A method and related device for identifying working conditions of an excavator based on pilot pressure

Abstract

The present application discloses a method and related devices for identifying the working condition of an excavator based on pilot pressure. By presetting different cycle starting point conditions and cycle ending point conditions, the cycle status of different working conditions of the excavator is determined, and then the working condition of the excavator is accurately determined by specifying the time sequence and cycle duration of the pilot pressure of different target operations.

Description

Technical Field

[0001] The present application relates to the technical field of excavator machinery, and in particular to a method for identifying an excavator working condition based on pilot pressure and a related device. Background Art

[0002] Currently, excavator operating condition identification primarily relies on two methods: pump pressure and pilot pressure. The pump pressure method is influenced by multiple factors, including the excavator's load, driver intent, and control strategy, while the pilot pressure method relies solely on driver intent. Therefore, compared to the pilot pressure method, identifying the excavator's operating condition based on the pump pressure method results in limited accuracy and delayed identification results. Prior art typically identifies the sideways working condition through a pilot control signal, but lacks specific identification methods for other working conditions. Summary of the Invention

[0003] The embodiments of the present application provide a method and related device for identifying an excavator working condition based on pilot pressure, thereby accurately identifying various working conditions of the excavator.

[0004] In a first aspect, an embodiment of the present application provides a method for identifying an excavator working condition based on a pilot pressure, the method comprising:

[0005] Determining that the excavator is in a circulation state based on a preset circulation start point condition and a preset circulation end point condition;

[0006] An operating state of the excavator is determined based on a time sequence of a pilot pressure of at least one target operation of the excavator and a cycle time of the excavator.

[0007] Compared with the existing technology, this application determines the cycle status of different working conditions of the excavator by presetting different cycle starting point conditions and cycle ending point conditions, and then accurately determines the working condition of the excavator by specifying the time sequence and cycle duration of the pilot pressure of different target operations.

[0008] In one possible design, the preset cycle start point condition is when the pilot pressure of the bucket arm retracting is greater than a first value, and the preset cycle end point condition is when the pilot pressure of the bucket arm swinging is less than a second value. The determining of the operating state of the excavator based on the time sequence of the pilot pressure of at least one target operation of the excavator and the cycle duration of the excavator includes:

[0009] If the time sequence of the pilot pressure is arm retraction / bucket retraction, boom rise / rotation, bucket swing outward and rotation, and the cycle time of the excavator is greater than the first time length and less than the second time length, then the working state of the excavator is the swinging working state.

[0010] This application accurately determines whether the excavator is in the swinging working condition through the time sequence of the pilot pressure of the dipper arm / bucket retraction, boom raising / rotation, bucket swinging outward and rotation.

[0011] In one possible design, the preset cycle starting point condition is when the pilot pressure for arm retraction is greater than a third value, and the preset cycle ending point condition is when the pilot pressure for arm swing is less than a fourth value. Determining the operating state of the excavator based on the time sequence of the pilot pressures of at least one target operation of the excavator and the cycle duration of the excavator includes:

[0012] If the time sequence of the pilot pressure is arm retraction / arm rise, arm swing outward / arm drop, and the cycle time of the excavator is greater than the third time length and less than the fourth time length, then the working state of the excavator is the leveling working state.

[0013] This application accurately determines whether the excavator is in a leveling condition through the time sequence of the pilot pressure of the bucket arm retracting / arm rising and the bucket arm swinging / arm descending.

[0014] In one possible design, determining the operating state of the excavator based on the time sequence of the pilot pressure of at least one target operation of the excavator and the cycle duration of the excavator further includes:

[0015] During a first specified time period of the excavator's cycle time, the proportion of time when the boom is retracted is greater than a first proportion; and during a second specified time period of the excavator's cycle time, the proportion of time when the boom is swung out is greater than a second proportion; wherein the time of the first specified time period is less than the time of the second specified time period.

