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

Abstract

The present disclosure provides a tooth status detection system and loading apparatus, the system comprising: a loading apparatus including a bucket having a plurality of teeth; wherein, the loading equipment is provided with an acquisition device for acquiring the related data information of a plurality of bucket teeth of the excavator bucket; and a transporting device for transporting the material loaded by the bucket of the loading device; 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 bucket teeth acquired by the acquisition device; and the information prompt unit is used for prompting the abnormal state information of the bucket tooth. According to the bucket tooth state detection system and the loading device, bucket tooth information is automatically detected through the bucket tooth state detection system, whether the bucket tooth is abnormal or not is judged, so that operators are prompted, and the working efficiency and the safety coefficient of the loading device are effectively improved.

Description

Bucket tooth state detection system and loading equipment

Technical Field

The disclosure belongs to the technical field of automatic driving, and particularly relates to a bucket tooth state detection system and loading equipment.

Background

Surface mine loading equipment, such as an excavator, is easy to fall off or break the bucket teeth on the excavator bucket due to the hardness of the materials or improper operation of workers in the process of cutting the materials when the excavator bucket performs excavating operation.

When the bucket teeth fall off or break, if the bucket teeth cannot be found and processed in time, the subsequent excavation and loading work can be influenced, for example, the bucket teeth of the excavator are broken or missing, and the working efficiency of the loading equipment can be reduced; meanwhile, the falling bucket teeth are mixed into the materials, so that potential safety hazards are brought to subsequent production work.

In the related art, the state of the tooth is usually checked manually. However, in view of the complex working environment of the mining area, workers cannot frequently get off to check the state of the bucket teeth; and there are a large number of unmanned vehicles and loading vehicles in the mining area, and workers often get off the vehicle to present a safety risk to themselves.

Therefore, how to timely detect the abnormal state of the bucket tooth of the loading device is a technical problem to be solved in the field.

Disclosure of Invention

The embodiment of the disclosure aims at least solving one of the technical problems existing in the prior art, and provides a bucket tooth state detection system and loading equipment, wherein the abnormal conditions of bucket tooth falling or breakage are detected and judged through a bucket tooth detection unit arranged on the loading equipment, so that operators are timely prompted, the efficiency is improved, and the safety risk is reduced.

In a first aspect of the present disclosure, there is provided a tooth condition detection 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.

Further, 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.

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

Further, the loading device further comprises a bucket state acquisition module, wherein the bucket state acquisition module is used for acquiring state information of the bucket, and the acquisition device acquires related data information of the bucket teeth when the bucket is determined to be in a specified state based on the state information.

Further, the specified state includes 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.

Further, the bucket state acquisition module is used for determining a control instruction acquired by the loading equipment and determining that the bucket is in the specified state under the condition that the control instruction meets specified conditions.

Further, the control instruction meeting the specified condition includes: the control instruction is a target instruction, and/or the loading device obtains the target instruction to reach the appointed duration.

Further, 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.

Further, the system also comprises a communication unit, wherein the communication unit is used for sending the bucket tooth abnormal state 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.

Further, the cloud platform is further configured to adjust a safety fence of the loading device when it is determined that the loading device and the transporting device have collision risk, where the adjusted safety fence is related to the bucket tooth abnormal state information.

Further, the bucket tooth abnormal state information comprises at least one of bucket tooth abrasion and bucket tooth missing.

In a second aspect of the present disclosure, a loading apparatus is provided, the loading apparatus comprising a bucket, an acquisition module, a bucket status acquisition module, and an 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.

According to the bucket tooth state detection system and the loading device, whether the bucket tooth falls off or breaks is automatically monitored and judged, and when abnormal conditions occur, warning information is sent out to prompt operators to timely process, and therefore the working efficiency and the safety coefficient of the loading device are effectively improved.

Drawings

FIG. 1 is a schematic diagram of a tooth status detection system according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a tooth status detection system according to an embodiment of the disclosure;

FIG. 3 is a schematic view of a loading apparatus according to another embodiment of the present disclosure;

FIG. 4 is a schematic diagram of an operational flow of a tooth status detection system according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram I of a loading device according to an embodiment of the present disclosure when performing a loading operation;

FIG. 6 is a second schematic diagram of a loading device according to an embodiment of the present disclosure during a loading operation;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present disclosure.

