CN117905137A - Bucket tooth state detection system and loading equipment - Google Patents

Abstract

The present disclosure provides a bucket tooth state detection system and loading equipment, the system comprising: loading equipment, the loading equipment comprising a bucket with multiple bucket teeth; wherein the loading equipment is provided with a collection device for collecting relevant data information of the multiple bucket teeth of the bucket; and transportation equipment, the transportation equipment is used to transport the materials loaded by the bucket of the loading equipment; wherein the system also comprises a bucket tooth abnormality determination unit and an information prompting unit, wherein the bucket tooth abnormality determination unit is used to determine bucket tooth abnormal state information according to the relevant data information of the multiple bucket teeth collected by the collection device; the information prompting unit is used to prompt the bucket tooth abnormal state information. The bucket tooth state detection system and loading equipment disclosed in the present disclosure automatically detect bucket tooth information through the bucket tooth state detection system, and determine whether there is an abnormality in the bucket tooth, so as to prompt the operator, and effectively improve the working efficiency and safety factor of the loading equipment.

Description

Bucket tooth status detection system and loading equipment

Technical Field

The present invention belongs to the technical field of automatic driving, and in particular relates to a bucket tooth state detection system and loading equipment.

Background technique

When open-pit mine loading equipment, such as excavators, is digging with the bucket, the bucket teeth may fall off or break during the process of cutting materials due to the hardness of the materials or improper operation of the staff.

When bucket teeth fall off or break, if they are not discovered and handled in time, it will affect the subsequent excavation and loading work. For example, broken or missing bucket teeth will reduce the working efficiency of the loading equipment. At the same time, the fallen bucket teeth mixed with the material will bring safety hazards to subsequent production work.

In the related art, the status of bucket teeth is usually checked manually. However, due to the complex working environment in the mining area, workers cannot often get off the vehicle to check the status of bucket teeth. In addition, there are a large number of unmanned vehicles and loading vehicles in the mining area, and workers often get off the vehicle, which poses a safety risk to themselves.

Therefore, how to timely detect the abnormal state of the bucket teeth of the loading equipment is a technical problem that needs to be solved urgently in this field.

Summary of the invention

The embodiments of the present disclosure aim to solve at least one of the technical problems existing in the prior art, and provide a bucket tooth status detection system and a loading device. By means of a bucket tooth detection unit arranged on the loading device, an abnormal situation of bucket tooth falling off or breaking is detected and determined, and an operator is promptly prompted to improve efficiency and reduce safety risks.

A first aspect of the present disclosure provides a bucket tooth state detection system, comprising:

A loading device, the loading device comprising a bucket having a plurality of teeth; wherein a collecting device is provided on the loading device, the collecting device being used to collect data information related to the plurality of teeth of the bucket; and

A transport device, the transport device is used to transport the materials loaded in the bucket of the loading device; wherein,

The system also includes a bucket tooth abnormality determination unit and an information prompting unit, wherein the bucket tooth abnormality determination unit is used to determine bucket tooth abnormality status information based on relevant data information of the multiple bucket teeth collected by the collection device; the information prompting unit is used to prompt the bucket tooth abnormal status information.

Furthermore, the system also includes: a driving control unit, which is used to control the driving strategy of the transportation equipment according to the information prompted by the information prompting unit.

Furthermore, the acquisition device includes at least one of an image acquisition device, a laser radar sensor and a millimeter wave radar sensor.

Furthermore, the loading equipment also includes a bucket state acquisition module, which is used to acquire state information of the bucket, and when it is determined that the bucket is in a specified state based on the state information, the acquisition device collects relevant data information of the multiple bucket teeth.

Further, the specified state includes at least one of the following:

The bucket teeth are in a state where they are fully exposed, the bucket teeth are in a state where they are partially exposed, the bucket arm is started and running but has not yet been loaded with materials, the bucket is started and running for a specified time, the bucket is started and running for a specified displacement, and the bucket is in a suspended state.

Furthermore, the bucket state acquisition module is used to determine the control instruction acquired by the loading device, and determine that the bucket is in the specified state when the control instruction meets a specified condition.

