Excavator, method for evaluating loading operation performance of the excavator, electronic device, and storage medium
By installing a gyroscope on the excavator's control handle to record the degree of complexity and timing of the operator's movements, the subjective nature of excavator performance evaluation is resolved, enabling quantitative evaluation and intuitive reflection of performance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XUZHOU XCMG MINING MACHINERY CO LTD
- Filing Date
- 2023-10-20
- Publication Date
- 2026-05-29
Smart Images
Figure CN117409496B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a method for evaluating the operational performance of excavators during loading operations, belonging to the field of excavator testing technology. Background Technology
[0002] Excavators are the primary tools for earthmoving operations. Their working mechanisms are relatively complex compared to other construction machinery, enabling them to perform various actions through the combination of different movements. Currently, subjective evaluation of excavator performance relies mainly on experienced operators who, based on their own experience, describe the differences between excavators. However, due to varying operator experience, not all excavator operators can accurately describe the excavator's performance. How to quantify operator perception through simple tests and thus intuitively evaluate excavator performance has been a persistent challenge for excavator manufacturers. Summary of the Invention
[0003] The present invention aims to overcome the above-mentioned defects and provides a method for evaluating the operational performance of excavator loading operations.
[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:
[0005] In a first aspect, this invention discloses a method for evaluating the operational performance of an excavator during loading operations:
[0006] Install a gyroscope on the operating handle of the excavator;
[0007] Excavation of fixed working conditions and fixed material dumping;
[0008] The gyroscope records the operator's actions, and the excavator's operating performance is evaluated by the degree of combination of the various actions of the control handle and the control time.
[0009] In some embodiments, the specific method for installing a gyroscope on the operating handle of an excavator is as follows:
[0010] Install gyroscope I on the right handle and gyroscope II on the left handle.
[0011] In some embodiments, the specific scheme for excavating fixed working conditions and discharging fixed materials is as follows:
[0012] The excavated material is located at a fixed position in front of the excavator;
[0013] The operator operates the excavator to dig up the material, rotates it 90° to throw the material out at a fixed height, and then returns to continue digging up and throwing out the material until all the material has been transported and the machine returns to its original position.
[0014] In some embodiments, the gyroscope records the operator's actions, and the specific scheme for evaluating the excavator's operating performance by the degree of combination of various actions of the control handle and the control time is as follows:
[0015] During the test, the opening degree of the bucket handle (B), the opening degree of the stick handle (R), the opening degree of the boom handle (A), and the opening degree of the slewing handle (S) were recorded using a gyroscope. The volume of excavated material (V) and the operation time (t) were also recorded during the test.
[0016] In some embodiments, the operational performance index formula is:
[0017]
[0018] in:
[0019] P represents the operational performance index;
[0020] F represents the average degree of compounding of the operating handle;
[0021] t0 is the time taken to excavate a unit volume of material;
[0022] In Equation 1 in
[0023] M represents the score for the degree of compatibility of the handle;
[0024] t represents the task time.
[0025] In Equation 2, M = ∑(B + R + A + S) × α; ... (3)
[0026] B represents the degree of opening of the bucket handle, which is real-time data showing the percentage of the bucket handle's movement angle.
[0027] R represents the degree of opening of the stick handle, and is the real-time data of the percentage of the stick handle's movement angle.
[0028] A represents the degree of boom handle opening, and is the real-time data representing the percentage of the boom handle's movement angle.
[0029] S represents the degree of opening of the rotary handle, which is the real-time data of the percentage of the rotary handle's movement angle;
[0030] α is the scoring coefficient. It is α1 when there is only one action, α2 when there are two actions, α3 when there are three actions, and α4 when there are four actions. α4 > α3 > α2 > α1.
[0031] In Equation 1 in
[0032] t represents the task time;
[0033] V represents the volume of material excavated.
[0034] In some embodiments, the same operator or an operator trained to have good consistency in operating actions is used in the evaluation of multiple models.
[0035] In a second aspect, the present invention discloses an electronic device, comprising:
[0036] Memory, used to store instructions;
[0037] A processor is configured to execute the instructions, causing the electronic device to perform operations that implement the above-described excavator loading operation performance evaluation method.
[0038] Thirdly, the present invention discloses an excavator equipped with the aforementioned electronic equipment.
