Detection system, detection method, excavator, and computer-readable storage medium

Abstract

The present disclosure provides a detection system, a detection method, a excavator and a computer readable storage medium. The detection system comprises: a scanning device configured to scan an identification bar code of the excavator, obtain identity information of the excavator, and transmit the identity information to a detection data analysis module; an acceleration sensor arranged on a working device of the excavator and configured to output an acceleration value to the detection data analysis module when the working device performs an action; a controller configured to control the working device to perform the action according to a handle stroke signal, and transmit the handle stroke signal to the detection data analysis module; and the detection data analysis module configured to store the identity information, determine the excavator currently being detected according to the identity information, determine corresponding time information according to the handle stroke signal and the acceleration value, and obtain a detection result of the excavator according to the time information. The present disclosure can improve the accuracy and efficiency of the detection of the excavator.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery testing technology, and in particular to a testing system, testing method, excavator, and computer-readable storage medium. Background Technology

[0002] Currently, the mainstream control systems for excavators on the market are mainly divided into negative flow control systems, positive flow control systems, and load-sensitive control systems. Each control system has its own strengths in terms of efficiency, fuel consumption, and operability. However, the positive flow control system is significantly superior to the negative flow control system and the load-sensitive control system in terms of operating comfort, smooth operation, work efficiency, and fuel consumption. Moreover, in recent years, with the advancement of hydraulic control technology, positive flow control technology has been comprehensively improved, especially the development of fully electronic positive flow control systems, whose outstanding performance has made it the main direction of future development. Currently, major excavator manufacturers are undergoing a technological transition from negative flow control systems and load-sensitive control systems to fully electronic positive flow control systems.

[0003] A fully electric excavator control system typically consists of a controller, electric control lever, proportional solenoid valves, a main valve, a main pump, and an engine. The process for each action in a fully electric excavator is as follows: The operator manipulates the electric control lever, generating an action signal based on the lever's travel. This signal is sent to the controller via a CAN (Controller Area Network) bus. The controller calculates and outputs a target current to the proportional solenoid valve, thereby controlling the main pump's displacement and the main valve's spool opening to distribute hydraulic oil to each working device, thus enabling the operation of each device and achieving precise control of its operating speed.

[0004] Currently, the increasing complexity of excavator control systems, coupled with increased production capacity and automation leading to faster production cycles, places higher demands on the excavator off-line inspection process, requiring more inspection parameters and higher efficiency. Specifically, excavator off-line inspection involves monitoring the movement time of the boom, stick, and bucket, as well as the detection of key parameters for each movement during these actions.

[0005] In the relevant technologies, the current methods for inspecting excavators before they leave the production line are relatively traditional. The two most common methods are as follows: the first is for quality inspectors to operate the control handle and subjectively judge whether the excavator can complete the prescribed actions normally; the second is for quality inspectors to operate the control handle and test the time of each action of the excavator by combining visual inspection with stopwatch timing.

[0006] The two commonly used off-line inspection methods mentioned above both require quality inspectors to manually operate the handles, recording the time of each action by visual inspection or a stopwatch. This method is labor-intensive, susceptible to human error, and can only detect the movement time of individual working devices, not the start-up response time of each device or the current of the proportional solenoid valves during movement. Therefore, the accuracy of these off-line inspection methods for excavators is relatively low. Summary of the Invention

[0007] One technical problem addressed by this disclosure is the low accuracy of off-line inspection methods for excavators in related technologies.

[0008] According to one aspect of this disclosure, a detection system for an excavator is provided, comprising: a scanning device for scanning and identifying the excavator's license plate barcode to obtain the excavator's identity information and sending the identity information to a detection data analysis module; an acceleration sensor disposed on the excavator's working device for outputting acceleration values ​​to the detection data analysis module when the working device performs an action; a controller for controlling the working device to perform an action based on a handle travel signal and transmitting the handle travel signal to the detection data analysis module; and the detection data analysis module for storing the identity information, determining the excavator currently being detected based on the identity information, determining corresponding time information based on the handle travel signal and the acceleration value, and obtaining the detection result of the excavator based on the time information.

[0009] In some embodiments, the detection system further includes: a detection safety module, configured to detect the conditions of the surrounding area of ​​the excavator to determine whether the excavator is in a safe detection state; if the excavator is in a safe detection state, to send a detection execution signal to the controller to perform detection; and if the excavator is in a non-safe detection state, to send a detection stop signal to the controller to stop detection, and to cause the controller to store the current detection progress.