Furthermore, the control instruction satisfies a specified condition including: the control instruction is a target instruction, and/or the loading device acquires the target instruction for a specified period of time.

Furthermore, the relevant data information of the multiple bucket teeth includes image information, and the system also includes: a processing unit, used to filter the relevant data information of the multiple bucket teeth collected by the collection device to obtain target state information of the multiple bucket teeth, the target state information is used by the bucket tooth abnormality judgment unit to judge the bucket tooth abnormal state information, and the filtering process includes eliminating images whose position and/or posture of the corresponding target object in the image information does not meet specified conditions.

Furthermore, the system also includes a communication unit, which is used to send the bucket tooth abnormal status information to the cloud platform; the cloud platform is used to determine whether there is a collision risk between the loading equipment and the transportation equipment based on the bucket tooth abnormal status information, and control the transportation equipment and/or the loading equipment based on the collision risk determination result.

Furthermore, the cloud platform is also used to adjust the safety fence of the loading equipment when it is determined that there is a risk of collision between the loading equipment and the transporting equipment, wherein the adjusted safety fence is related to the abnormal state information of the bucket teeth.

Furthermore, the bucket tooth abnormal state information includes at least one of bucket tooth wear and bucket tooth missing.

A second aspect of the present disclosure provides a loading device, the loading device comprising a bucket, a collection module, a bucket state acquisition module and an information prompt module, wherein:

The acquisition module is used to acquire relevant data information of a plurality of bucket teeth of the bucket;

The bucket state acquisition module is used to acquire state information of the bucket, and when the bucket is in a specified state, control the acquisition device to collect relevant data information of the plurality of bucket teeth;

The information prompt module is used to prompt the bucket teeth abnormal state information when it is determined that there is bucket teeth abnormal state information according to the relevant data information of the multiple bucket teeth.

The bucket tooth status detection system and loading equipment provided by the embodiments of the present disclosure automatically monitor and determine whether the bucket teeth are detached or broken, and issue a warning message when an abnormal situation occurs, prompting the operator to handle it in time, thereby effectively improving the working efficiency and safety factor of the loading equipment.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a bucket tooth state detection system according to an embodiment of the present disclosure;

FIG2 is a schematic structural diagram of a bucket tooth state detection system according to an embodiment of the present disclosure;

FIG3 is a schematic structural diagram of a loading device according to another embodiment of the present disclosure;

FIG4 is a schematic diagram of the operation flow of the bucket tooth state detection system according to an embodiment of the present disclosure;

FIG5 is a first schematic diagram of a loading device according to an embodiment of the present disclosure performing a loading operation;

FIG6 is a second schematic diagram of the loading device according to the embodiment of the present disclosure performing a loading operation;

FIG. 7 is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure.

Detailed ways

Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present disclosure.

The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments and are not intended to limit the disclosed embodiments. The singular forms of "a", "said" and "the" used in the disclosed embodiments and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and/or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that although the terms first, second, third, etc. may be used to describe various information in the disclosed embodiments, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the disclosed embodiments, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

As shown in FIG1 , it is a schematic diagram of a bucket tooth state detection system according to an embodiment of the present disclosure.

As shown in FIG. 1 , the bucket tooth state detection system 100 includes a loading device 110, and the loading device 100 includes a bucket 111 having a plurality of bucket teeth; wherein a collection device 112 is provided on the loading device 110, and the collection device 112 is used to collect relevant data information of the plurality of bucket teeth of the bucket 111; and

The transport equipment 120 is used to transport the materials loaded in the bucket 111 of the loading equipment 110; wherein:

The bucket tooth state detection system 100 also includes a bucket tooth abnormality determination unit 130 and an information prompting unit 140, wherein the bucket tooth abnormality determination unit 130 is used to determine bucket tooth abnormal state information based on relevant data information of the multiple bucket teeth collected by the collection device 112; the information prompting unit 140 is used to prompt the bucket tooth abnormal state information.