[0039] Fourthly, the present invention discloses a non-transitory computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the above-described excavator loading operation performance evaluation method.
[0040] Beneficial effects of this invention:
[0041] Using the above-mentioned method, a gyroscope was used to record the degree of handle opening, as well as the volume of excavated material and the operation time. The average degree of handle engagement and the time taken to excavate a unit volume of material can be calculated. This invention uses the ratio of the average degree of engagement to the time taken to excavate a unit volume of material to evaluate the performance of excavation and loading operations, comprehensively reflecting the degree of engagement of controllable actions and the operating speed. Therefore, this invention features simple operation and intuitive data. Attached Figure Description
[0042] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.
[0043] In the attached diagram:
[0044] Figure 1 This is a schematic diagram of the operation of the present invention.
[0045] Figure 2 This is a schematic diagram of a gyroscope installation.
[0046] In the diagram: 1. Material, 2. Excavator, 3. Right handle, 4. Gyroscope I, 5. Gyroscope II, 6. Left handle.
[0047] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation
[0048] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.
[0049] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of this disclosure.
[0050] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.
[0051] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.
[0052] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.
[0053] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.
[0054] A method for evaluating the operational performance of excavators during loading operations, such as... Figure 1 , Figure 2As shown, the equipment includes material 1, excavator 2, right handle 3, gyroscope I 4, gyroscope II 5, and left handle 6. Material 1 is located at a fixed position in front of excavator 2. Gyroscope I 4 is mounted on right handle 3, and gyroscope II 5 is mounted on left handle 6. The operator operates excavator 2 to excavate material 1, rotates it 90° to throw material 1 out at a fixed height, and then returns to continue excavating and throwing material 1 until all material 1 has been transported back to its original position. The operational performance of excavator 2 is evaluated by recording the movement of left handle 6 and right handle 3 during operation. In the evaluation of multiple models, the same operator or a trained operator with good consistency in operational actions is used. During the test, gyroscope I 4 records the opening degree B of the bucket handle and the opening degree A of the boom handle, and gyroscope II 5 records the opening degree R of the stick handle and the opening degree S of the swing handle. The excavated material volume V and the operation time t are also recorded during the test. The operational performance evaluation formula is:
[0055]
[0056] in:
[0057] P represents the operational performance index;
[0058] F represents the average degree of compounding of the operating handle;
[0059] t0 is the time taken to excavate a unit volume of material;
[0060] In Equation 1
[0061] in
[0062] M represents the score for the degree of compatibility of the handle;
[0063] t represents the task time.
[0064] In Equation 2, M = ∑(B + R + A + S) × α; …………(3)
[0065] in
[0066] B represents the degree of opening of the bucket handle, which is real-time data showing the percentage of the bucket handle's movement angle.
[0067] R represents the degree of opening of the stick handle, and is the real-time data of the percentage of the stick handle's movement angle.
[0068] A represents the degree of boom handle opening, and is the real-time data representing the percentage of the boom handle's movement angle.
[0069] S represents the degree of opening of the rotary handle, which is the real-time data of the percentage of the rotary handle's movement angle;
[0070] α is the scoring coefficient. It is α1 when there is only one action, α2 when there are two actions, α3 when there are three actions, and α4 when there are four actions. α4 > α3 > α2 > α1.
[0071] In Equation 1
[0072] in
[0073] t represents the task time;
[0074] V represents the volume of excavated material;
[0075] By employing the above-mentioned method, a gyroscope was used to record the degree of handle opening, as well as the volume of excavated material and the operation time. This allows for the calculation of the average degree of handle engagement and the time taken to excavate a unit volume of material. This invention evaluates excavation and loading performance using the ratio of the average degree of engagement to the time taken to excavate a unit volume of material. This comprehensively reflects the degree of engagement of controllable actions and the operating speed. For excavators with high engagement and fast operating speed, the operating performance evaluation index P is higher; for excavators with low engagement and slow operating speed, the operating performance evaluation index P is lower. The loading performance of different excavators can be obtained numerically. Therefore, this invention is characterized by simple operation and intuitive data.
[0076] The present invention also discloses an electronic device, including a memory and a processor; the memory is used to store instructions; the processor is used to execute the instructions, causing the electronic device to perform the operation of the above-described excavator loading operation performance evaluation method.