[0010] In some embodiments, the detection system further includes: a data information acquisition module, used to acquire data information from the controller and send the data information to the detection data analysis module, wherein the data information includes the handle stroke signal.

[0011] In some embodiments, the handle travel signal includes a handle step travel signal; the controller is configured to control the working device to perform a corresponding action based on the handle step travel signal so that the working device changes from a first position state to a second position state; the detection data analysis module is configured to record a first moment when the handle step travel signal is first received, a second moment when a non-zero acceleration value is first received, and a third moment when the acceleration value changes from a non-zero value to 0; calculate a first response time from receiving the handle step travel signal to the working device starting to perform an action based on the second moment and the first moment; and calculate a first action process time of the working device performing the action based on the third moment and the second moment, wherein the detection result includes the first response time and the first action process time.

[0012] In some embodiments, the detection data analysis module is further configured to determine whether the first response duration is within a predetermined first error range and whether the first action process duration is within a predetermined second error range, and record the corresponding first judgment result, wherein the detection result includes the first judgment result.

[0013] In some embodiments, the data information further includes: the first current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing a corresponding action under the action of the handle step stroke signal; the detection data analysis module is also used to determine whether the first current value is within a predetermined third error range and record the corresponding second judgment result, wherein the detection result includes the second judgment result.

[0014] In some embodiments, the handle stroke signal includes a handle ramp stroke signal; the controller is configured to control the working device to perform a corresponding action based on the handle ramp stroke signal so that the working device changes from a first position state to a second position state; the detection data analysis module is configured to record a fourth moment when the handle ramp stroke signal is first received, a fifth moment when a non-zero acceleration value is first received, and a sixth moment when the acceleration value changes from a non-zero value to 0; calculate a second response duration from receiving the handle ramp stroke signal to the working device starting to perform an action based on the fifth moment and the fourth moment; and calculate a second action process duration of the working device performing the action based on the sixth moment and the fifth moment, wherein the detection result includes the second response duration and the second action process duration.

[0015] In some embodiments, the detection data analysis module is further configured to determine whether the second response duration is within a predetermined fourth error range, and whether the second action process duration is within a predetermined fifth error range, and record the corresponding third judgment result, wherein the detection result includes the third judgment result.

[0016] In some embodiments, the data information further includes: the second current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing a corresponding action under the action of the handle ramp stroke signal; the detection data analysis module is also used to determine whether the second current value is within a predetermined sixth error range and record the corresponding fourth judgment result, wherein the detection result includes the fourth judgment result.

[0017] In some embodiments, the corresponding actions performed by the working device include: boom lifting action, boom lowering action, stick retraction action, stick swinging action, bucket retraction action, or bucket swinging action.

[0018] According to another aspect of this disclosure, a method for detecting an excavator is provided, comprising: a scanning device scanning and identifying the excavator's vehicle number barcode to obtain the excavator's identity information, and sending the identity information to a detection data analysis module; an acceleration sensor outputting an acceleration value to the detection data analysis module when the excavator's working device performs an action, wherein the acceleration sensor is disposed on the working device; a controller controlling the working device to perform an action based on a handle travel signal, and transmitting the handle travel signal to the detection data analysis module; and the detection data analysis module storing the identity information, determining the excavator currently being detected based on the identity information, determining corresponding time information based on the handle travel signal and the acceleration value, and obtaining the detection result of the excavator based on the time information.

[0019] In some embodiments, the detection method further includes: a detection safety module detecting the surrounding environment of the excavator to determine whether the excavator is in a safe detection state; if the excavator is in a safe detection state, sending a detection execution signal to the controller to perform detection; and if the excavator is in a non-safe detection state, sending a detection stop signal to the controller to stop detection, and causing the controller to store the current detection progress.

[0020] In some embodiments, the controller transmitting the handle travel signal to the detection data analysis module includes: the controller sending data information to the data information acquisition module, and the data information acquisition module sending the data information to the detection data analysis module, wherein the data information includes the handle travel signal.