The bucket tooth abnormality determination unit 130 and/or the information prompt unit 140 may be arranged on the loading device 110, the transport device 120, the remote control center (cloud platform), or other platforms or terminals. In practical applications, those skilled in the art may set the positions of the bucket tooth abnormality determination unit 130 and the information prompt unit 140 as required, and the embodiments of the present disclosure do not specifically limit the positions of the two.

Continuing to refer to FIG1 , the acquisition device 112 is used to acquire relevant data information of the multiple teeth of the bucket 111. Exemplarily, the acquisition device 112 includes one or a combination of a camera device, a laser radar sensor, and a millimeter wave radar sensor; wherein the camera device is used to acquire image information of the multiple teeth, and the laser radar sensor and the millimeter wave radar sensor are used to acquire point cloud data information of the multiple teeth.

It should be noted that the location of the collection device 112 is not limited to being located on the roof of the loading device 110 as shown in FIG. 1 , and its location can be freely selected based on achieving the collection purpose, and this embodiment does not impose any specific limitation.

Continuing to refer to FIG. 1 , the bucket tooth abnormality determination unit 130 determines bucket tooth abnormality status information according to the relevant data information of the plurality of bucket teeth collected by the collection device 112 .

Specifically, the bucket tooth abnormality determination unit 130 is used to perform determination and analysis based on the relevant data information of the bucket teeth collected by the collection device 112 to determine the abnormal state of the bucket teeth.

Taking the acquisition device 112 as a camera device as an example, the camera device captures image information of the shape of the bucket teeth, surface wear, and possible cracks or damage, and then pre-processes the image to eliminate noise and enhance features. Finally, the image data collected by the camera device is processed through a neural network model to determine the abnormal status information of the bucket teeth.

Taking the acquisition device 112 as a lidar sensor or a millimeter-wave radar sensor as an example, the lidar sensor or the millimeter-wave radar sensor captures point cloud data of the shape and surface features of the bucket teeth in three-dimensional form, including the bumps and flatness of the bucket teeth, etc., and then uses the corresponding data processing algorithm to segment, extract features and detect the point cloud data. Finally, the point cloud data is processed by training a deep learning model to determine the abnormal status information of the bucket teeth.

Preferably, a combination of a camera device, a lidar sensor and a millimeter-wave radar sensor can be used as the acquisition device 112, so that the surface information of the camera device and the three-dimensional information of the lidar sensor and the millimeter-wave radar sensor can be used to provide more accurate bucket tooth data, and then the data of the camera device and the lidar sensor are further fused, and finally the fused data is processed by a deep learning model to improve the accuracy of bucket tooth abnormality detection.

Continuing to refer to FIG. 1 , when the bucket tooth abnormality determination unit 130 determines that the bucket tooth is in an abnormal state, the information prompting unit 140 prompts the bucket tooth abnormal state information.

Specifically, the information prompting unit 140 may be a display screen or a speaker. When the bucket tooth abnormality determination unit 130 determines that the bucket teeth are in an abnormal state, such as a missing bucket tooth or a broken bucket tooth, the information prompting unit 140 issues a prompt to the user based on the abnormal state information of the bucket teeth. For example, the location of the missing or broken bucket teeth may be displayed on a display screen, or the user may be prompted by sound. In actual applications, skilled technicians may adopt prompting methods known in the art, such as alarm lights, etc., and the embodiments of the present disclosure do not impose specific restrictions on this. Exemplarily, an embodiment of the present disclosure provides a schematic diagram of the structure of a bucket tooth state detection system in which a bucket tooth abnormality determination unit and an information prompting unit are arranged on a loading device. This will be described in detail below with reference to Figures 2-6.

As shown in FIG. 2 , the bucket tooth state detection system 200 includes a loading device 210 and a transportation device 220 .

The loading device 210 includes a collection device 211 , a bucket tooth abnormality determination unit 212 , an information prompt unit 213 and a communication unit 214 .

The acquisition device 211 has the same structure and function as the acquisition device 112 in Figure 1, and is used to acquire relevant data information of the multiple bucket teeth of the bucket 111. Exemplarily, the acquisition device 211 includes one or a combination of a camera device, a laser radar sensor, and a millimeter wave radar sensor; the camera device is used to acquire image information of the multiple bucket teeth, and the laser radar sensor and the millimeter wave radar sensor are used to acquire point cloud data information of the multiple bucket teeth.

