Method, device, equipment and operating machinery for measuring the cycle of throwing away

Abstract

The present invention provides a method, device, equipment and operating machinery for measuring the swinging cycle, wherein the method comprises: obtaining a target swinging action sequence, a main pump flow rate and a main pump pressure of the operating machinery within a preset time period, wherein the sequence value of a first preset action in the target swinging action sequence is a preset value, and the first preset action is a single action feature of the swinging cycle, which is used to characterize the swinging cycle; dividing the target swinging action sequence into at least two subsequences; based on the first preset action, determining a target subsequence corresponding to the subsequence, the main pump flow rate and the main pump pressure; counting the number of target subsequences, and using the number of target subsequences as the number of swinging cycles. The present invention can solve the defects of high cost and low accuracy of swinging cycle measurement in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of operating machinery, and in particular to a method, device, equipment and operating machinery for measuring a square throw cycle. Background Art

[0002] With the rise of the Industrial 4.0 wave, the field of operating machinery has also ushered in a wave of digitalization and intelligence. As the jewel in the crown of operating machinery, the intelligence level of excavators has important practical significance for the safety and efficiency of engineering construction.

[0003] The excavator's dumping operation is a common operation form. The measurement of the operation cycle is essential for both the test of the excavator's working efficiency and the measurement of the operation output. Since the domestic research on the intelligentization of excavators is still in its infancy, there are relatively few studies on the measurement of the excavator's operation cycle. The current dumping cycle measurement method mainly relies on full-time measurement personnel to count the number of dumping times.

[0004] Common scenarios include the excavator's operating efficiency test process or scenarios such as mines that require measurement and settlement. The disadvantages are that on the one hand, it increases labor costs, and on the other hand, various external factors may lead to errors in measurement. Summary of the invention

[0005] The present invention provides a method, device, equipment and operating machinery for measuring the throwing cycle, which are used to solve the defects of high cost and low precision of the throwing cycle measurement in the prior art, and realize low-cost and high-precision measurement of the throwing cycle.

[0006] In a first aspect, the present invention provides a method for measuring a square throwing cycle, comprising:

[0007] Obtaining a target swing action sequence, a main pump flow rate, and a main pump pressure of the operating machinery within a preset time period, wherein a sequence value of a first preset action in the target swing action sequence is a preset value, and the first preset action is a single action feature of a swing cycle;

[0008] Dividing the target swinging action sequence into at least two subsequences;

[0009] Based on the first preset action, determining a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure;

[0010] The number of the target subsequences is counted, and the number of the target subsequences is used as the number of swinging cycles.

[0011] In combination with the first aspect, in a possible implementation manner, after determining the target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure based on the first preset action, the method further includes:

[0012] Based on the timing of the target subsequences, the initial position of the first target subsequence is used as the starting point of the first swinging cycle, the end position of the first target subsequence is used as the end point of the first swinging cycle, and the end point of the first swinging cycle is used as the starting point of the next swinging cycle, until the end position of the last target subsequence is used as the end point of the last swinging cycle.

[0013] In combination with the first aspect, in a possible implementation manner, after determining the target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure based on the first preset action, the method further includes:

[0014] Determine a first duration corresponding to each swinging cycle and a first average duration corresponding to all the swinging cycles;

[0015] Determine a subsequence to be merged corresponding to when the first duration is less than a first preset duration, where the first preset duration is a duration corresponding to a first preset multiple of the first average duration;

[0016] The following operations are performed on each of the subsequences to be merged:

[0017] Compare the duration corresponding to the left target subsequence adjacent to the subsequence to be merged with the duration of the right target subsequence to obtain a comparison result; merge the subsequence to be merged with the first target subsequence with a smaller duration in the comparison result to obtain a new target subsequence.

[0018] In combination with the first aspect, in a possible implementation manner, obtaining a target swinging action sequence of the working machinery within a preset time period includes:

[0019] Acquire an initial swinging action sequence within the preset time period;

[0020] Performing a transcoding operation on each sequence value in the initial swinging action sequence to obtain a swinging action sequence to be processed;

[0021] From the to-be-processed swinging action sequence, a sequence corresponding to when the sequence value of the first preset action is the preset value is extracted as the target swinging action sequence.