[0021] In some embodiments, the handle travel signal includes a handle step travel signal; the controller controlling the working device to perform an action based on the handle travel signal includes: the controller controlling the working device to perform a corresponding action based on the handle step travel signal to change the working device from a first position state to a second position state; the detection data analysis module determining corresponding time information based on the handle travel signal and the acceleration value, and obtaining the excavator's detection result based on the time information includes: the detection data analysis module recording a first moment when the handle step travel signal is first received, a second moment when a non-zero acceleration value is first received, and a third moment when the acceleration value changes from a non-zero value to 0; calculating a first response time from receiving the handle step travel signal to the working device starting to perform an action based on the second moment and the first moment; and calculating a first action process time of the working device performing the action based on the third moment and the second moment, wherein the detection result includes the first response time and the first action process time.

[0022] In some embodiments, the detection data analysis module further includes obtaining the detection result of the excavator based on the time information by determining whether the first response duration is within a predetermined first error range and whether the first action process duration is within a predetermined second error range, and recording the corresponding first judgment result, wherein the detection result includes the first judgment result.

[0023] In some embodiments, the data information further includes: the first current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing a corresponding action under the action of the handle step stroke signal; the detection method further includes: the detection data analysis module determining whether the first current value is within a predetermined third error range and recording the corresponding second judgment result, wherein the detection result includes the second judgment result.

[0024] In some embodiments, the handle travel signal includes a handle ramp travel signal; the controller controlling the working device to perform an action based on the handle travel signal includes: the controller controlling the working device to perform a corresponding action based on the handle ramp travel signal to change the working device from a first position state to a second position state; the detection data analysis module determining corresponding time information based on the handle travel signal and the acceleration value, and obtaining the excavator's detection result based on the time information includes: the detection data analysis module recording a fourth moment when the handle ramp travel signal is first received, a fifth moment when a non-zero acceleration value is first received, and a sixth moment when the acceleration value changes from a non-zero value to 0; calculating a second response duration from receiving the handle ramp travel signal to the working device starting to perform an action based on the fifth moment and the fourth moment; and calculating a second action process duration based on the sixth moment and the fifth moment, wherein the detection result includes the second response duration and the second action process duration.

[0025] In some embodiments, the detection data analysis module further includes obtaining the detection result of the excavator based on the time information by determining whether the second response duration is within a predetermined fourth error range and whether the second action process duration is within a predetermined fifth error range, and recording the corresponding third judgment result, wherein the detection result includes the third judgment result.

[0026] In some embodiments, the data information further includes: the second current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing a corresponding action under the action of the handle ramp stroke signal; the detection method further includes: the detection data analysis module determining whether the second current value is within a predetermined sixth error range and recording the corresponding fourth judgment result, wherein the detection result includes the fourth judgment result.

[0027] In some embodiments, the corresponding actions performed by the working device include: boom lifting action, boom lowering action, stick retraction action, stick swinging action, bucket retraction action, or bucket swinging action.

[0028] According to another aspect of this disclosure, a detection system for an excavator is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the detection method as described above based on instructions stored in the memory.

[0029] According to another aspect of this disclosure, an excavator is provided, comprising: the detection system as described above.

[0030] According to another aspect of this disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the detection method as described above.

[0031] The aforementioned testing system can improve the accuracy and efficiency of excavator product off-line testing.

[0032] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0033] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0034] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0035] Figure 1 This is a schematic block diagram illustrating the structure of a detection system for an excavator according to some embodiments of the present disclosure;

[0036] Figure 2 This is a schematic block diagram illustrating the structure of a detection system for an excavator according to other embodiments of the present disclosure;

[0037] Figure 3 This is a flowchart illustrating a detection method for an excavator according to some embodiments of the present disclosure;

[0038] Figure 4A This is a flowchart illustrating some steps of a detection method for an excavator according to other embodiments of the present disclosure;

[0039] Figure 4B This is a flowchart illustrating some steps of a detection method for an excavator according to other embodiments of the present disclosure;

[0040] Figure 5 This is a schematic block diagram illustrating the structure of a detection system for an excavator according to other embodiments of the present disclosure;

[0041] Figure 6 This is a schematic block diagram illustrating the structure of a detection system for an excavator according to other embodiments of the present disclosure. Detailed Implementation

[0042] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, 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 the present disclosure.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Figure 1 This is a schematic structural block diagram illustrating a detection system for an excavator according to some embodiments of the present disclosure. Figure 1 As shown, the detection system includes a scanning device 102, an acceleration sensor 104, a controller 108, and a detection data analysis module 110. For example, the excavator is a fully electric excavator.