The bucket tooth abnormality determination unit 212 determines the bucket tooth abnormality status information according to the relevant data information of the plurality of bucket teeth collected by the collection device 211 .

Specifically, the bucket tooth abnormality determination unit 212 is used to determine the abnormal state of the bucket tooth by performing determination analysis based on the relevant data information of the bucket tooth collected by the acquisition device 211. Before performing the determination analysis, the bucket tooth state detection system 200 includes a preliminary data collection and modeling process, that is, a mathematical model of the bucket tooth of the bucket is constructed based on the pre-collected sample data, and then based on feature comparison or deep learning, it is determined and analyzed whether the bucket tooth is abnormal.

Taking the acquisition device 211 as a camera device as an example, the camera device captures image information of the shape of the bucket teeth, surface wear, and possible cracks or damage, and then pre-processes the image to eliminate noise and enhance features. Finally, the image data collected by the camera device is processed through a neural network model to determine the abnormal status information of the bucket teeth.

Taking the acquisition device 211 as a laser radar sensor or a millimeter wave radar sensor as an example, the laser radar sensor or the millimeter wave radar sensor captures the point cloud data of the shape and surface features of the bucket teeth in three-dimensional form, including the bumps and flatness of the bucket teeth, etc., and then uses the corresponding data processing algorithm to segment, extract features and detect the point cloud data. Finally, the point cloud data is processed by training a deep learning model to determine the abnormal status information of the bucket teeth.

Preferably, a combination of a camera device, a lidar sensor and a millimeter-wave radar sensor can be used as an acquisition device 211, so that the surface information of the camera device and the three-dimensional information of the lidar sensor and the millimeter-wave radar sensor can be used to provide more accurate bucket tooth data, and then the data of the camera device and the lidar sensor are further fused, and finally the fused data is processed by a deep learning model to improve the accuracy of bucket tooth abnormality detection.

When the bucket tooth abnormality determination unit 212 determines that the bucket tooth is in an abnormal state, the information prompting unit 213 prompts the bucket tooth abnormal state information.

Specifically, the information prompting unit 213 may be a display screen or a speaker. When the bucket tooth abnormality determination unit 212 determines that the bucket teeth are in an abnormal state, such as a missing bucket tooth or a broken bucket tooth, the information prompting unit 213 issues a prompt to the user based on the abnormal state information of the bucket teeth. For example, the position of the missing or broken bucket teeth may be displayed on a display screen, or the user may be prompted by sound. In practical applications, skilled technicians may adopt prompting methods known in the art, such as an alarm light, etc., and the embodiments of the present disclosure do not impose specific restrictions on this.

The communication unit 214 is used to send the information of the collection device 211 or the bucket tooth abnormality determination unit 212 to the transportation equipment 220 or the cloud platform 230 (see Figures 5-6). The communication unit 214 can be a cellular network communication module, a vehicle-to-vehicle V2V communication module and/or a vehicle-to-network V2N communication module, etc., which is not specifically limited in the embodiments of the present disclosure.

The bucket tooth state detection system of the disclosed embodiment collects relevant data information of the bucket teeth through a collection device arranged on the loading equipment, so as to determine whether there is any abnormality in the bucket teeth. When an abnormality occurs, a warning message is issued to prompt the operator to deal with it in time, and the relevant information is sent to the transportation equipment or the cloud platform, thereby effectively improving the working efficiency and safety factor of the loading equipment.

Optionally, the bucket tooth state detection system 200 of the embodiment of the present disclosure may further include a remote control center, namely a cloud platform 230 (see FIGS. 5-6 ). The cloud platform 230 may be connected to the loading device 210 and the transport device 220 for communication, and the cloud platform may receive information from the bucket tooth abnormality determination unit, and prompt the bucket tooth information and bucket tooth abnormal state information on the cloud platform.

