting when the times of continuously determining that the position of the drill rod reaches the preset extending limit position exceed the preset 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 comprises:
the first pressure detection module is used for detecting the pressure value of the nitrogen;
the second pressure detection module is used for detecting a second oil pressure and/or a third oil pressure;
and the position detection module is used for detecting the position of the drill rod.
Specifically, in a general working machine, pressure sensors are disposed at oil cylinders of a bucket rod, so that oil pressure of an oil inlet of the bucket rod oil cylinder required for controlling a breaking hammer to start breaking operation can be directly obtained, and therefore, a first pressure detection module is further required to be disposed at a nitrogen cavity to detect a nitrogen pressure value, a second pressure detection module is disposed at the oil cylinder of the breaking hammer to detect oil pressure of the oil inlet and/or the oil outlet of the breaking hammer, and position detection modules such as a travel switch and a position sensor are disposed on a drill rod to detect a 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 operation control system of the breaking hammer further includes:
the image acquisition module is used for acquiring an image containing a region to be crushed and an image containing a range to be crushed; the range to be crushed is a closed loop area in the area to be crushed; 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 the 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 carry out breaking operation within a to-be-broken range; 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 the crushing mode.
Specifically, through setting up the image acquisition module, can acquire the image that contains the region of waiting to crush and the image of waiting to crush the scope, and then can be based on the image that contains the region of waiting to crush and acquire the scope of waiting to crush, and based on the image of waiting to crush the scope, confirm the coordinate of a plurality of broken points in the scope of waiting to crush to make the third control module can control the quartering hammer automatically move and accomplish the crushing operation in the whole scope of waiting to crush based on the coordinate of a plurality of broken points.
More specifically, through the arrangement of the touch display module, an operator can conveniently select a crushing mode, an image containing a to-be-crushed area is displayed to the operator, and the operator can conveniently select a to-be-crushed range on the image containing the to-be-crushed area.
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 after the breaking hammer moves, which is acquired by the image acquisition module; and controlling the breaking hammer to carry out the breaking operation within the range to be broken at the corrected position.
The third control module is also used for obtaining the actual crushing area in the range to be crushed based on the image of the range to be crushed acquired by the image acquisition module, 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 threshold value and/or the edge is not crushed, giving an alarm, and controlling the crushing hammer to perform crushing operation again in the range to be crushed or prompting the manual operation of the crushing hammer to perform crushing operation.
Preferably, the first control module is further configured to acquire 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 the 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 or not; after receiving a complete machine starting signal and a hydraulic system operation signal, judging that the breaking hammer enters a hot standby state; and acquiring a first oil pressure after the breaking hammer enters a hot standby state.
The invention also provides a working machine comprising any one of the above breaking hammer operation control systems.
It will be appreciated that a work machine including a demolition hammer operation control system as described in any of the above has all the advantages and technical effects of a demolition hammer operation control system and will not be described in detail herein.
As a preferable aspect of the present invention, the working machine may be an excavator;
a position sensor for detecting the position of a drill rod is arranged on a breaking hammer of the excavator; a pressure sensor for detecting the pressure value of nitrogen is arranged on a pressure leading port of a nitrogen cavity of the breaking hammer; a pressure sensor for detecting oil pressure is arranged on an oil inlet pipe and/or an oil outlet pipe of the breaking hammer; the method comprises the following steps that a camera is arranged at the top of a cab of the excavator, and image coordinates of images acquired 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 in initialization; and a touch display screen for displaying the image acquired by the camera and switching the working mode of the excavator is arranged in the 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 the control structure of the breaking hammer based on a single breaking point, and fig. 6 is the control structure of the breaking hammer for a to-be-broken area including a plurality of breaking points.
For the breaking hammer control structure based on a single breaking point as shown in fig. 5, a controller 1 of the excavator is connected with a touch screen 2, a working mode switching button 3 is arranged on the touch screen 2, meanwhile, an oil inlet pressure sensor 4 and an oil return pressure sensor 5 are respectively connected with an oil inlet electromagnetic valve 7 and an oil return electromagnetic valve 8 of the breaking hammer 6, the controller 1 is respectively connected with a drill rod upper limit position sensor 9, a drill rod lower limit position sensor 10, a nitrogen pressure sensor 11 and a bucket rod extending action pressure sensor 12 so as to be used for judging and controlling the working state of the breaking hammer 6 of the excavator.
For the control structure of the breaking hammer for the area to be broken including a plurality of breaking points as shown in fig. 6, on the basis of the control structure of the breaking hammer based on a single breaking point as shown in fig. 5, the controller 1 needs to make the 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 structure diagram of an electronic device, and as shown in fig. 7, the electronic device may include: a processor (processor) 710, a communication Interface (Communications Interface) 720, a memory (memory) 730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. Processor 710 may invoke logic instructions in memory 730 to perform a method of controlling the operation of a demolition hammer, 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 greater than or equal to a preset oil inlet pressure value and the drill rod position is between a preset extending limit position and a preset retracting limit position, controlling the breaking hammer to start breaking operation; in the process of the crushing operation of the crushing hammer, whether the position of the drill rod reaches a preset extending limit position or not is determined, and if the number of times that the position of the drill rod reaches the preset extending limit position is continuously determined to exceed the preset number of times, the crushing operation is judged to be finished, and the crushing hammer is controlled to stop acting.