[0016] This application further accurately determines whether the excavator is in a leveling condition by analyzing the target operation within the specified time of the cycle duration.

[0017] In one possible design, the preset cycle start point condition is that the pilot pressure of each excavator target operation is zero and the absolute value of the difference between the engine speed and the idle speed setting value is less than a fifth value. The preset cycle end point condition is that the pilot pressure of at least one excavator target operation is not zero, or the absolute value of the difference between the engine speed and the idle speed setting value is greater than a fifth value. The determining of the operating state of the excavator based on the time sequence of the pilot pressure of at least one excavator target operation and the cycle duration of the excavator includes:

[0018] If the cycle duration of the excavator is greater than the fifth duration, the operating state of the excavator is an idle operating state.

[0019] This application accurately determines whether the excavator is in an idle condition by the target operation within the specified time of the cycle duration.

[0020] In one possible design, the preset cycle starting point condition is that the pilot pressure for left travel or right travel is greater than a sixth value, and the preset cycle ending point condition is that the pilot pressure for left travel is less than the sixth value and the pilot pressure for right travel is less than the sixth value. Determining the operating state of the excavator based on the time sequence of the pilot pressures of at least one target operation of the excavator and the cycle duration of the excavator includes:

[0021] If the cycle duration of the excavator is greater than the sixth duration, the working state of the excavator is the walking working state.

[0022] This application accurately determines whether the excavator is in a walking condition by the target operation within the specified time of the cycle duration.

[0023] In a second aspect, an embodiment of the present application provides an excavator working condition identification device based on pilot pressure, the device comprising:

[0024] A first determining module is configured to determine whether the excavator is in a circulation state based on a preset circulation start point condition and a preset circulation end point condition;

[0025] The second determining module is configured to determine the working state of the excavator according to a time sequence of a pilot pressure of at least one target operation of the excavator and a cycle time of the excavator.

[0026] In one possible design, the preset cycle starting point condition is that the pilot pressure of the bucket arm retracting is greater than a first value, and the preset cycle ending point condition is that the pilot pressure of the bucket arm swinging outward is less than a second value, and the second determining module is specifically configured to:

[0027] If the time sequence of the pilot pressure is arm retraction / bucket retraction, boom rise / rotation, bucket swing outward and rotation, and the cycle time of the excavator is greater than the first time length and less than the second time length, then the working state of the excavator is the swinging working state.

[0028] In one possible design, when the preset cycle starting point condition is that the pilot pressure of the bucket arm retracting is greater than a third value, and the preset cycle ending point condition is that the pilot pressure of the bucket arm swinging outward is less than a fourth value, the second determining module is specifically configured to:

[0029] If the time sequence of the pilot pressure is arm retraction / arm rise, arm swing outward / arm drop, and the cycle time of the excavator is greater than the third time length and less than the fourth time length, then the working state of the excavator is the leveling working state.

[0030] In one possible design, the second determining module is specifically configured to:

[0031] During a first specified time period of the excavator's cycle time, the proportion of time when the boom is retracted is greater than a first proportion; and during a second specified time period of the excavator's cycle time, the proportion of time when the boom is swung out is greater than a second proportion; wherein the time of the first specified time period is less than the time of the second specified time period.

[0032] In one possible design, the preset cycle starting point condition is that the pilot pressure of each excavator target operation is zero, and the absolute value of the difference between the engine speed and the idle speed setting value is less than a fifth value. The preset cycle ending point condition is that the pilot pressure of at least one excavator target operation is not zero, or the absolute value of the difference between the engine speed and the idle speed setting value is greater than the fifth value. The second determining module is specifically configured to:

[0033] If the cycle duration of the excavator is greater than the fifth duration, the operating state of the excavator is an idle operating state.