As shown in FIG3 , it is a schematic structural diagram of a loading device 210 according to another embodiment of the present disclosure.

As shown in FIG3 , the loading device 210 has most of the same structural features as the loading device 210 in FIG2 , and the same features of the two are not repeated here. The loading device 210 in FIG3 is different from the loading device 210 in FIG2 in that it also includes a bucket state acquisition module 215 and a processing unit 216.

Among them, the bucket status acquisition module 215 is used to obtain the status information of the bucket; when the bucket is in a specified state based on the information obtained by the bucket status acquisition module 215, the processing unit 216 sends a collection instruction to the collection device 211, thereby collecting relevant data information of the multiple bucket teeth.

The specified state includes at least one of the following:

The bucket teeth are in a state where they are fully exposed, the bucket teeth are in a state where they are partially exposed, the bucket arm is started and running but has not yet been loaded with materials, the bucket is started and running for a specified time, the bucket is started and running for a specified displacement, and the bucket is in a suspended state.

In this embodiment, the designated time or the designated displacement may be determined according to the current motion characteristics of the excavator (eg, the operating speed of the excavating arm, etc.) or based on prior experience.

Exemplarily, the bucket status acquisition module 215 can automatically acquire the control instructions of the loading equipment 210 when the staff of the loading equipment 210 is operating the loading equipment, so as to judge the working status of the bucket according to the control instructions; when it is judged that the bucket is in the aforementioned specified state, the collection device 211 is controlled to collect relevant data information of the bucket teeth.

The processing unit 216 is used to determine that the bucket is in the specified state when the control instruction meets the specified condition. For example, the control instruction meets the specified condition including: the control instruction is a target instruction, and/or the loading device obtains the target instruction for a specified time.

Optionally, the target instruction is a specific instruction issued by an operator in the excavator, for example, an instruction to control the digging arm to switch from rising to falling, an instruction to control the bucket to dump materials, etc. Preferably, the target instruction corresponds to controlling the excavator to be in a specified state, and the excavator state in this state or at the switching moment of switching to this state is that the bucket is partially exposed or fully exposed.

Optionally, the specified duration can be determined based on the current motion characteristics of the excavator or based on prior experience. For example, the specified duration can be determined based on the motion speed of the excavator's digging arm (i.e., the current motion characteristics). The faster the motion speed, the shorter the specified duration. In one embodiment, when the control instruction is to control the digging arm to switch from a non-working state to an ascending state, and in accordance with the instruction, the digging arm ascends, and the duration of the ascending reaches a specified duration, it means that the control instruction meets the specified condition.

Alternatively, the designated state may also be that a worker of the loading device 210 observes the working state of the bucket with naked eyes, and when it is determined that the bucket is in the aforementioned designated state, the collection device 211 is controlled to collect relevant data information of the bucket teeth.

It should be noted that the above-mentioned method for obtaining the bucket status is only an example, and those skilled in the art may adopt a method for obtaining the bucket status known in the art, and the embodiments of the present disclosure do not impose any specific limitation on this.

Furthermore, the processing unit 216 is further used to filter the relevant data information of the plurality of bucket teeth collected by the collection device 211 to obtain the target state information of the plurality of bucket teeth, and the bucket tooth abnormality determination unit 212 is used to determine the bucket tooth abnormal state information according to the target state information of the plurality of bucket teeth. The filtering process includes removing images whose position and/or posture of the corresponding target object in the image information does not meet the specified conditions.

Specifically, the data collected by the collection device 211 may include information that the bucket is not in the specified state, such as information when the bucket teeth are completely covered. In this case, the processing unit 216 first performs filtering processing on the data collected by the collection device 211 to filter out information in the image information that the position and/or posture of the corresponding target object does not meet the specified conditions, thereby reducing the amount of data processing and improving processing efficiency.