[0049] The scanning device 102 is used to scan and identify the excavator's vehicle number barcode to obtain the excavator's identity information, and then sends this identity information to the detection data analysis module 110. For example, the scanning device 102 and the detection data analysis module 110 are connected wirelessly or via a hardwired connection.

[0050] Here, the vehicle registration barcode contains the excavator's identification information. Therefore, the scanning device 102 can obtain the excavator's identification information after scanning the vehicle registration barcode.

[0051] An acceleration sensor 104 is mounted on the excavator's working device. The acceleration sensor 104 is used to output acceleration values ​​to the detection data analysis module 110 when the working device is performing actions.

[0052] Here, since the acceleration sensor is installed on the excavator's working device, when the working device performs an action, the acceleration sensor will move with the working device, thereby generating acceleration values, which are then output to the data analysis module.

[0053] For example, the acceleration sensor is fixedly installed on the outside of the excavator's working device (e.g., the bucket body) using a magnetic quick-release design and is connected to the detection data analysis module 110 via wireless communication.

[0054] The controller 108 is used to control the working device to perform actions based on the handle stroke signal, and transmits the handle stroke signal to the detection data analysis module. For example, this controller is the overall controller of an excavator.

[0055] Here, the detection system of this embodiment is an automatic detection system. Therefore, during detection, the controller can control the working device to perform actions according to the handle travel signal in its own program, thereby facilitating the automatic detection of the excavator. This achieves the simulation of handle operation.

[0056] For example, the actions performed by the working device include: boom lifting, boom lowering, stick retraction, stick swing, bucket retraction, or bucket swing.

[0057] The detection data analysis module 110 is used to store identity information, determine the excavator currently being detected based on the identity information, determine the corresponding time information based on the handle stroke signal and acceleration value, and obtain the detection result of the excavator based on the time information.

[0058] Thus, a detection system for excavators according to some embodiments of this disclosure is provided. The detection system includes: a scanning device for scanning and identifying the excavator's license plate barcode to obtain the excavator's identity information and sending the identity information to a detection data analysis module; an accelerometer sensor, installed on the excavator's working device, for outputting acceleration values ​​to the detection data analysis module when the working device performs an action; a controller for controlling the working device to perform actions based on a handle travel signal and transmitting the handle travel signal to the detection data analysis module; and a detection data analysis module for storing the identity information, determining the excavator currently being detected based on the identity information, determining corresponding time information based on the handle travel signal and acceleration values, and obtaining the excavator's detection result based on the time information. This detection system can improve the accuracy and efficiency of excavator product off-line inspection. Moreover, this detection system does not require manual operation, improving the automation level of off-line inspection, eliminating human error, and saving labor costs.

[0059] Figure 2 This is a schematic structural block diagram illustrating a detection system for an excavator according to other embodiments of the present disclosure. Figure 2 As shown, the detection system includes a scanning device 102, an acceleration sensor 104, a controller 108, and a detection data analysis module 110.

[0060] In some embodiments, such as Figure 2 As shown, the detection system also includes a detection safety module 212. For example, the detection safety module 212 is connected to the controller 108 via wireless communication or a hardwired connection. The detection safety module 212 is used to detect the conditions of the surrounding area of ​​the excavator to determine whether the excavator is in a safe detection state. When the excavator is in a safe detection state, it sends a detection execution signal to the controller to perform the detection; and when the excavator is in a non-safe detection state (i.e., the excavator is not in a safe detection state), it sends a detection stop signal to the controller to stop the detection and causes the controller to store the current detection progress. In this way, safe detection of the area around the excavator is achieved, ensuring safety during the excavator detection process as much as possible.

[0061] For example, automated inspection stations should ideally be enclosed and free from interference. The inspection safety module continuously monitors the surrounding area for personnel, vehicles, or obstacles, and reports this information to the controller to determine if the area is safe. If the inspection safety module determines that the current state is unsafe and requires automatic inspection to cease, it sends a stop signal to the controller and stores the current inspection progress. Automatic inspection resumes once the inspection safety module determines that the current state is safe again. For example, the inspection safety module may include components such as cameras and lidar.