[0034] In one possible design, when the preset cycle starting point condition is that the pilot pressure for left walking or right walking is greater than a sixth value, and the preset cycle ending point condition is that the pilot pressure for left walking is less than the sixth value and the pilot pressure for right walking is less than the sixth value, the second determining module is specifically configured to:

[0035] If the cycle duration of the excavator is greater than the sixth duration, the working state of the excavator is the walking working state.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0037] processor and display;

[0038] The display is used to display a user operation interface;

[0039] The processor is configured to execute any one of the methods provided in the first aspect above.

[0040] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to execute any of the methods provided in the first aspect above.

[0041] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements any of the methods provided in the first aspect of the present application.

[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. Obviously, the drawings introduced below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1a A schematic diagram of the pilot pressure and characteristic points provided in an embodiment of the present application;

[0045] Figure 1b A schematic diagram of an application scenario of an excavator working condition identification system based on pilot pressure provided in an embodiment of the present application;

[0046] Figure 2 A flow chart of a method for identifying an excavator working condition based on pilot pressure according to an embodiment of the present application;

[0047] Figure 3 A schematic flow chart of a method for identifying a sideways working condition according to an embodiment of the present application;

[0048] Figure 4 A schematic flow chart of a method for identifying a leveling condition provided in one embodiment of the present application;

[0049] Figure 5 A flow chart of an idle condition identification method according to an embodiment of the present application;

[0050] Figure 6 A schematic flow chart of a walking condition identification method according to an embodiment of the present application;

[0051] Figure 7 A schematic structural diagram of an excavator working condition identification device based on pilot pressure provided in one embodiment of the present application;

[0052] Figure 8 A schematic diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to enable ordinary people in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0054] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0055] Below, some terms used in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

[0056] (1) Pilot pressure, the control pressure of the multi-way valve in the hydraulic system, realizes the operation of the whole machine such as raising and lowering the boom, swinging the dipper arm in and out, swinging the bucket in and out, rotating and moving left or right through flow distribution.

[0057] (2) Feature points: The target operation is within the specified time range, and the pilot pressure is equal to the corresponding point of the set threshold, and the number of feature points is determined in the time domain. For example, Figure 1a Feature point 1, feature point 2, feature point 3, and feature point 4 are shown.

[0058] Currently, excavator operating condition identification primarily relies on two methods: pump pressure and pilot pressure. The pump pressure method is influenced by multiple factors, including the excavator's load, driver intent, and control strategy, while the pilot pressure method relies solely on driver intent. Therefore, compared to the pilot pressure method, identifying the excavator's operating condition based on the pump pressure method results in limited accuracy and delayed identification results. Prior art typically identifies the sideways working condition through a pilot control signal, but lacks specific identification methods for other working conditions.

[0059] To this end, this application provides an excavator working condition identification method and related devices based on pilot pressure. By presetting different cycle starting point conditions and cycle ending point conditions, the cycle status of different working conditions of the excavator is determined, and then the working condition of the excavator is accurately determined by specifying the time sequence and cycle duration of the pilot pressure of different target operations.

[0060] After introducing the design concepts of the embodiments of this application, the following briefly introduces the application scenarios to which the technical solutions of the embodiments of this application can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of this application and are not limiting. In specific implementations, the technical solutions provided by the embodiments of this application can be flexibly applied according to actual needs.

[0061] refer to Figure 1b, which is a schematic diagram of an application scenario of an excavator working condition identification system based on pilot pressure provided in an embodiment of the present application. The application scenario includes: a sensor group 101, a controller 102, a terminal device 103 and a working condition identification device 104, wherein the terminal device 103 may also include a processor 103-1. The controller 102 is connected to the sensor group 101 and the terminal device 103 respectively, and the terminal device 103 is also connected to the working condition identification device 104. The sensor group 101 collects the pilot pressure corresponding to each operation of the excavator, obtains an analog signal of the pilot pressure, and then sends the analog signal of the pilot pressure to the controller 102, and the controller 102 converts the analog signal of the pilot pressure into a digital signal, that is, the pilot pressure data. Controller 102 transmits pilot pressure data to processor 103-1 in terminal device 103 via a controller area network (CAN). Processor 103-1 determines that the excavator is in a cycle state based on preset cycle start and end conditions. It then determines the excavator's operating state based on the temporal sequence of pilot pressures for at least one target excavator operation and the excavator's cycle duration. Processor 103-1 transmits the determined excavator operating state to operating condition identification device 104.