As shown in FIG4 , it is a schematic diagram of the operation flow of the bucket tooth state detection system of the embodiment of the present disclosure. The operation flow 400 includes the following steps:

S401, program starts;

S402, the loading device starts working;

S403, determining whether the bucket is in a specified working state, including: a state in which the bucket teeth of the bucket are fully exposed, a state in which the bucket teeth of the bucket are partially exposed, a state in which the bucket arm is started and running but has not yet loaded with materials, a state in which the bucket is started and running for a specified time, a state in which the bucket is started and running for a specified displacement, and a state in which the bucket is suspended;

S404, when it is determined that the bucket is in a specified working state, controlling the collection device to collect data information of multiple bucket teeth;

S405, determining whether there is an abnormality in the bucket teeth according to the collected data information of the plurality of bucket teeth;

S406, when there is an abnormality in the bucket tooth, output the abnormality prompt information;

Steps S403 to S405 are continuously executed until the loading device stops working, and then the program ends.

The bucket tooth state detection system of the disclosed embodiment collects relevant data information of the bucket teeth through a collection device arranged on the loading equipment, thereby determining whether there is an abnormality in the bucket teeth, and when an abnormality occurs, a warning message is issued to prompt the operator to handle it in time, thereby improving the working efficiency and safety factor of the loading equipment. At the same time, the bucket tooth state detection system will also judge the working state of the bucket, and only collect relevant data information of the bucket when the bucket is in a specified working state, and pre-process the collected bucket tooth information, effectively improving the data processing efficiency.

As shown in Figures 5-6, they are schematic diagrams 1 and 2 of the loading device and the transport device of the embodiment of the present disclosure performing loading operations.

As shown in FIGS. 5-6 , after the loading device 210 excavates the material, the bucket of the loading device 210 loads the material into the bucket of the transport device 220. However, in actual operation, there is a risk of collision between the bucket or bucket teeth of the loading device 210 and the transport device 220.

In view of this, in the embodiment of the present disclosure, when performing loading operations, the cloud platform 230 will set a safety fence 225 relative to the transport equipment 220 according to the location information and environmental information sent by the transport equipment 220. When the loading equipment 210 may enter the area of the safety fence, the loading equipment 210 and the transport equipment 220 will simultaneously output anti-collision prompt information to indicate the risk of collision. Exemplarily, the area of the safety fence 225 is the area occupied by the bucket of the transport equipment 220 or the area occupied by the bucket of the transport equipment 220, or the area occupied by the bucket or the area occupied by the bucket of the transport equipment 220 further includes the surrounding area within a predetermined range.

At the same time, the bucket tooth detection system of the embodiment of the present disclosure also includes a driving control unit 224 (see Figure 2), which is used to control the driving strategy of the transportation equipment according to the anti-collision prompt information to avoid collision.

The bucket tooth detection system of the disclosed embodiment calculates the safety fence 225 of the transport equipment, so that when the loading equipment may enter the area of the safety fence 225, anti-collision prompt information is output on the loading equipment and the transport equipment at the same time to prompt the existence of a collision risk, and the driving strategy of the transport equipment is controlled to avoid collision.

According to another embodiment of the present application, a detection system is provided, which includes: a loading device, such as an excavator, provided with a bucket, wherein the bucket includes bucket teeth; a transportation device, such as an unmanned vehicle or a manned vehicle, for transporting materials loaded by the loading device; the loading device is further provided with a collection device for collecting relevant data of the bucket;

The system further comprises: a processing device for analyzing relevant data of the bucket to obtain an analysis result, wherein the analysis result is used to indicate the state of the bucket teeth.

In this embodiment, optionally, the acquisition device may be at least one or a combination of a camera, a lidar, and a millimeter-wave radar.

In this embodiment, optionally, the processing device can be arranged on a loading device, a transportation device or a cloud platform.

In this embodiment, optionally, in order to improve data processing efficiency, the collection device sends the collected bucket data, such as images, to the processing device, and the processing device filters the data to obtain data that meets the requirements for subsequent analysis; or, the collection device only collects the bucket data when the bucket is in a specific state, and sends the collected data to the processing device, which directly processes it.