[0062] In some embodiments, such as Figure 2 As shown, the detection system also includes a data acquisition module 214. The data acquisition module 214 acquires data information from the controller and sends it to the detection data analysis module. For example, the data information includes the handle travel signal. Of course, the data information can also include other information. For example, the data acquisition module 214 is hardwired to the controller 108, acquires the controller's CAN data, and forwards the data to the detection data analysis module 110 via wireless communication. In this way, the controller's data is acquired so that corresponding detection can be performed based on this data.

[0063] In some embodiments, such as Figure 2 As shown, the detection system also includes an output device 216. For example, this output device may include a printer and / or a display. The detection data analysis module 110 is also used to transmit the excavator's detection results to the output device 216. The output device 216 is used to output the detection results. For example, the output device 216 can print out or display the excavator's detection results. This makes it convenient for workers to obtain the excavator's detection results.

[0064] In some embodiments, the handle travel signal includes a handle step travel signal. For example, this handle step travel signal can cause the handle travel to step from 0% to 100%.

[0065] The controller 108 can be used to control the working device to perform corresponding actions based on the handle step stroke signal, so that the working device changes from a first position state to a second position state. For example, when performing stick outward swing detection, the controller can control the stick to perform corresponding actions based on the handle step stroke signal, so that the stick changes from a first extreme position (e.g., the initial position) to a second extreme position (e.g., the final position).

[0066] The detection data analysis module 110 can be used to record the first moment when the handle step stroke signal is first received, the second moment when a non-zero acceleration value is first received, and the third moment when the acceleration value changes from a non-zero value to 0. Based on the second moment and the first moment, the first response time between receiving the handle step stroke signal and the start of the action of the working device is calculated. Based on the third moment and the second moment, the first action process time of the working device is calculated. The detection result includes the first response time and the first action process time.

[0067] In this embodiment, the second moment when the detection data analysis module begins to receive a non-zero acceleration value is the moment when the working device begins to perform an action, and the third moment when the acceleration value changes from a non-zero value to 0 is the moment when the working device finishes performing an action. There is a time difference, i.e., the first response duration, between the detection data analysis module receiving the handle step stroke signal and the working device starting to perform an action. Here, the difference between the second moment t2 and the first moment t1 (for example, the first moment t1 can be set to 0) is calculated, which is the first response duration T between receiving the handle step stroke signal and the working device starting to perform an action. R1 That is, T R1 = t2 - t1. Calculate the difference between the third time t3 and the second time t2, which is the duration T of the first action process of the working device. A1 That is, T A1 =t3-t2. This enables the detection of the first response time and the first action process duration. These two detection parameters reflect the excavator's working performance. This achieves excavator inspection, improving the accuracy and efficiency of excavator product off-line inspection.

[0068] In some embodiments, the detection data analysis module 110 can also be used to determine whether the first response duration is within a predetermined first error range and whether the first action process duration is within a predetermined second error range, and record the corresponding first judgment result, wherein the detection result includes the first judgment result. Here, the first judgment result includes the judgment result of whether the first response duration is within the predetermined first error range and the judgment result of whether the first action process duration is within the predetermined second error range.

[0069] Here, the first error range is the allowable error range based on the first response time recorded by a standard machine; the second error range is the allowable error range based on the first action process duration recorded by a standard machine. The first and second error ranges can be obtained according to actual conditions, and this disclosure is not limited to the specific values ​​of the first and second error ranges.

[0070] In this embodiment, by obtaining the first judgment result, further inspection of the excavator can be achieved, thereby improving the accuracy of excavator product off-line inspection.

[0071] In some embodiments, the data information further includes: the first current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing a corresponding action under the action of the handle step stroke signal. That is, when the controller controls the working device to perform a corresponding action, it sends a first current value to the corresponding proportional solenoid valve to execute the corresponding action, and the data information acquisition module can acquire the first current value and transmit it to the detection data analysis module so that the detection data analysis module can perform corresponding detection.

[0072] The detection data analysis module 110 can also be used to determine whether the first current value is within a predetermined third error range and record the corresponding second judgment result, wherein the detection result includes the second judgment result. This second judgment result is the judgment result of whether the first current value is within the predetermined third error range.

[0073] Here, the third error range is the allowable error range based on the first current value recorded by a standard machine. The third error range can be obtained according to actual conditions, and this disclosure is not limited to a specific value of the third error range.