[0022] In combination with the first aspect, in a possible implementation manner, determining, based on the first preset action, a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure includes:

[0023] Input the subsequence, the main pump flow rate, and the main pump pressure into a screening model. Based on the first preset action, obtain a target subsequence and output the target subsequence. The screening module is trained using subsequence samples, main pump flow rate samples, main pump pressure samples, and target subsequence samples.

[0024] In combination with the first aspect, in a possible implementation, the step of inputting the subsequence, the main pump flow rate, and the main pump pressure into a screening model, obtaining a target subsequence based on the first preset action, and outputting the target subsequence includes:

[0025] Input the subsequence, the main pump flow rate, and the main pump pressure into the screening model. Based on the main pump flow rate and the main pump pressure, add markers to the sequence values of the first preset action in each subsequence, and filter out the sequence values with interference markers added to obtain the target subsequence.

[0026] In combination with the first aspect, in a possible implementation, the step of dividing the target dumping action sequence into at least two subsequences includes:

[0027] Determine the number of sequence values of the second preset action in each subsequence that are the preset value, and the total number of sequence values in each subsequence;

[0028] Calculate the ratio of the number of sequence values corresponding to the second preset action in each subsequence to the total number;

[0029] Delete the subsequences corresponding to when the ratio is greater than the preset ratio, and use the remaining subsequences after deletion as the at least two subsequences.

[0030] In a second aspect, the present invention further provides a dumping cycle metering device, including:

[0031] An acquisition module, configured to acquire a target dumping action sequence, a main pump flow rate, and a main pump pressure of a working machine within a preset time period. The sequence value of the first preset action in the target dumping action sequence is a preset value, and the first preset action is a single action feature of the dumping cycle;

[0032] A division module, configured to divide the target dumping action sequence into at least two subsequences;

[0033] A determination module, configured to determine a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure based on the first preset action;

[0034] A statistics module, configured to count the number of target subsequences, and use the number of target subsequences as the number of dumping cycles.

[0035] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for measuring the swinging cycle described in the first aspect are implemented.

[0036] The present invention also provides an operating machine, comprising: an operating machine body and a controller, wherein the controller is used to implement the steps of the swing cycle metering method described in the first aspect.

[0037] The method, device, equipment and operating machinery for measuring the swinging cycle provided by the present invention obtain the target swinging action sequence, main pump flow and main pump pressure of the operating machinery within a preset time period, the sequence value of the first preset action in the target swinging action sequence is a preset value, and the first preset action is a single action feature of the swinging cycle; the target swinging action sequence is divided into at least two subsequences; based on the first preset action, the target subsequence corresponding to the subsequence, main pump flow and main pump pressure is determined; then, the number of target subsequences is counted, and the number of target subsequences is used as the number of swinging cycles. It can be seen that the present invention can obtain the number of swinging cycles in a preset time period based on the target swinging action sequence, main pump flow and main pump pressure, without manual statistics, saving labor costs, and improving the accuracy and efficiency of measuring the number of swinging cycles, effectively solving the defects of high cost and low accuracy caused by manual statistics of the number of swinging times in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 This is one of the flow charts of the method for measuring the square throwing cycle provided by the present invention;

[0040] Figure 2 This is the second flow chart of the method for measuring the cycle of throwing square provided by the present invention;

[0041] Figure 3 This is the third flow chart of the method for measuring the square throwing cycle provided by the present invention;

[0042] Figure 4 This is the fourth flow chart of the method for measuring the cycle of throwing square provided by the present invention;

[0043] Figure 5 It is a structural schematic diagram of the square throwing cycle metering device provided by the present invention;

[0044] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Combine the following Figures 1 to 4 The method for measuring the cycle of throwing squares of the present invention is described.

[0047] The embodiment of the present invention provides a method for measuring the period of throwing away the square, which can be applied to an excavator, such as a hydraulic excavator, an electric excavator, etc., and can also be applied to a server, and can also be applied to a control component in an excavator. Below, the method is described by taking the application of the method in an excavator as an example, but it should be noted that it is only an example and is not used to limit the scope of protection of the present invention.

[0048] Some other descriptions in the embodiments of the present invention are also examples and are not used to limit the scope of protection of the present invention, and will not be described one by one. Figure 1 As shown:

[0049] Step 101, obtaining a target swinging action sequence, a main pump flow rate, and a main pump pressure of the operating machine within a preset time period.

[0050] The sequence value of the first preset action in the target square-swinging action sequence is a preset value, and the first preset action is a single action feature of the square-swinging cycle, which is used to characterize the square-swinging cycle.