[0062] Here, the working condition of the excavator can also be determined in the working condition identification device 104, and can also be partially executed in the processor 103-1 and partially executed in the working condition identification device 104. This application does not limit the specific execution device of the working condition of the excavator.

[0063] Of course, the method provided in the embodiment of the present application is not limited to Figure 1b The application scenarios shown can also be used in other possible application scenarios, and the embodiments of the present application are not limited thereto. Figure 1b The functions that can be implemented by each device in the application scenario shown will be described in subsequent method embodiments and will not be described in detail here.

[0064] To further illustrate the technical solutions provided by the embodiments of the present application, the following is a detailed description of the technical solutions in conjunction with the accompanying drawings and specific implementation methods. Although the embodiments of the present application provide method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative work. In steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided in the embodiments of the present application.

[0065] The following combination Figure 1b The application scenario shown illustrates the technical solution provided by the embodiment of this application.

[0066] like Figure 2As shown, an embodiment of the present application discloses a flow chart of a method for identifying an excavator working condition based on pilot pressure, the method comprising the following steps:

[0067] S201, determining that the excavator is in a circulation state based on a preset circulation start point condition and a preset circulation end point condition;

[0068] S202 : Determine the working state of the excavator according to the time sequence of the pilot pressure of at least one target operation of the excavator and the cycle time of the excavator.

[0069] Next, we will introduce the excavator's working conditions in detail, namely, the throwing condition, the leveling condition, the idling condition and the traveling condition:

[0070] 1. Identification of the working condition of throwing square

[0071] like Figure 3 As shown, step S301 is first executed to identify the loop of the swinging operation condition. Here, the preset loop starting point condition for the swinging operation condition is that the pilot pressure of the boom retracting is greater than a first value, and the preset loop ending point condition is that the pilot pressure of the boom swinging is less than a second value. Furthermore, the preset loop starting point condition also includes that the pilot pressure of the boom retracting is still greater than the first value after a first specified time period at the current moment, and the preset loop ending point condition also includes that the fourth characteristic point of the pilot pressure of the boom swinging is less than the second value.

[0072] After determining the cycle state based on the cycle start and end conditions, to accurately identify the side-swinging condition, step S302 is executed to determine whether the pilot pressures for each target operation are executed in a preset time sequence. For example, if the pilot pressure time sequence is arm retraction / bucket retraction, boom raising / swing, bucket swing out, and swing, the excavator is further determined to be in the side-swinging condition. Here, the number of swings must also be less than a first preset number.

[0073] Exemplarily, as shown in Table 1, the pilot pressures of different target operations are determined according to different threshold values, and the duration of the pilot pressure of the target operation needs to be greater than the first specified duration.

[0074] Table 1

[0075] Threshold 1 Threshold 2 Threshold 1 Threshold 2 Stick inward guide <![CDATA[N4]]> <![CDATA[N5]]> Bucket swing pilot <![CDATA[N 14 ]]> <![CDATA[N 15 ]]> Arm outward swing pilot <![CDATA[N6]]> <![CDATA[N7]]> Rotary pilot <![CDATA[N 16 ]]> <![CDATA[N 17 ]]> Boom raising pilot <![CDATA[N8]]> <![CDATA[N9]]> Left walking leader <![CDATA[N 18 ]]> <![CDATA[N 19 ]]> Boom lowering pilot <![CDATA[N 10 ]]> <![CDATA[N 11 ]]> Right walking leader <![CDATA[N 20 ]]> <![CDATA[N 21 ]]> Bucket retraction pilot <![CDATA[N 12 ]]> <![CDATA[N 13 ]]>