[0074] In this embodiment, by obtaining the second judgment result, further inspection of the excavator can be achieved, thereby improving the accuracy of excavator product off-line inspection.

[0075] In other embodiments, the handle travel signal includes a handle ramp travel signal. For example, the handle ramp travel signal can cause the handle travel to slowly ramp from 0% to 100%. The handle ramp travel signal is the same as the handle linear travel signal.

[0076] The controller 108 is used to control the working device to perform corresponding actions based on the handle ramp stroke signal, so that the working device changes from a first position state to a second position state. For example, when performing boom swing detection, the controller can control the boom to perform corresponding actions based on the handle ramp stroke signal, so that the boom changes from a first extreme position (e.g., initial position) to a second extreme position (e.g., final position).

[0077] The detection data analysis module 110 can be used to record the fourth moment when the handle ramp stroke signal is first received, the fifth moment when a non-zero acceleration value is first received, and the sixth moment when the acceleration value changes from a non-zero value to 0. Based on the fifth and fourth moments, the second response time between receiving the handle ramp stroke signal and the start of the action of the working device is calculated. Based on the sixth and fifth moments, the second action process time of the working device is calculated. The detection results include the second response time and the second action process time.

[0078] In this embodiment, the fifth moment when the detection data analysis module begins to receive a non-zero acceleration value is the moment when the working device begins to perform its action, and the sixth moment when the acceleration value changes from non-zero to zero is the moment when the working device ends its action. There is a time difference, i.e., the second response duration, between the detection data analysis module receiving the handle ramp stroke signal and the working device beginning its action. Here, the difference between the fifth moment t5 and the fourth moment t4 (for example, the fourth moment t4 can be set to 0) is calculated, which is the second response duration T between receiving the handle ramp stroke signal and the working device beginning its action. R2 That is, T R2 = t5 - t4. Calculate the difference between the sixth time t6 and the fifth time t5, which is the duration T of the second action process of the working device. A2 That is, T A2 =t6-t5. This enables the detection of the second response duration and the second action process duration. These two detection parameters reflect the excavator's working performance. This enables the detection of the linear operation of the excavator's handle, improving the accuracy and efficiency of excavator product off-line inspection.

[0079] In some embodiments, the detection data analysis module 110 can also be used to determine whether the second response duration is within a predetermined fourth error range and whether the second action process duration is within a predetermined fifth error range, and record the corresponding third judgment result, wherein the detection result includes the third judgment result. Here, the third judgment result includes the judgment result of whether the second response duration is within the predetermined fourth error range and the judgment result of whether the second action process duration is within the predetermined fifth error range.

[0080] Here, the fourth error range is the allowable error range based on the second response duration recorded by the standard machine; the fifth error range is the allowable error range based on the second action process duration recorded by the standard machine. The fourth and fifth error ranges can be obtained according to actual conditions, and this disclosure is not limited to the specific values ​​of the fourth and fifth error ranges.

[0081] In this embodiment, by obtaining the aforementioned third judgment result, further inspection of the excavator can be achieved, thereby improving the accuracy of excavator product off-line inspection.

[0082] In some embodiments, the data information further includes: a second current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing a corresponding action under the action of the handle ramp stroke signal. That is, when the controller controls the working device to perform a corresponding action, it sends a second current value to the corresponding proportional solenoid valve to execute the corresponding action. The data information acquisition module can acquire this second current value and transmit it to the detection data analysis module so that the detection data analysis module can perform corresponding detection.

[0083] The detection data analysis module 110 can also be used to determine whether the second current value is within a predetermined sixth error range and record the corresponding fourth judgment result, wherein the detection result includes the fourth judgment result. This fourth judgment result is the judgment result of whether the second current value is within the predetermined sixth error range.

[0084] Here, the sixth error range is the allowable error range based on the second current value recorded by a standard machine. The sixth error range can be obtained according to actual conditions, and this disclosure is not limited to a specific value for the sixth error range.

[0085] In this embodiment, by obtaining the fourth judgment result mentioned above, the linear operation of the excavator's handle can be detected, thereby improving the accuracy of excavator product off-line inspection.

[0086] In some embodiments, the corresponding actions performed by the working device include: boom lifting action, boom lowering action, stick retraction action, stick swinging action, bucket retraction action, or bucket swinging action.