[0051] Specifically, taking an excavator as an example, the excavator realizes the digging and dumping operation by repeatedly executing four compound action processes that can be decomposed into seven single actions. The composition of a dumping cycle includes the seven single actions, namely: rotation, boom lowering, boom raising, arm unloading, arm digging, bucket unloading and bucket digging. Among them, each action includes two states: there is a corresponding action and there is no corresponding action, which are represented by state value 1 and state value 0 respectively, 1 indicates that there is a corresponding action, and 0 indicates that there is no corresponding action.

[0052] Specifically, the first preset action is bucket unloading, and the preset value is 1. Although other actions in a swing cycle can also be the first preset action, bucket unloading has higher accuracy than other actions, because the duration of bucket unloading is relatively fixed through the analysis of a large number of swing operations, and can represent the end of a swing cycle. The preset value is the above-mentioned state value.

[0053] In a specific embodiment, the specific method of obtaining the target swinging action sequence is as follows: Figure 2 As shown:

[0054] Step 201, obtaining an initial swinging action sequence within a preset time period.

[0055] Specifically, a series of characteristic values ​​that can characterize the swinging square cycle obtained within a preset time period are obtained, and the series of characteristic values ​​are used as the initial swinging square action sequence, wherein the characteristic value is an integer between 0 and 512, and the initial swinging square action sequence corresponds to multiple swinging square cycles.

[0056] Specifically, the characteristic value is acquired within the preset time period with a first preset time interval as a time unit, wherein the first preset time interval is preferably a characteristic value between 20 ms and 100 ms.

[0057] Step 202, performing a transcoding operation on each sequence value in the initial swinging action sequence to obtain a swinging action sequence to be processed.

[0058] Specifically, a decimal-to-binary conversion operation is performed on each sequence value in the initial swing action sequence to obtain a swing action sequence to be processed represented in binary form, wherein the sequence value is the above-mentioned characteristic value.

[0059] Step 203 , extracting, from the to-be-processed swinging action sequence, a sequence corresponding to when the sequence value of the first preset action is a preset value, as a target swinging action sequence.

[0060] Specifically, from the to-be-processed swing action sequence, a sequence corresponding to when the sequence value of bucket unloading is 1 is extracted and used as the target swing action sequence.

[0061] Step 102: Divide the target swinging action sequence into at least two subsequences.

[0062] Specifically, based on the second preset time interval, the target swing action sequence is divided to obtain at least two subsequences. For example, taking the second preset time interval as 100ms as an example, the target swing action sequence is divided. Alternatively, based on the temporal continuity of the swing action, the target swing action sequence is divided. For example, when the sequence value of bucket unloading is continuous 1, the corresponding sequence is used as a subsequence, and when the sequence value of bucket unloading is discontinuous, it is used as the next subsequence. Users can adopt the corresponding target swing action sequence division strategy based on actual conditions and actual needs.

[0063] In a specific embodiment, after obtaining at least two subsequences, a preprocessing operation is performed on the subsequences to obtain an accurate target subsequence, which is specifically implemented as follows:

[0064] Step 1: Determine the number of sequence values ​​of the second preset action in each subsequence as the preset value, and the total number of sequence values ​​in each subsequence.

[0065] Specifically, the second preset action is boom digging, that is, determining the number of sequence values ​​of boom digging that are 1 in each subsequence and the total number of sequence values ​​in each subsequence.

[0066] Step 2: Calculate the ratio of the number of sequence values ​​corresponding to the second preset action in each subsequence to the total number.

[0067] Specifically, the ratio of the number of sequence values ​​of digging by the bucket arm in each subsequence to the total number is calculated respectively.

[0068] Step 3: Delete the subsequences corresponding to the values ​​when the ratio is greater than the preset ratio, and use the remaining subsequences after the deletion as at least two subsequences.

[0069] Specifically, the size of the ratio and the preset ratio is determined. When the ratio is greater than the preset ratio, the subsequence corresponding to the ratio is deleted. When the ratio is less than or equal to the preset ratio, the subsequence corresponding to the ratio is retained, thereby obtaining the final subsequence.

[0070] The preset ratio is a number greater than 0 and less than 1, and preferably may be 0.5.

[0071] In a specific embodiment, in order to obtain an accurate target subsequence to improve the accuracy of the swing cycle measurement, the following preprocessing operations are performed on at least two subsequences:

[0072] Step 1: Determine the second duration corresponding to the first preset action in each square throwing cycle, and the second average duration corresponding to all second preset actions.