In this embodiment, the loading device is optionally further provided with a bucket state acquisition module, which is used to acquire the state of the bucket, and when the bucket is in or about to be in a specified state, generate a collection instruction and send the collection instruction to the collection device. For example, the state in which the bucket is not loaded with materials is the specified state; the state in which the bucket moves downward to a certain extent (time or displacement) is the specified state; the state in which the bucket has not yet landed (in the air) is the specified state; the state in which the bucket moves upward to a certain extent is the specified state.

In this embodiment, the processing device may filter the image. In one embodiment, the position/posture of a target object in a certain image is obtained, and the image whose position/posture of the corresponding target object does not meet the specified conditions is removed. Alternatively, the excavator may directly receive the instruction, and if the excavator operator finds it suitable for taking pictures with naked eyes, the camera is controlled to start collecting images.

In this embodiment, optionally, the transport vehicle can be a manned vehicle, and an alarm module can be provided on the transport vehicle end to output an alarm message to prompt the driver when the bucket teeth are in an abnormal state (for example, worn, fallen off).

In this embodiment, optionally, it can be applicable to transport vehicles without unmanned vehicles, and the information of bucket tooth abnormality can be sent to the cloud platform. The cloud platform can perform anti-collision processing, because once the bucket is abnormal, it will affect the positioning of the bucket, resulting in the bucket and the unmanned vehicle being scratched. The cloud platform can generate/update a safety fence for the unmanned vehicle/bucket (the bucket cannot invade the fence area) based on the abnormal information of the bucket teeth, so as to ensure safety. Optionally, the cloud platform end can also start the remote control driving of the unmanned transport vehicle when receiving the abnormal information of the bucket teeth to ensure the safety of the unmanned vehicle. Optionally, the information of bucket tooth abnormality is sent to the excavator end, the excavator end outputs an alarm message, and the excavator master adjusts the operation of the bucket according to the alarm information. Optionally, the excavator is an unmanned excavator, and the information of bucket tooth abnormality is sent to the excavator end, and the excavator adjusts the operation of the bucket according to the abnormal information, such as increasing the safe distance from the transport vehicle.

In this embodiment, optionally, the transport vehicle can support both manned and unmanned driving. The solution can judge the driving status of the transport vehicle. In the event of an abnormality in the bucket teeth, an appropriate control method is selected from the above embodiments according to the manned/unmanned driving situation.

The detection system provided in the above embodiment automatically monitors and determines whether the bucket teeth are detached or broken, and issues a warning message when an abnormal situation occurs, prompting the operator to handle it in time, thereby effectively improving the working efficiency and safety factor of the loading equipment.

According to the present invention, there is also provided a loading device, which includes a bucket, a collection module, a bucket status acquisition module and an information prompt module, wherein:

The acquisition module is used to acquire relevant data information of a plurality of bucket teeth of the bucket;

The bucket state acquisition module is used to acquire state information of the bucket, and when the bucket is in a specified state, control the acquisition device to collect relevant data information of the plurality of bucket teeth;

The information prompt module is used to prompt the bucket teeth abnormal state information when it is determined that there is bucket teeth abnormal state information according to the relevant data information of the multiple bucket teeth.

Among them, optionally, the step of determining whether there is abnormal state information of bucket teeth based on relevant data information of the multiple bucket teeth can be executed through a cloud platform or a processor of the excavator.

FIG7 is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. As shown in FIG7 , the electronic device 700 of this embodiment includes: a processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable on the processor 701. When the processor 701 executes the computer program 703, the steps in the above-mentioned various method embodiments are implemented. Alternatively, when the processor 701 executes the computer program 703, the functions of each module/unit in the above-mentioned various device embodiments are implemented.

Exemplarily, the computer program 703 may be divided into one or more modules/units, which are stored in the memory 702 and executed by the processor 701 to complete the present disclosure. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 703 in the electronic device 700.