The terminology used in the embodiments of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the disclosure. As used in this disclosure of embodiments and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of embodiments of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.

Fig. 1 is a schematic diagram of a tooth status detection system according to an embodiment of the disclosure.

As shown in fig. 1, the tooth status detection system 100 includes a loading apparatus 110, the loading apparatus 100 including a bucket 111 having a plurality of teeth; wherein, the loading device 110 is provided with an acquisition device 112, and the acquisition device 112 is used for acquiring related data information of the plurality of bucket teeth of the bucket 111; and

A transporting device 120, wherein the transporting device 120 is used for transporting materials loaded by the bucket 111 of the loading device 110; wherein,

The tooth state detection system 100 further includes a tooth abnormality determination unit 130 and an information prompt unit 140, where the tooth abnormality determination unit 130 is configured to determine tooth abnormal state information according to the data information related to the plurality of teeth acquired by the acquisition device 112; the information prompting unit 140 is configured to prompt the tooth abnormal state information.

The tooth abnormality determination unit 130 and/or the information prompt unit 140 may be provided in the loading device 110, the transporting device 120, a remote control center (cloud platform), or other platforms or terminals. In practical applications, the positions of the tooth abnormality determination unit 130 and the information prompt unit 140 may be set by those skilled in the art as required, and the positions of the two are not particularly limited in the embodiment of the present disclosure.

With continued reference to FIG. 1, the collection device 112 is configured to collect data information regarding the plurality of teeth of the bucket 111. Illustratively, the acquisition device 112 includes one or a combination of a camera device, a lidar sensor, a millimeter wave radar sensor; the camera device is used for acquiring image information of the bucket teeth, and the laser radar sensor and the millimeter wave radar sensor are used for acquiring point cloud data information of the bucket teeth.

It should be noted that, the setting position of the collecting device 112 is not limited to the setting position on the roof of the loading device 110 shown in fig. 1, and the setting position can be freely selected based on the purpose of collecting, and the embodiment is not particularly limited.

With continued reference to fig. 1, the tooth anomaly determination unit 130 determines tooth anomaly status information according to the data information about the plurality of teeth acquired by the acquisition device 112.

Specifically, the tooth anomaly determination unit 130 is configured to perform a determination analysis according to the data information about the tooth acquired by the acquisition device 112, so as to determine the abnormal state of the tooth.

Taking the acquisition device 112 as an image pickup device for example, the image pickup device captures the image information of the shape, the surface abrasion condition and the possible cracks or damages of the bucket teeth, then the noise and the enhancement characteristics are eliminated by preprocessing the image, and finally the image data acquired by the image pickup device is processed through a neural network model to judge the abnormal state information of the bucket teeth.

Taking the acquisition device 112 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 point cloud data of the shape and the surface characteristics of the bucket tooth in a three-dimensional form, including the concave-convex, the flatness and the like of the bucket tooth, then the point cloud data are segmented, extracted and detected through a corresponding data processing algorithm, and finally the point cloud data are processed through a training deep learning model, so that the abnormal state information of the bucket tooth is judged.

Preferably, the combination of the camera device, the laser radar sensor and the millimeter wave radar sensor can be used as the acquisition device 112, so that more accurate bucket tooth data can be provided by utilizing the surface information of the camera device and the three-dimensional information of the laser radar sensor and the millimeter wave radar sensor, the data of the camera device and the data of the laser radar sensor are further fused, and finally the fused data are processed through the deep learning model, so that the accuracy of bucket tooth anomaly detection is improved.

With continued reference to fig. 1, the information presenting unit 140 presents the tooth abnormal state information when the tooth abnormal determination unit 130 determines that an abnormal state exists in the tooth.