[0073] Specifically, since the duration of bucket unloading is fixed to a certain extent, when the second duration of bucket unloading is too different from the fixed duration of bucket unloading, it is determined that a certain problem has occurred.

[0074] Step 2: Delete the subsequences corresponding to when the second duration is less than the second preset duration, and use the remaining subsequences after the deletion as at least two subsequences, where the second preset duration is the duration corresponding to the second preset multiple of the second average duration.

[0075] The second preset multiple is a number greater than 0 and less than 1, and preferably may be 0.5.

[0076] Step 103: Based on the first preset action, determine a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure.

[0077] In a specific embodiment, in order to obtain an accurate target subsequence, the subsequence, the target subsequence corresponding to the main pump flow and the main pump pressure are input into a screening model, and the screening model is used to obtain and output the target subsequence based on a first preset action.

[0078] Among them, the screening model is trained through subsequence samples, main pump flow samples, main pump pressure samples and target subsequence samples.

[0079] Specifically, when the operating machinery is performing the bucket unloading operation, it cannot be ruled out that there will be a small amount of interference data of bucket unloading in the process of some bucket unloading. The interference data needs to be eliminated to obtain the real data of the bucket unloading process.

[0080] In a specific embodiment, a classification and screening operation is performed on the subsequences through a pre-trained screening model to obtain a target subsequence, by inputting at least two subsequences, the main pump flow and the main pump pressure into the screening model, adding a mark to the sequence value of the first preset action in each subsequence based on the main pump flow and the main pump pressure, wherein the mark includes an interference mark and a real mark, and filtering out the sequence value with the interference mark to obtain the target subsequence.

[0081] Specifically, the screening model adds interference marks or true marks to the sequence values ​​of the first preset action in each subsequence based on the main pump flow and main pump pressure, and then filters out the sequence values ​​with interference marks and retains the sequence values ​​with true marks, thereby obtaining the target subsequence. Examples of the subsequence before entering the screening model and the target subsequence after entering the screening model can be found in Figure 3 and Figure 4 , Figure 3 represents the subsequence before entering the screening model, Figure 4 Represents the target subsequence after entering the screening model, Figure 3 and Figure 4The Time in the horizontal axis represents time, s represents seconds, the Paras in the vertical axis represents the state value, and Bucket_off represents bucket unloading.

[0082] Specifically, the screening model is a model built based on the multidimensional time series method, which can identify the real bucket unloading action segment and the interference action segment. Then, the interference action segment is filtered out, leaving the real bucket unloading data, ensuring the accuracy of the data and providing a reliable data basis for the reconstruction of the dumping cycle.

[0083] Specifically, in order to obtain a screening model that can accurately output the target subsequence, a large amount of sample data is needed to train the screening model. The model training process is as follows:

[0084] Step 1: Obtain a large number of subsequence samples, main pump flow samples, main pump pressure samples and target subsequence samples.

[0085] Step 2: Build a screening model.

[0086] Step 3: Based on the main pump flow sample and the main pump pressure sample, add interference marks or true marks to the subsequence samples.

[0087] Step 4: Obtain the predicted subsequence output by the screening model.

[0088] Step 5: Compare the consistency rate of the predicted subsequence and the target subsequence samples. When the consistency rate is greater than the preset consistency value, it is determined that the screening model training is completed.

[0089] In a specific embodiment, after the screening model outputs the target subsequence, an optimization processing operation is performed on the output target subsequence to obtain an accurate throwing cycle. The specific implementation of the optimization processing operation on the target subsequence is as follows:

[0090] Step 1: Determine the first duration corresponding to each swinging cycle and the first average duration corresponding to all swinging cycles.

[0091] Specifically, each swinging cycle also has a relatively fixed duration, or in other words, the duration corresponding to a swinging cycle is likely to fall within a time period, so the first duration is used to optimize the target subsequence.

[0092] Step 2: Determine the subsequence to be merged corresponding to the first duration being less than the first preset duration, where the first preset duration is the duration corresponding to the first preset multiple of the first average duration.

[0093] The first preset multiple is a number greater than 0 and less than 1, and preferably may be 0.5.