[0077] The electronic device also includes a communication interface for exchanging information with other devices. Additionally, the electronic device includes a bus through which the processor, communication interface, and memory communicate with each other.
[0078] The memory may include high-speed RAM, and may also include non-volatile memory, such as at least one disk drive. The memory may also be a memory array. The memory may be divided into blocks, and these blocks may be combined into virtual volumes according to certain rules.
[0079] In addition, the processor can be a central processing unit (CPU) or an application-specific integrated circuit (ASIC).
[0080] The present invention also discloses an excavator equipped with the aforementioned electronic equipment.
[0081] The present invention also discloses a non-transitory computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the excavator loading operation performance evaluation method described above.
[0082] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0083] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0085] These computer programs can also be loaded onto a computer or other programmable data processing equipment, causing a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0086] The vehicle-mounted terminal described above can be implemented as a general-purpose processor, programmable logic controller (PLC), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or any suitable combination thereof for performing the functions described in this application.
[0087] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details unknown to the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.
[0088] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing the relevant hardware to implement them. The program can be stored in a non-transitory computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.
[0089] The description in this disclosure is provided for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the disclosure to its forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of this disclosure and to enable those skilled in the art to understand this disclosure and to design various embodiments with various modifications suitable for a particular purpose.
Claims
1. A method for evaluating the operational performance of an excavator during loading operations, characterized in that: Install a gyroscope on the operating handle of the excavator; Excavation of fixed working conditions and fixed material dumping; The gyroscope records the operator's actions, and the excavator's operating performance is evaluated by the degree of combination of various actions of the control handle and the control time. The gyroscope records the operator's actions, and the specific scheme for evaluating the excavator's operating performance by measuring the degree of combination of various control handle movements and the control time is as follows: During the test, the opening degree of the bucket handle (B), the opening degree of the stick handle (R), the opening degree of the boom handle (A), and the opening degree of the swing handle (S) were recorded using a gyroscope. The volume of excavated material (V) and the operation time (t) were also recorded during the test. The formula for the operational performance index is: …………（1） in: P represents the operational performance index; F represents the average degree of compounding of the operating handle; t0 is the time taken to excavate a unit volume of material; In Equation 1 …………(2) in M represents the score for the degree of compatibility of the handle; t represents the task time; In Equation 2 ; …………(3) in B represents the degree of opening of the bucket handle, which is real-time data showing the percentage of the bucket handle's movement angle. R represents the degree of opening of the stick handle, and is the real-time data of the percentage of the stick handle's movement angle. A represents the degree of boom handle opening, and is the real-time data representing the percentage of the boom handle's movement angle. S represents the degree of opening of the rotary handle, which is the real-time data of the percentage of the rotary handle's movement angle; α is the scoring coefficient. It is α1 when there is only one action, α2 when there are two actions combined, α3 when there are three actions combined, and α4 when there are four actions combined, and α4 > α3 > α2 > α1. In Equation 1 ………………(4) in t represents the task time; V represents the volume of material excavated.
2. The method for evaluating the operational performance of an excavator during loading operations according to claim 1, characterized in that, The specific solution for installing a gyroscope on the operating handle of an excavator is as follows: Install gyroscope I on the right handle and gyroscope II on the left handle.
3. The method for evaluating the operational performance of an excavator during loading operations according to claim 1, characterized in that, The specific plan for excavating fixed working conditions and discharging fixed materials is as follows: The excavated material is located at a fixed position in front of the excavator; The operator operates the excavator to dig up the material, rotates it 90° to throw the material out at a fixed height, and then returns to continue digging up and throwing out the material until all the material has been transported and the machine returns to its original position.
4. The method for evaluating the operational performance of an excavator loading operation according to claim 1, characterized in that: The same operator or an operator trained to have consistent operating actions should be used in the evaluation of multiple models.
5. An electronic device, characterized in that, include: Memory, used to store instructions; A processor is configured to execute the instructions, causing the electronic device to perform operations that implement the excavator loading operation performance evaluation method as described in any one of claims 1-4.
6. An excavator, characterized in that: It is equipped with the electronic device as described in claim 5.
7. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions that, when executed by a processor, implement the excavator loading operation performance evaluation method as described in any one of claims 1-4.