Specifically, the information prompt unit 140 may be a display screen or a speaker. When the tooth abnormality determination unit 130 determines that there is an abnormal state of the tooth, for example, there is a missing tooth or a broken tooth, the information presentation unit 140 presents a user with a presentation based on the state information of the tooth abnormality. For example, the position of the missing or broken tooth can be displayed on a display screen, or the user can be prompted by sound. In practical applications, those skilled in the art may adopt a prompting manner known in the art, for example, a warning lamp may also be included, and the embodiment of the disclosure is not limited in particular. Exemplary, an embodiment of the present disclosure provides a schematic structural diagram of a tooth status detection system in which a tooth abnormality determination unit and an information presentation unit are provided to a loading apparatus. The details will be described below with reference to fig. 2-6.

As shown in fig. 2, the tooth status detection system 200 includes a loading device 210, a transporting device 220.

The loading device 210 includes a collecting device 211, a tooth abnormality determining unit 212, an information prompting unit 213, and a communication unit 214.

The collecting device 211 has the same structure and function as the collecting device 112 in fig. 1, and is used for collecting data information related to the plurality of teeth of the bucket 111. Illustratively, the acquisition device 211 includes one or a combination of a camera device, a lidar sensor, a millimeter wave radar sensor; the camera device is used for acquiring image information of the bucket teeth, and the laser radar sensor and the millimeter wave radar sensor are used for acquiring point cloud data information of the bucket teeth.

Wherein, the tooth abnormality determination unit 212 determines tooth abnormal state information according to the data information about the plurality of teeth collected by the collection device 211.

Specifically, the tooth abnormality determination unit 212 is configured to perform a determination analysis according to the data information about the tooth acquired by the acquisition device 211, so as to determine the abnormal state of the tooth. Prior to performing the decision analysis, the tooth status detection system 200 includes a pre-data acquisition and modeling process, i.e., constructing a mathematical model of the tooth of the bucket from pre-acquired sample data, and then deciding whether an anomaly exists in the tooth based on feature comparison or deep learning.

Taking the acquisition device 211 as an image pickup device for example, the image pickup device captures the shape, surface abrasion condition and possibly crack or damaged image information of the bucket tooth, then the noise and the enhancement characteristic are eliminated by preprocessing the image, finally the image data acquired by the image pickup device is processed through a neural network model, and the abnormal state information of the bucket tooth is determined.

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 point cloud data of the shape and the surface characteristics of the bucket tooth in a three-dimensional form, wherein the point cloud data comprises the concave-convex shape, the flatness and the like of the bucket tooth, then the point cloud data is segmented, the characteristics are extracted and detected through a corresponding data processing algorithm, and finally the point cloud data is processed through a training deep learning model, so that the abnormal state information of the bucket tooth is judged.

Preferably, the combination of the camera device, the laser radar sensor and the millimeter wave radar sensor can be used as the acquisition device 211, so that more accurate bucket tooth data can be provided by utilizing the surface information of the camera device and the three-dimensional information of the laser radar sensor and the millimeter wave radar sensor, the data of the camera device and the data of the laser radar sensor are further fused, and finally the fused data are processed through the deep learning model, so that the accuracy of bucket tooth anomaly detection is improved.

Wherein, the information presenting unit 213 presents the abnormal state information of the tooth when the tooth abnormality determining unit 212 determines that the tooth has an abnormal state.

Specifically, the information prompt unit 213 may be a display screen or a speaker. When the tooth abnormality determination unit 212 determines that there is an abnormal state of the tooth, for example, there is a missing tooth or a broken tooth, the information presentation unit 213 presents a user with a presentation based on the state information of the tooth abnormality. For example, the position of the missing or broken tooth can be displayed on a display screen, or the user can be prompted by sound. In practical applications, those skilled in the art may adopt a prompting manner known in the art, for example, a warning lamp may also be included, and the embodiment of the disclosure is not limited in particular.

The communication unit 214 is configured to send information of the collecting device 211 or the tooth abnormality determining unit 212 to the transporting device 220 or the cloud platform 230 (see fig. 5-6). The communication unit 214 may be a cellular network communication module, a vehicle-to-vehicle V2V communication module, a vehicle-to-network V2N communication module, or the like, to which embodiments of the present disclosure are not limited in particular.