[0094] Step 3: Perform the following operations on each subsequence to be merged: compare the duration of the left target subsequence adjacent to the subsequence to be merged with the duration of the right target subsequence to obtain a comparison result; merge the subsequence to be merged with the first target subsequence with a smaller duration in the comparison result to obtain a new target subsequence.

[0095] Specifically, due to some special circumstances, a time disconnection phenomenon may occur when executing bucket unloading, but the entire process is indeed executing the bucket unloading operation. Therefore, the target subsequences at this time are merged to obtain a new target subsequence, thereby improving the accuracy of the dumping cycle measurement.

[0096] Based on the target subsequence of the present invention, not only can the swinging cycle within the preset time period be obtained, but also the cycle information of each swinging cycle can be obtained, such as the sequence value, the starting point and the end point, etc. Furthermore, based on the cycle information of the swinging cycle, the operation of the operation machine can be specifically evaluated or the problems encountered during the operation can be identified, and specific solutions can be provided for specific problems.

[0097] In a specific embodiment, the specific implementation of obtaining the period information of each swinging cycle is: based on the timing of the target subsequence, the initial position of the first target subsequence is used as the starting point of the first swinging cycle, the end position of the first target subsequence is used as the end point of the first swinging cycle, and the end point of the first swinging cycle is used as the starting point of the next swinging cycle, until the end position of the last target subsequence is used as the end point of the last swinging cycle, so as to determine the starting point and end point of each swinging cycle within a preset time period.

[0098] Specifically, the process is a cyclic iterative process.

[0099] Step 104, counting the number of target subsequences, and using the number of target subsequences as the number of swinging cycles.

[0100] Among them, one target subsequence corresponds to one swinging cycle.

[0101] Among them, the number of cycles of throwing the square is the number of times the square is thrown.

[0102] Specifically, based on the description of each of the above embodiments, the method for measuring the dumping cycle is roughly divided into three steps: first, the collection of characteristic data representing the composite action and the analysis of the characteristic data of a single action; second, the grouping and classification screening of the characteristic data of the single action of bucket unloading; and third, the identification of the start and end points of each dumping cycle and the measurement of the number of cycles. Based on the present invention, the accuracy of dumping cycle identification and dumping cycle measurement can be improved.

[0103] The method for measuring the swinging cycle provided by the present invention obtains the target swinging action sequence, main pump flow and main pump pressure of the operating machinery within a preset time period, the sequence value of the first preset action in the target swinging action sequence is a preset value, and the first preset action is a single action feature of the swinging cycle; the target swinging action sequence is divided into at least two subsequences; based on the first preset action, the target subsequence corresponding to the subsequence, main pump flow and main pump pressure is determined; then, the number of target subsequences is counted, and the number of target subsequences is used as the number of swinging cycles. It can be seen that the present invention can obtain the number of swinging cycles in a preset time period based on the target swinging action sequence, main pump flow and main pump pressure, without manual statistics, saving labor costs, and improving the accuracy and efficiency of swinging cycle measurement, effectively solving the defects of high cost and low accuracy caused by manual statistics of the number of swinging cycles in the prior art.

[0104] The following is a description of the throwing square cycle metering device provided by the present invention. The throwing square cycle metering device described below and the throwing square cycle metering method described above can be referred to each other, and the repeated parts will not be repeated. Figure 5 As shown, the device comprises:

[0105] An acquisition module 501 is used to acquire a target swing action sequence, a main pump flow rate, and a main pump pressure of the operating machine within a preset time period, wherein a sequence value of a first preset action in the target swing action sequence is a preset value, and the first preset action is a single action feature of a swing cycle;

[0106] A division module 502 is used to divide the target swinging action sequence into at least two subsequences;

[0107] A determination module 503, configured to determine a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure based on the first preset action;

[0108] The statistical module 504 is used to count the number of target subsequences and use the number of target subsequences as the number of swinging cycles.

[0109] In a specific embodiment, the determination module 503 is also used to use the initial position of the first target subsequence as the starting point of the first swinging cycle, the end position of the first target subsequence as the end point of the first swinging cycle, and the end point of the first swinging cycle as the starting point of the next swinging cycle, until the end position of the last target subsequence is used as the end point of the last swinging cycle.

[0110] In a specific embodiment, the determination module 503 is also used to determine the first duration corresponding to each swinging cycle and the first average duration corresponding to all swinging cycles; determine the subsequence to be merged corresponding to the first duration being less than the first preset duration, the first preset duration being the duration corresponding to the first preset multiple of the first average duration; perform the following operations on each subsequence to be merged: compare the duration corresponding to the left target subsequence adjacent to the subsequence to be merged with the duration of the right target subsequence to obtain a comparison result; merge the subsequence to be merged with the target subsequence with the smaller first duration in the comparison result to obtain a new target subsequence.