In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute 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), a magnetic disk, or an optical disk, and 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 demolition hammer, 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 greater than or equal to a preset oil inlet pressure value and the drill rod position is between a preset extending limit position and a preset retracting limit position, controlling the breaking hammer to start breaking operation; in the process of the breaking operation of the breaking hammer, whether the position of the drill rod reaches a preset extending limit position or not is determined, if the number of times that the position of the drill rod reaches the preset extending limit position is continuously determined to exceed the preset number of times, the breaking operation is judged to be finished, and the breaking hammer is controlled to stop acting.
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 method of controlling operation of a demolition hammer, 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 greater than or equal to a preset oil inlet pressure value and the drill rod position is between a preset extending limit position and a preset retracting limit position, controlling the breaking hammer to start breaking operation; in the process of the breaking operation of the breaking hammer, whether the position of the drill rod reaches a preset extending limit position or not is determined, if the number of times that the position of the drill rod reaches the preset extending limit position is continuously determined to exceed the preset number of times, the breaking operation is judged to be finished, and the breaking hammer is controlled to stop acting.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A method of controlling operation of a demolition hammer, 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 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, controlling the breaking hammer to start breaking operation;
and in the process of the crushing operation of the crushing hammer, determining whether the position of the drill rod reaches the preset extending limit position, if the number of times that the position of the drill rod reaches the preset extending limit position is continuously determined to exceed the preset number of times, judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
2. The method of controlling operation of a demolition hammer as recited in claim 1, further comprising:
acquiring a nitrogen pressure value and a second oil pressure and/or a third oil pressure of a nitrogen cavity, 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 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 is controlled to break;
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 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, judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
3. The method of controlling an operation of a breaking hammer according to claim 1 or 2, further comprising:
acquiring 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 the breaking operation within the range to be broken.
4. The method of claim 3, wherein the obtaining a crushing range and determining a plurality of crushing points within the crushing range comprises:
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 range to be crushed is a closed loop area in the area to be crushed;
acquiring an image of the range to be crushed as a second image;
marking coordinates of a plurality of the crushing points on the second image based on a current position of the crushing hammer and a coverage of a single crushing point crushing.
5. The method for controlling a crushing hammer operation according to claim 4, wherein the controlling of the crushing hammer to sequentially operate at a plurality of crushing points to perform the crushing operation within the range to be crushed 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 to-be-crushed range after the crushing hammer moves;
correcting the relative position to which the breaking hammer moves on the basis of the image of the range to be broken after the breaking hammer moves;
and controlling the breaking hammer to break the area to be broken at the corrected position.
6. The method of claim 5, wherein the method further comprises, after the step of controlling the breaking hammer to sequentially operate at a plurality of the breaking points to perform the breaking operation within the range to be broken:
acquiring an image of the range to be crushed after the crushing operation is finished, and taking the image as a third image;
obtaining the actual crushing area in the range to be crushed based on the third image, 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 threshold value and/or the edge is not crushed, giving an alarm, and controlling the crushing hammer to perform crushing operation again in the range to be crushed or prompting the manual operation of the crushing hammer to perform crushing operation.
7. The method of claim 1, further comprising, prior to obtaining the first oil pressure and the shank position:
acquiring a crushing mode starting signal;
receiving a feedback signal of a quick change device, and acquiring oil pressure of an oil inlet of the breaking hammer;
judging whether the replacement of the breaking hammer is finished or not based on the feedback signal and the oil pressure of the 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 or not;
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 a hot standby state.
8. A demolition 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 an oil pressure of an oil inlet of a 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 extension limit position or not in the process of the crushing operation of the crushing hammer, and if the number of times that the drill rod position reaches the preset extension limit position is continuously determined to exceed the preset number of times, judging that the crushing operation is finished, and controlling the crushing hammer to stop acting.
9. The demolition hammer operation control system of claim 8,
the acquisition module is further used for acquiring a nitrogen pressure value and a second oil pressure and/or a third oil pressure of the nitrogen cavity, wherein the second oil pressure is oil pressure of an oil inlet of the breaking hammer, and the third oil pressure is oil pressure of an oil outlet 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 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 crushing hammer to stop acting when the times that the position of the drill rod reaches the preset extending limit position continuously exceed the preset times, 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 demolition hammer operation control system further includes:
the first pressure detection module is used for detecting the nitrogen pressure value;
a second pressure detection module to detect 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 demolition 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 range to be crushed is a closed loop area in the area to be crushed; 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 the 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 carry out the breaking operation within 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 the demolition hammer operation control system as claimed in 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, when executing the program, implements the method of controlling operation of a demolition hammer according to any one of claims 1 to 7.
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 demolition hammer operation control method according to any one of claims 1 to 7.
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