According to the bucket tooth state detection system, the related data information of the bucket tooth is collected through the collection device arranged on the loading device, so that whether the bucket tooth is abnormal or not is judged, when an abnormal situation occurs, warning information is sent, operators are prompted to timely process the bucket tooth state detection system, the related information is sent to the transportation device or the cloud platform, and the working efficiency and the safety coefficient of the loading device are effectively improved.

Optionally, the tooth status detection system 200 of the disclosed embodiments may also include a remote control center, namely a cloud platform 230 (see fig. 5-6). The cloud platform 230 may be in communication connection with the loading device 210 and the transporting device 220, and may receive the information of the tooth anomaly determination unit, and prompt the tooth information and the tooth anomaly status information at the cloud platform end.

As shown in fig. 3, a loading apparatus 210 according to another embodiment of the present disclosure is schematically configured.

As shown in fig. 3, the loading device 210 has most of the same structural features as the loading device 210 in fig. 2, and the same features are not described herein. The loader 210 in fig. 3 differs from the loader 210 in fig. 2 in that it further comprises a bucket status acquisition module 215 and a processing unit 216.

Wherein, the bucket status obtaining module 215 is configured to obtain status information of the bucket; the processing unit 216 sends an acquisition instruction to the acquisition device 211 when the bucket acquired by the bucket state acquisition module 215 is in a specified state, so as to acquire data information related to the plurality of bucket teeth.

Wherein the specified state includes 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.

In this embodiment, the specified time or specified displacement may be determined from current motion characteristics of the excavator (e.g., the operating speed of the excavator arm, etc.) or based on a priori experience.

Illustratively, the bucket status obtaining module 215 may automatically obtain a control instruction of the loading device 210 during a process of operating the loading device by a worker of the loading device 210, so as to determine the working status of the bucket according to the control instruction; when the bucket is judged to be in the specified state, the acquisition device 211 is controlled to acquire the related data information of the bucket teeth.

Wherein the processing unit 216 is configured to determine that the bucket is in the specified state if the control instruction satisfies a specified condition. For example, the control instruction satisfying the specified condition includes: the control instruction is a target instruction, and/or the loading device obtains the target instruction to reach the appointed duration.

Optionally, the target instruction is a specific instruction issued by an operator in the excavator, for example, an instruction for controlling the excavator arm to switch from ascending to descending, an instruction for controlling the excavator bucket to dump materials, and the like. Preferably, the target command corresponds to control of the excavator to be in a specified state, and the excavator state is the partially exposed or the fully exposed excavator state in the state or at the switching time of switching to the state.

Alternatively, the specified duration may be determined based on current motion characteristics of the excavator or based on a priori experience. For example, the specified duration may be determined according to a movement speed (i.e., a current movement characteristic) of a boom of the excavator, the faster the movement speed, the shorter the specified duration. In one embodiment, when the control command is to control the arm to switch from the inactive state to the raised state, the arm is raised according to the command, and the raised maintenance time reaches the specified time, which represents that the control command meets the specified condition.

Alternatively, the specified state may also be that a worker of the loading apparatus 210 observes the working state of the bucket by naked eyes, and when judging that the bucket is in the specified state, controls the collecting device 211 to collect data information about the tooth.

It should be noted that the above-mentioned manner of acquiring the state of the bucket is merely illustrative, and those skilled in the art may adopt a manner of acquiring the state of the bucket as known in the art, which is not particularly limited in the embodiments of the present disclosure.

Further, the processing unit 216 is further configured to perform filtering processing on the data information related to the plurality of teeth collected by the collecting device 211 to obtain target state information of the plurality of teeth, and the tooth anomaly determination unit 212 is configured to determine the tooth anomaly state information according to the target state information of the plurality of teeth. The filtering processing comprises removing images of which the positions and/or the postures of the corresponding targets in the image information do not meet the specified conditions.