[0087] The inventors of this disclosure have discovered that, in order to minimize errors caused by manual operation, in actual implementation, the two conventional detection methods described above in the related art both require quality inspectors to operate the handle from the middle position to the travel limit position as quickly as possible. That is, they can only detect the movement time of each working device under the condition of a step signal from the handle. However, they cannot detect the linear operation of the handle, which is more commonly used in actual operations.

[0088] As can be seen from the above description of the detection system, the detection system of this embodiment, combined with the control of the handle ramp stroke signal, can realize the detection of the linear operation of the excavator handle.

[0089] The detection system described in this embodiment is an automatic detection system for fully electric excavators after they are manufactured. It can improve the accuracy and efficiency of the detection of fully electric excavators after they are manufactured. It does not require manual operation, thus improving the automation level of the detection, eliminating human error, saving labor costs, and can detect multiple key parameters of the excavator system.

[0090] Figure 3 This is a flowchart illustrating a detection method for an excavator according to some embodiments of the present disclosure. For example... Figure 3 As shown, the detection method includes steps S302 to S308.

[0091] In step S302, the scanning device scans and identifies the excavator's vehicle number barcode to obtain the excavator's identity information and sends the identity information to the detection data analysis module.

[0092] In step S304, when the excavator's working device performs an action, the acceleration sensor outputs an acceleration value to the detection data analysis module, wherein the acceleration sensor is installed on the working device.

[0093] In step S306, the controller controls the working device to perform actions based on the handle stroke signal and transmits the handle stroke signal to the detection data analysis module.

[0094] In step S308, the detection data analysis module stores the identity information, determines the excavator currently being detected based on the identity information, determines the corresponding time information based on the handle stroke signal and acceleration value, and obtains the detection result of the excavator based on the time information.

[0095] Thus, a testing method for excavators according to some embodiments of this disclosure is provided. This testing method can improve the accuracy and efficiency of excavator product off-line testing. Moreover, this testing method does not require manual operation, improves the automation level of off-line testing, eliminates human operation errors, and saves labor costs.

[0096] In some embodiments, the detection method further includes: a safety detection module detecting the surrounding environment of the excavator to determine whether the excavator is in a safe detection state; if the excavator is in a safe detection state, sending a detection execution signal to the controller to perform the detection; and if the excavator is in a non-safe detection state, sending a detection stop signal to the controller to stop the detection, and causing the controller to store the current detection progress. This achieves safe detection of the surrounding environment of the excavator, ensuring safety during the excavator detection process as much as possible.

[0097] In some embodiments, the controller transmitting the handle travel signal to the detection data analysis module includes: the controller sending data information to a data acquisition module, and the data acquisition module sending the data information to the detection data analysis module, wherein the data information includes the handle travel signal. This achieves the acquisition of data from the controller, enabling corresponding detection based on this data.

[0098] In some embodiments, the handle travel signal includes a handle step travel signal.

[0099] In some embodiments, the controller controls the working device to perform an action based on the handle stroke signal, including: the controller controls the working device to perform a corresponding action based on the handle step stroke signal to change the working device from a first position state to a second position state.

[0100] In some embodiments, the detection data analysis module determines the corresponding time information based on the handle stroke signal and acceleration value, and obtains the excavator's detection result based on the time information, including: the detection data analysis module records a first moment when it begins to receive the handle step stroke signal, a second moment when it begins to receive a non-zero acceleration value, and a third moment when the acceleration value changes from non-zero to zero; calculates a first response time from receiving the handle step stroke signal to the start of the working device's action based on the second and first moments; and calculates a first action process time based on the third and second moments. The detection result includes the first response time and the first action process time. This enables the detection of the excavator, improving the accuracy and efficiency of excavator product off-line inspection.

[0101] In some embodiments, the detection data analysis module further includes obtaining the excavator's detection results based on time information by determining whether the first response time is within a predetermined first error range and whether the first action process duration is within a predetermined second error range, and recording the corresponding first determination results, wherein the detection results include the first determination results. In this embodiment, by obtaining the aforementioned first determination results, further detection of the excavator can be achieved, improving the accuracy of excavator product off-line inspection.