[0076] Furthermore, during step S302 , assuming that the time when the arm retraction pilot pressure reaches N4 is t1 and the time when the arm retraction pilot pressure reaches N5 is t2, (t1 + t2) / 2 is defined as the arm retraction pilot pressure mark time. When determining the temporal sequence of the target operation pilot pressures, the arm retraction pilot pressure mark time is less than the boom-up pilot pressure mark time and the swing pilot pressure mark time; the bucket retraction pilot pressure mark time is less than the boom-up pilot pressure mark time and the swing pilot pressure mark time, and there is no distinction between the arm retraction pilot pressure mark time and the bucket retraction pilot pressure mark time.

[0077] After determining the execution order of the target operation pilot pressure, in order to accurately identify the side-swinging working condition, step S303 is continued to be executed, and the cycle time of the excavator is greater than the first time length and less than the second time length.

[0078] 2. Identification of leveling conditions

[0079] like Figure 4 As shown, step S401 is first executed to identify the cycle of the leveling condition. Here, the preset cycle starting point condition for the leveling condition is that the pilot pressure of the boom retracting is greater than a third value, and the preset cycle ending point condition is that the pilot pressure of the boom swinging is less than a fourth value. Furthermore, the preset cycle starting point condition also includes that the pilot pressure of the boom retracting is still greater than the third value after a second specified time period at the current moment, and the preset cycle ending point condition also includes that the second characteristic point of the pilot pressure of the boom swinging is less than the fourth value.

[0080] After determining the cycle state based on the cycle start and end conditions, to accurately identify the leveling condition, step S402 is performed to determine whether the pilot pressure for each target operation meets a preset cycle percentage. For example, within a first specified time period of the excavator's cycle duration, the proportion of time the arm is retracted is greater than a first percentage; and within a second specified time period of the excavator's cycle duration, the proportion of time the arm is swung out is greater than a second percentage; wherein the first specified time period is less than the second specified time period.

[0081] After determining the time proportion of the cycle duration, in order to accurately identify the leveling condition, step S403 is continued to determine whether the pilot pressures for each target operation are executed according to a preset time sequence. For example, based on the time sequence of the pilot pressures being arm retracted / boom raised and arm swung out / boom lowered, it is further determined that the excavator is in the leveling condition. Here, the number of arm swings out must also be less than a second preset number. The time sequence determination of the pilot pressures for the target operations can be referred to the description of the side-swinging condition and will not be repeated here.

[0082] Similarly, as shown in Table 2, the pilot pressures of different target operations are determined according to different threshold values, and the duration of the pilot pressure of the target operation needs to be greater than the second specified duration.

[0083] Table 2

[0084] Threshold 3 Threshold 4 Threshold 3 Threshold 4 Stick inward guide <![CDATA[M9]]> <![CDATA[M 10 ]]> Bucket swing pilot <![CDATA[M 19 ]]> <![CDATA[M 20 ]]> Arm outward swing pilot <![CDATA[M 11 ]]> <![CDATA[M 12 ]]> Rotary pilot <![CDATA[M 21 ]]> <![CDATA[M 22 ]]> Boom raising pilot <![CDATA[M 13 ]]> <![CDATA[M 14 ]]> Left walking leader <![CDATA[M 23 ]]> <![CDATA[M 24 ]]> Boom lowering pilot <![CDATA[M 15 ]]> <![CDATA[M 16 ]]> Right walking leader <![CDATA[M 25 ]]> <![CDATA[M 26 ]]> Bucket retraction pilot <![CDATA[M 17 ]]> <![CDATA[M 18 ]]>

[0085] After determining the execution order of the target operation pilot pressure, in order to accurately identify the leveling condition, step S404 is continued to be executed, and the cycle time of the excavator is greater than the third time length and less than the fourth time length.