[0111] In a specific embodiment, the acquisition module 501 is specifically used to obtain an initial swinging action sequence within a preset time period; perform a transcoding operation on each sequence value in the initial swinging action sequence to obtain a swinging action sequence to be processed; and extract, from the swinging action sequence to be processed, a sequence corresponding to when the sequence value of the first preset action is a preset value as a target swinging action sequence.

[0112] In a specific embodiment, the determination module 503 is specifically used to input the subsequence, main pump flow and main pump pressure into the screening model, obtain the target subsequence based on the first preset action, and output the target subsequence. The screening module is trained through subsequence samples, main pump flow samples, main pump pressure samples and target subsequence samples.

[0113] In a specific embodiment, the determination module 503 is specifically used to input the subsequence, main pump flow and main pump pressure into the screening model, add a mark to the sequence value of the first preset action in each subsequence based on the main pump flow and the main pump pressure, filter out the sequence values ​​with interference marks, and obtain the target subsequence.

[0114] In a specific embodiment, the partitioning module 502 is specifically used to determine that the sequence value of the second preset action in each subsequence is the number of preset values, and the total number of sequence values ​​in each subsequence; calculate the ratio of the number of sequence values ​​corresponding to the second preset action in each subsequence to the total number; delete the corresponding subsequence when the ratio is greater than the preset ratio, and use the remaining subsequences after the deletion as at least two subsequences.

[0115] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor 601, a communication interface 602, a memory 603 and a communication bus 604, wherein the processor 601, the communication interface 602 and the memory 603 communicate with each other through the communication bus 604. The processor 601 may call the logic instructions in the memory 603 to execute the method for measuring the swinging cycle, which includes: obtaining the target swinging action sequence, the main pump flow and the main pump pressure of the operating machinery within a preset time period, the sequence value of the first preset action in the target swinging action sequence is a preset value, and the first preset action is a unit action feature of the swinging cycle; dividing the target swinging action sequence into at least two subsequences; based on the first preset action, determining the target subsequence corresponding to the subsequence, the main pump flow and the main pump pressure; counting the number of target subsequences, and taking the number of target subsequences as the number of swinging cycles.

[0116] In addition, the logic instructions in the above-mentioned memory 603 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0117] An embodiment of the present invention further provides an operating machine, comprising: an operating machine body and a controller, wherein the controller is used to implement the steps of any one of the swing cycle metering methods in the above method embodiments.

[0118] Among them, operating machinery includes: excavators.

[0119] An embodiment of the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the side-swinging cycle measurement method provided by the above-mentioned methods, and the method includes: obtaining a target side-swinging action sequence, a main pump flow rate, and a main pump pressure of an operating machinery within a preset time period, the sequence value of a first preset action in the target side-swinging action sequence is a preset value, and the first preset action is a unit action feature of the side-swinging cycle; dividing the target side-swinging action sequence into at least two subsequences; based on the first preset action, determining a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure; counting the number of target subsequences, and taking the number of target subsequences as the number of side-swinging cycles.

[0120] An embodiment of the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the above-mentioned methods for measuring the side-swinging cycle, the method comprising: obtaining a target side-swinging action sequence, a main pump flow rate and a main pump pressure of an operating machinery within a preset time period, the sequence value of a first preset action in the target side-swinging action sequence being a preset value, the first preset action being a unit action feature of the side-swinging cycle; dividing the target side-swinging action sequence into at least two subsequences; based on the first preset action, determining a target subsequence corresponding to the subsequence, the main pump flow rate and the main pump pressure; counting the number of target subsequences, and taking the number of target subsequences as the number of side-swinging cycles.

[0121] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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. However, 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 invention.