The electronic device 700 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 700 may include, but is not limited to, a processor 701 and a memory 702. Those skilled in the art may understand that FIG. 7 is only an example of the electronic device 700 and does not constitute a limitation on the electronic device 700. The electronic device 700 may include more or fewer components than shown in the figure, or may combine certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

The processor 701 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

The memory 702 may be an internal storage unit of the electronic device 700, for example, a hard disk or memory of the electronic device 700. The memory 702 may also be an external storage device of the electronic device 700, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 700. Further, the memory 702 may also include both an internal storage unit of the electronic device 600 and an external storage device. The memory 702 is used to store computer programs and other programs and data required by the electronic device. The memory 702 may also be used to temporarily store data that has been output or is to be output.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present disclosure. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

In the embodiments provided in the present disclosure, it should be understood that the disclosed devices/electronic devices and methods can be implemented in other ways. For example, the device/electronic device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the present disclosure.

Claims (12)

1. A tooth condition detection system, the system comprising:

A loading apparatus comprising a bucket having a plurality of teeth; the loading equipment is provided with an acquisition device which is used for acquiring related data information of the plurality of bucket teeth of the excavator bucket; and

A transport apparatus for transporting material loaded by the bucket of the loading apparatus; wherein,

The system further comprises a bucket tooth abnormality judging unit and an information prompting unit, wherein the bucket tooth abnormality judging unit is used for judging bucket tooth abnormal state information according to the related data information of the plurality of bucket teeth acquired by the acquisition device; the information prompting unit is used for prompting the bucket tooth abnormal state information.

2. The system of claim 1, wherein the system further comprises: and the running control unit is used for controlling the running strategy of the transportation equipment according to the information prompted by the information prompting unit.

3. The system of claim 1, wherein the acquisition device comprises at least one of an image acquisition device, a lidar sensor, and a millimeter wave radar sensor.

4. The system of claim 1, wherein the loading apparatus further comprises a bucket status acquisition module for acquiring status information of the bucket, and wherein the acquisition device performs acquisition of data information related to the plurality of teeth when the bucket is determined to be in a specified state based on the status information.

5. The system of claim 4, wherein the specified state comprises at least one of: the bucket is in a suspended state, wherein the bucket teeth of the bucket are in an exposed state, the bucket arms are started to operate and not yet loaded with materials, the bucket is started and operated for a specified time, the bucket is started and operated for a specified displacement, and the bucket is in a suspended state.

6. The system of claim 4, wherein the bucket status acquisition module is configured to determine a control command acquired by the loading device and to determine that the bucket is in the specified status if the control command satisfies a specified condition.

7. The system of claim 6, wherein the control instruction meeting a specified condition comprises: the control instruction is a target instruction, and/or the loading device obtains the target instruction to reach the appointed duration.

8. The system of claim 1 or 2, wherein the data information related to the plurality of teeth includes image information, the system further comprising:

The processing unit is used for filtering the related data information of the bucket teeth acquired by the acquisition device to obtain target state information of the bucket teeth, wherein the target state information is used for judging the bucket tooth abnormal state information by the bucket tooth abnormal judging unit, and the filtering processing comprises removing images of which the positions and/or the postures of the corresponding target objects in the image information do not meet the specified conditions.

9. The system of any one of claims 1-8, further comprising a communication unit for sending the tooth anomaly status information to a cloud platform; the cloud platform is used for judging whether collision risk exists between the loading equipment and the transporting equipment according to the bucket tooth abnormal state information, and controlling the transporting equipment and/or the loading equipment according to a judgment result of the collision risk.

10. The system of claim 9, wherein the cloud platform is further configured to adjust a safety fence of the loading device if it is determined that the loading device is at risk of collision with the transport device, wherein the adjusted safety fence is related to the tooth anomaly status information.

11. The system of any of claims 1-10, wherein the tooth anomaly status information includes at least one of tooth wear, tooth loss.

12. The utility model provides a loading equipment, its characterized in that, loading equipment includes bucket, collection module, bucket state acquisition module and information prompt module, wherein:

the acquisition module is used for acquiring related data information of a plurality of bucket teeth of the excavator bucket;

The bucket state acquisition module is used for acquiring state information of the bucket and controlling the acquisition device to acquire related data information of the plurality of bucket teeth when the bucket is in a specified state;

The information prompt module is used for prompting the bucket tooth abnormal state information when judging that the bucket tooth abnormal state information exists according to the related data information of the bucket teeth.