[0086] 3. Identification of Idle Conditions

[0087] like Figure 5 As shown, step S501 is first executed to identify the idle condition cycle. Here, the preset cycle start point condition for the idle condition is that the pilot pressure of each excavator target operation is zero, and the absolute value of the difference between the engine speed and the idle speed setting is less than a fifth value. The preset cycle end point condition is that the pilot pressure of at least one excavator target operation is not zero, or the absolute value of the difference between the engine speed and the idle speed setting is greater than the fifth value.

[0088] After the cycle state is determined according to the cycle start point condition and the cycle end point condition, in order to accurately identify the idle operating condition, step S502 is continued to be executed, and the cycle duration of the excavator is greater than the fifth duration.

[0089] 4. Identification of walking conditions

[0090] like Figure 6 As shown, step S601 is first executed to identify the cycle of the walking condition. Here, the preset cycle starting point condition of the walking condition is that the pilot pressure of the left walking or right walking is greater than the sixth value, and the preset cycle ending point condition is that the pilot pressure of the left walking is less than the sixth value, and the pilot pressure of the right walking is less than the sixth value.

[0091] After the cycle state is determined according to the cycle start point condition and the cycle end point condition, in order to accurately identify the walking working condition, step S602 is continued to be executed, and the cycle duration of the excavator is greater than the sixth duration.

[0092] This application can achieve accurate division of multiple working conditions of the excavator by judging the pilot pressure of various operations, and thus can truly and carefully understand the operating characteristics of market conditions, providing a basis for further performance optimization analysis.

[0093] refer to Figure 7 The embodiment of the present application provides an excavator working condition identification device based on pilot pressure, the device 700 includes:

[0094] The first determining module 701 is configured to determine whether the excavator is in a circulation state based on a preset circulation start point condition and a preset circulation end point condition;

[0095] The second determining module 702 is configured to determine the working state of the excavator according to a time sequence of a pilot pressure of at least one target operation of the excavator and a cycle duration of the excavator.

[0096] In one possible design, the preset cycle starting point condition is that the pilot pressure of the bucket arm retracting is greater than a first value, and the preset cycle ending point condition is that the pilot pressure of the bucket arm swinging out is less than a second value. The second determining module 702 is specifically configured to:

[0097] If the time sequence of the pilot pressure is arm retraction / bucket retraction, boom rise / rotation, bucket swing outward and rotation, and the excavator's cycle time is greater than the first time length and less than the second time length, the excavator's working condition is the swinging working condition.

[0098] In one possible design, the preset cycle starting point condition is that the pilot pressure of the bucket arm retracting is greater than a third value, and the preset cycle ending point condition is that the pilot pressure of the bucket arm swinging outward is less than a fourth value. The second determining module 702 is specifically configured to:

[0099] If the time sequence of the pilot pressure is arm retraction / arm rise, arm swing outward / arm drop, and the excavator's cycle time is greater than the third time period and less than the fourth time period, the excavator's working condition is the leveling condition.

[0100] In one possible design, the second determining module 702 is specifically configured to:

[0101] During the first specified time period of the excavator's cycle time, the proportion of the time when the boom is retracted is greater than the first proportion; and during the second specified time period of the excavator's cycle time, the proportion of the time when the boom is swung out is greater than the second proportion; wherein the time of the first specified time period is less than the time of the second specified time period.

[0102] In one possible design, the preset cycle start point condition is that the pilot pressure of each excavator target operation is zero, and the absolute value of the difference between the engine speed and the idle speed setting value is less than a fifth value. The preset cycle end point condition is that the pilot pressure of at least one excavator target operation is not zero, or the absolute value of the difference between the engine speed and the idle speed setting value is greater than the fifth value. The second determining module 702 is specifically configured to:

[0103] If the cycle duration of the excavator is greater than the fifth duration, the working state of the excavator is an idle working state.

[0104] In one possible design, when the preset cycle starting point condition is that the pilot pressure for left or right walking is greater than a sixth value, and the preset cycle ending point condition is that the pilot pressure for left walking is less than the sixth value and the pilot pressure for right walking is less than the sixth value, the second determining module 702 is specifically configured to:

[0105] If the cycle duration of the excavator is greater than the sixth duration, the working state of the excavator is the walking working state.