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

Fig. 4 is a schematic operation flow diagram of the tooth status detection system according to the embodiment of the disclosure. The operation flow 400 includes the following steps:

S401, starting a program;

S402, starting the loading equipment to work;

S403, judging whether the bucket is in a specified working state or not, comprising: the bucket is in a suspended state, wherein the bucket teeth of the bucket are exposed, the bucket arms are started to operate and not 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;

s404, when the excavator bucket is judged to be in a specified working state, controlling the acquisition device to acquire data information of a plurality of bucket teeth;

s405, judging whether the bucket teeth are abnormal or not according to the collected data information of the plurality of bucket teeth;

s406, when the bucket tooth is abnormal, outputting the abnormal prompt information;

Steps S403 to S405 are continuously performed until the loading device stops operating, and the routine ends.

According to the bucket tooth state detection system, the related data information of the bucket tooth is collected through the collection device arranged on the loading device, so that whether the bucket tooth is abnormal or not is judged, and when abnormal conditions occur, warning information is sent to prompt operators to process in time, and the working efficiency and the safety coefficient of the loading device are improved. Meanwhile, the bucket tooth state detection system can judge the working state of the bucket, only collect the relevant data information of the bucket when the bucket is in the appointed working state, and pre-process the collected bucket tooth information, so that the data processing efficiency is effectively improved.

Fig. 5-6 are a first schematic diagram and a second schematic diagram of a loading operation performed by the loading device and the transporting device according to the embodiment of the present disclosure.

As shown in fig. 5-6, after the loading device 210 excavates material, the bucket of the loading device 210 loads material into the bucket of the transport device 220. In actual operation, however, the bucket or tooth of the loader 210 is at risk of collision with the transporter 220.

In view of this, in the embodiment of the present disclosure, when performing the loading operation, the cloud platform 230 sets the security fence 225 corresponding to the transportation device 220 according to the location information and the environmental information sent by the transportation device 220. When the loading device 210 may enter the area of the security fence, an anti-collision prompt message is output at the same time between the loading device 210 and the transporting device 220, so as to prompt that the collision risk exists. Illustratively, the area of the security fence 225 is an area occupied by a hopper of the transportation device 220 or an area occupied by a hopper of the transportation device 220, or the area occupied by a hopper of the transportation device 220 further includes a peripheral area within a predetermined range, respectively.

Meanwhile, the bucket tooth detection system of the embodiment of the present disclosure further includes a travel control unit 224 (see fig. 2) for controlling a travel strategy of the transportation device according to the anti-collision prompt information, so as to avoid collision.

According to the bucket tooth detection system disclosed by the embodiment of the invention, the safety fence 225 of the transportation equipment is calculated, so that when the loading equipment possibly enters the area of the safety fence 225, anti-collision prompt information is output on the loading equipment and the transportation equipment at the same time, the existence of collision risk is prompted, and the running strategy of the transportation equipment is controlled so as to avoid collision.

According to another embodiment of the present application, there is provided a detection system including: a loading apparatus, such as a dredger, is provided with a bucket comprising teeth; a transport means, such as an unmanned vehicle or a manned vehicle, for transporting the material loaded by the loading apparatus; the loading equipment is also provided with an acquisition device for acquiring related data of the excavator bucket;

wherein the system further comprises: and the processing device is used for analyzing the related data of the bucket to obtain an analysis result, and the analysis result is used for indicating the state of the bucket tooth.

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

In this embodiment, the processing means may alternatively be provided on the loading device, the transportation means or the cloud platform.

In this embodiment, optionally, in order to improve the data processing efficiency, the collecting device sends the collected data, such as images, of the bucket to the processing device, and the processing device performs filtering processing on the data to obtain data meeting the requirement, and performs subsequent analysis; or the acquisition device only acquires the data of the bucket when the bucket is in a specific state and sends the acquired data to the processing device, and the processing device directly processes the acquired data.