Claims

1. A method for measuring the cycle of throwing squares, It is characterized in that include: Obtaining a target swing action sequence, a main pump flow rate, and a main pump pressure of the operating machinery within a preset time period, wherein a sequence value of a first preset action in the target swing action sequence is a preset value, and the first preset action is a single action feature of a swing cycle; Dividing the target swinging action sequence into at least two subsequences; Based on the first preset action, determining a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure; Counting the number of the target subsequences, and taking the number of the target subsequences as the number of swinging cycles; The step of dividing the target swinging action sequence into at least two subsequences comprises: Determine that the sequence value of the second preset action in each of the subsequences is the number of the preset values ​​and the total number of sequence values ​​in each subsequence; Calculating a ratio of the number of the sequence values ​​corresponding to the second preset action in each subsequence to the total number; The subsequences corresponding to the ratio being greater than the preset ratio are deleted, and the subsequences remaining after the deletion are used as the at least two subsequences.

2. The method for measuring the cycle of throwing squares according to claim 1, It is characterized in that After determining the target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure based on the first preset action, the method further includes: Based on the timing of the target subsequences, the initial position of the first target subsequence is used as the starting point of the first swinging cycle, the end position of the first target subsequence is used as the end point of the first swinging cycle, and the end point of the first swinging cycle is used as the starting point of the next swinging cycle, until the end position of the last target subsequence is used as the end point of the last swinging cycle.

3. The method for measuring the cycle of throwing squares according to claim 2, It is characterized in that After determining the target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure based on the first preset action, the method further includes: Determine a first duration corresponding to each swinging cycle and a first average duration corresponding to all the swinging cycles; Determine a subsequence to be merged corresponding to when the first duration is less than a first preset duration, where the first preset duration is a duration corresponding to a first preset multiple of the first average duration; The following operations are performed on each of the subsequences to be merged: Compare the duration corresponding to the left target subsequence and the duration corresponding to the right target subsequence adjacent to the subsequence to be merged to obtain a comparison result; merge the subsequence to be merged with the first target subsequence with a smaller duration in the comparison result to obtain a new target subsequence.

4. The method for measuring the cycle of throwing squares according to any one of claims 1 to 3, It is characterized in that The step of obtaining a target swinging action sequence of the operating machine within a preset time period includes: Acquire an initial swinging action sequence within the preset time period; Performing a transcoding operation on each sequence value in the initial swinging action sequence to obtain a swinging action sequence to be processed; From the to-be-processed swinging action sequence, a sequence corresponding to when the sequence value of the first preset action is the preset value is extracted as the target swinging action sequence.

5. The method for measuring the cycle of throwing squares according to any one of claims 1 to 3, It is characterized in that The determining, based on the first preset action, a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure includes: The subsequence, the main pump flow rate and the main pump pressure are input into the screening model, a target subsequence is obtained based on the first preset action, and the target subsequence is output, and the screening module is obtained by training the subsequence samples, the main pump flow rate samples, the main pump pressure samples and the target subsequence samples.

6. The method for measuring the cycle of throwing squares according to claim 5, It is characterized in that The step of inputting the subsequence, the main pump flow rate, and the main pump pressure into a screening model, obtaining a target subsequence based on the first preset action, and outputting the target subsequence includes: The subsequence, the main pump flow rate and the main pump pressure are input into the screening model, a mark is added to the sequence value of the first preset action in each subsequence based on the main pump flow rate and the main pump pressure, and the sequence values ​​with interference marks are filtered out to obtain the target subsequence.

7. A square throwing cycle metering device, It is characterized in that include: An acquisition module is used to acquire a target swing action sequence, a main pump flow rate, and a main pump pressure of the operating machinery within a preset time period, wherein a sequence value of a first preset action in the target swing action sequence is a preset value, and the first preset action is a single action feature of a swing cycle; A division module, used for dividing the target swinging action sequence into at least two subsequences; a determination module, configured to determine, based on the first preset action, a target subsequence corresponding to the subsequence, the main pump flow rate, and the main pump pressure; A statistical module, used for counting the number of the target subsequences, and taking the number of the target subsequences as the number of swinging cycles; The step of dividing the target swinging action sequence into at least two subsequences comprises: Determine that the sequence value of the second preset action in each of the subsequences is the number of the preset values ​​and the total number of sequence values ​​in each subsequence; Calculating a ratio of the number of the sequence values ​​corresponding to the second preset action in each subsequence to the total number; The subsequences corresponding to the ratio being greater than the preset ratio are deleted, and the subsequences remaining after the deletion are used as the at least two subsequences.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the program, the steps of the swing cycle measurement method according to any one of claims 1 to 6 are implemented.

9. A working machine, include: An operating machine body and a controller, wherein the controller is used to implement the steps of the swing cycle metering method as described in any one of claims 1 to 6.

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