[0106] After introducing the excavator working condition identification method based on pilot pressure and related devices according to an exemplary embodiment of the present application, next, an electronic device according to another exemplary embodiment of the present application is introduced.

[0107] Those skilled in the art will appreciate that various aspects of the present application can be implemented as systems, methods, or program products. Therefore, various aspects of the present application can be specifically implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation that combines hardware and software aspects, which may be collectively referred to herein as a "circuit," "module," or "system."

[0108] In some possible implementations, an electronic device according to the present application may include at least one processor and at least one memory. The memory stores program code that, when executed by the processor, causes the processor to perform the steps of the pilot pressure-based excavator operating condition identification method according to various exemplary embodiments of the present application described above. For example, the processor may perform the steps of the pilot pressure-based excavator operating condition identification method.

[0109] Refer to the following Figure 8 An electronic device 80 according to this embodiment of the present application will be described. Figure 8 The electronic device 80 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0110] like Figure 8 As shown, the electronic device 80 is a general electronic device. Components of the electronic device 80 may include, but are not limited to, the at least one processor 81, the at least one memory 82, and a bus 83 connecting different system components (including the memory 82 and the processor 81).

[0111] Bus 83 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a processor or local bus using any of a variety of bus architectures.

[0112] The memory 82 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 821 and / or a cache memory 822 , and may further include a read-only memory (ROM) 823 .

[0113] The memory 82 may also include a program / utility 825 having a set (at least one) of program modules 824, such program modules 824 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0114] The electronic device 80 can also communicate with one or more external devices 84 (e.g., a keyboard, pointing device, etc.), one or more devices that enable a user to interact with the electronic device 80, and / or any device that enables the electronic device 80 to communicate with one or more other electronic devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 85. Furthermore, the electronic device 80 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 86. As shown, the network adapter 86 communicates with other modules of the electronic device 80 via a bus 83. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 80, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0115] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 82 including instructions, which can be executed by the processor 81 to perform the above method. Alternatively, the computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0116] In an exemplary embodiment, a computer program product is further provided, including a computer program / instruction, which, when executed by the processor 81 , implements any of the methods for identifying an excavator operating condition based on pilot pressure provided in the present application.

[0117] In an exemplary embodiment, various aspects of the excavator operating condition identification method based on pilot pressure provided by the present application can also be implemented in the form of a program product, which includes program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of the excavator operating condition identification method based on pilot pressure according to various exemplary embodiments of the present application described above in this specification.

[0118] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0119] The program product for unlocking an electronic device according to an embodiment of the present application may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on an electronic device. However, the program product of the present application is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0120] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0121] Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0122] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user electronic device, partially on the user device, as a separate software package, partially on the user electronic device and partially on a remote electronic device, or entirely on the remote electronic device or server. In cases involving remote electronic devices, the remote electronic device can be connected to the user electronic device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external electronic device (for example, using an Internet service provider to connect through the Internet).

[0123] It should be noted that although several units or subunits of the device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, depending on the embodiment of the application, the features and functions of two or more units described above can be embodied in a single unit. Conversely, the features and functions of a single unit described above can be further divided and embodied by multiple units.

[0124] Furthermore, although the operations of the method of the present application are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in this particular order, or that all illustrated operations must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0125] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0126] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flow chart and / or block diagram and the combination of the process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processing machine or other programmable electronic device to produce a machine, so that the instructions executed by the processor of the computer or other programmable electronic device produce a device for realizing the function specified in one process or multiple processes and / or one box or multiple boxes of the flow chart.