In this embodiment, optionally, the loading apparatus is further provided with a bucket status acquisition module for acquiring the status of the bucket, and generating an acquisition instruction and transmitting the acquisition instruction to the acquisition device in case the bucket is in or about to be in a specified status. For example, the bucket is not loaded with material in a designated state; the state that the bucket moves downwards to a certain degree (time or displacement) is a designated state, and the condition that the bucket is not landed (in the air) is a designated state; the bucket moves upwards to a certain degree to be in a specified state.

In this embodiment, optionally, the processing device performs filtering processing on the image, and optionally, in one manner, obtains a position/posture of a target object in a certain image in the image, and rejects images where the position/posture of the corresponding target object does not meet a specified condition. Or the instruction of the excavator side can be directly received, and the excavator player Fu Rouyan can watch and find that the camera is suitable for photographing, and then control and start the camera to collect images.

In this embodiment, optionally, the method may be applicable to a case where the transport vehicle is a manned vehicle, and the transport vehicle end may be provided with an alarm module, and in the case where the bucket tooth state is abnormal (e.g., worn, dropped), alarm information is output to prompt the driver.

In this embodiment, optionally, the method may be applicable to an unmanned vehicle of a transport vehicle, and the information of the tooth abnormality may be sent to the cloud platform. The cloud platform can perform anti-collision treatment because the bucket is positioned once abnormal, so that the bucket and the unmanned vehicle are scratched. The cloud platform can generate/update a safety fence for the unmanned vehicle/hopper (the hopper cannot invade the fence area) according to the abnormal information of the hopper teeth, so that safety is ensured. Optionally, the cloud platform end can start remote control driving of the unmanned carrier vehicle under the condition that abnormal information of the bucket teeth is received, so that safety of the unmanned carrier vehicle is guaranteed. Optionally, the information of the abnormal bucket teeth is sent to the excavator end, the excavator end outputs alarm information, and an excavator worker adjusts the operation of the bucket according to the alarm information. Optionally, the excavator is an unmanned excavator, the information of the abnormal bucket teeth is sent to the excavator end, and the excavator adjusts the operation of the excavator bucket according to the abnormal information, for example, the safety distance between the excavator and the transport vehicle is increased.

In this embodiment, alternatively, the transport vehicle may support both the driver's driving and the unmanned driving, and this scheme may determine the driving state of the transport vehicle, and in the event of an abnormality in the teeth of the bucket, control is performed in a suitable manner selected from the above-described embodiments according to the presence/absence of the driver.

According to the detection system provided by the embodiment, whether the bucket teeth fall off or break is automatically monitored and judged, and when abnormal conditions occur, warning information is sent to prompt operators to timely process, so that the working efficiency and the safety coefficient of the loading equipment are effectively improved.

According to the invention, there is also provided a loading device comprising a bucket, an acquisition module, a bucket status acquisition module and an 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.

The step of determining that the bucket tooth abnormal state information exists according to the related data information of the bucket teeth can be optionally executed through a cloud platform or a processor of the excavator.

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, the electronic apparatus 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. The steps of the various method embodiments described above are implemented by the processor 701 when executing the computer program 703. Or the processor 701, when executing the computer program 703, performs the functions of the modules/units in the various device embodiments described above.

Illustratively, the computer program 703 may be partitioned into one or more modules/units, which are stored in the memory 702 and executed by the processor 701 to complete the present disclosure. One or more of the modules/units may be a series of computer program instruction segments capable of performing particular functions to describe the execution of the computer program 703 in the electronic device 700.

The electronic device 700 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The electronic device 700 may include, but is not limited to, a processor 701 and a memory 702. It will be appreciated by those skilled in the art that fig. 7 is merely an example of an electronic device 700 and is not intended to limit the electronic device 700, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., an electronic device may also include an input-output device, a network access device, a bus, etc.

The processor 701 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (DIGITAL SIGNAL processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-programmable gate array (field-programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 702 may be an internal storage unit of the electronic device 700, for example, a hard disk or a memory of the electronic device 700. The memory 702 may also be an external storage device of the electronic device 700, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the electronic device 700. Further, the memory 702 may also include both internal and external storage units of the electronic device 600. 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.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are also only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present disclosure. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions of actual implementations, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of 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 in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of the method embodiments described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included in the 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.