[0127] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable electronic device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0128] These computer program instructions can also be loaded onto a computer or other programmable electronic device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0129] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0130] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for identifying an excavator working condition based on pilot pressure, characterized in that: The method comprises: Determining that the excavator is in a circulation state based on a preset circulation start point condition and a preset circulation end point condition; determining an operating state of the excavator based on a time sequence of pilot pressures of at least one target operation of the excavator and a cycle duration of the excavator; The preset cycle starting point condition is that the pilot pressure of the bucket arm retracting is greater than a first value, and the preset cycle ending point condition is that the pilot pressure of the bucket arm swinging is less than a second value. The determining of the working state of the excavator based on the time sequence of the pilot pressure of at least one target operation of the excavator and the cycle duration of the excavator includes: If the time sequence of the pilot pressure is arm retraction / bucket retraction, boom rise / rotation, bucket swing outward and rotation, and the cycle time of the excavator is greater than the first time length and less than the second time length, then the working state of the excavator is the swinging working state.

2. The method according to claim 1, characterized in that The preset cycle starting point condition is that the pilot pressure of the bucket arm retracting is greater than a third value, and the preset cycle ending point condition is that the pilot pressure of the bucket arm swinging is less than a fourth value. The determining of the operating state of the excavator based on the time sequence of the pilot pressure of at least one target operation of the excavator and the cycle duration of the excavator includes: If the time sequence of the pilot pressure is arm retraction / arm rise, arm swing outward / arm drop, and the cycle time of the excavator is greater than the third time length and less than the fourth time length, then the working state of the excavator is the leveling working state.

3. The method according to claim 2, characterized in that The determining of the operating state of the excavator based on the time sequence of the pilot pressure of at least one target operation of the excavator and the cycle duration of the excavator further includes: During a first specified time period of the excavator's cycle time, the proportion of time when the boom is retracted is greater than a first proportion; and during a second specified time period of the excavator's cycle time, the proportion of time when the boom is swung out is greater than a second proportion; wherein the time of the first specified time period is less than the time of the second specified time period.

4. The method according to claim 1, wherein The preset cycle start point condition is that the pilot pressure of each excavator target operation is zero, and the absolute value of the difference between the engine speed and the idle speed setting value is less than a fifth value. The preset cycle end point condition is that the pilot pressure of at least one excavator target operation is not zero, or the absolute value of the difference between the engine speed and the idle speed setting value is greater than the fifth value. The determining of the operating state of the excavator based on the time sequence of the pilot pressure of at least one excavator target operation and the cycle duration of the excavator includes: If the cycle duration of the excavator is greater than the fifth duration, the operating state of the excavator is an idle operating state.

5. The method according to claim 1, wherein When the preset cycle starting point condition is that the pilot pressure for left travel or right travel is greater than a sixth value, and the preset cycle ending point condition is that the pilot pressure for left travel is less than the sixth value and the pilot pressure for right travel is less than the sixth value, determining the operating state of the excavator based on the time sequence of the pilot pressures of at least one target operation of the excavator and the cycle duration of the excavator includes: If the cycle duration of the excavator is greater than the sixth duration, the working state of the excavator is the walking working state.

6. An excavator working condition identification device based on pilot pressure, characterized in that: The device comprises: A first determining module is configured to determine whether the excavator is in a circulation state based on a preset circulation start point condition and a preset circulation end point condition; a second determining module for determining an operating state of the excavator based on a time sequence of a pilot pressure of at least one target operation of the excavator and a cycle duration of the excavator; Wherein, when the preset cycle starting point condition is that the pilot pressure of the bucket arm retracting is greater than a first value, and the preset cycle ending point condition is that the pilot pressure of the bucket arm swinging outward is less than a second value, the second determining module is specifically configured to: If the time sequence of the pilot pressure is arm retraction / bucket retraction, boom rise / rotation, bucket swing outward and rotation, and the cycle time of the excavator is greater than the first time length and less than the second time length, then the working state of the excavator is the swinging working state.

7. An electronic device, characterized in that: include: processor and display; The display is used to display a user operation interface; The processor is configured to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method according to any one of claims 1 to 5.

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