[0102] In some embodiments, the data information further includes: the first current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing a corresponding action under the action of the handle step stroke signal. The detection method further includes: a detection data analysis module determining whether the first current value is within a predetermined third error range and recording the corresponding second judgment result, wherein the detection result includes the second judgment result. In this embodiment, by obtaining the above-mentioned second judgment result, further detection of the excavator can be achieved, improving the accuracy of excavator product off-line inspection.

[0103] In other embodiments, the handle travel signal includes a handle ramp travel signal.

[0104] In some embodiments, the controller controls the working device to perform an action based on the handle stroke signal, including: the controller controls the working device to perform a corresponding action based on the handle ramp stroke signal to change the working device from a first position state to a second position state.

[0105] In some embodiments, the detection data analysis module determines corresponding time information based on the handle stroke signal and acceleration value, and obtains the excavator's detection result based on the time information, including: the detection data analysis module records a fourth moment when it begins to receive the handle ramp stroke signal, a fifth moment when it begins to receive a non-zero acceleration value, and a sixth moment when the acceleration value changes from a non-zero value to 0; calculates a second response time from receiving the handle ramp stroke signal to the start of the working device's action based on the fifth and fourth moments; and calculates a second action process time for the working device to perform the action based on the sixth and fifth moments. The detection result includes the second response time and the second action process time. This enables the detection of the excavator's handle linear operation, improving the accuracy and efficiency of excavator product off-line inspection.

[0106] In some embodiments, the detection data analysis module, based on time information, further includes determining whether the second response duration is within a predetermined fourth error range and whether the second action process duration is within a predetermined fifth error range, and recording the corresponding third determination result, wherein the detection result includes the third determination result. In this embodiment, by obtaining the aforementioned third determination result, the linear operation of the excavator's handle can be detected, improving the accuracy of excavator product off-line inspection.

[0107] In some embodiments, the data information further includes: a second current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing a corresponding action under the action of the handle ramp stroke signal. The detection method further includes: a detection data analysis module determining whether the second current value is within a predetermined sixth error range and recording a corresponding fourth judgment result, wherein the detection result includes the fourth judgment result. In this embodiment, by obtaining the aforementioned fourth judgment result, the linear operation of the excavator's handle can be detected, improving the accuracy of excavator product off-line inspection.

[0108] In some embodiments, the corresponding actions performed by the working device include: boom lifting action, boom lowering action, stick retraction action, stick swinging action, bucket retraction action, or bucket swinging action.

[0109] In some embodiments, the detection method further includes: a detection data analysis module transmitting the detection results of the excavator to an output device; and the output device outputting the detection results. For example, the output device can print out or display the detection results of the excavator. This makes it convenient for workers to obtain the detection results of the excavator.

[0110] Figure 4A This is a flowchart illustrating some steps of a detection method for an excavator according to other embodiments of the present disclosure. Figure 4B This is a flowchart illustrating some steps of a detection method for an excavator according to other embodiments of the present disclosure. Here, the detection method is described using the detection of stick outswing as an example. Figures 4A to 4B As shown, the detection method includes steps S401 to S425.

[0111] like Figure 4A As shown, in step S401, the vehicle's license plate barcode is identified to obtain and store the excavator's identity information. For example, when a fully electric excavator comes off the production line in the workshop and enters the automatic inspection station, the fixed scanning equipment will automatically scan and identify the vehicle's license plate barcode and store the excavator's identity information in the inspection data analysis module.

[0112] In step S402, it is determined whether the system is in a safe state for automatic offline detection. If so, the process proceeds to step S403; otherwise, the process returns to step S402 to continue determining whether the system is in a safe state for automatic offline detection.

[0113] For example, automated inspection stations should ideally be enclosed and free from interference. The inspection safety module continuously monitors the surrounding area for personnel, vehicles, or obstacles, and reports the safety status of the surrounding area to the controller. If the inspection safety module determines that the current automated inspection is in an unsafe state, it sends a stop signal to the controller and stores the current inspection progress. Automated inspection resumes once the inspection safety module determines that the current state is safe again.

[0114] In step S403, the detection system provides a stick retraction handle stroke signal.

[0115] In step S404, it is determined whether the accelerometer outputs a value of 0 for a predetermined duration. If so, the process proceeds to step S405; otherwise, the process returns to step S403. For example, the predetermined duration is 2 seconds. Of course, the value of the predetermined duration is merely exemplary, and it can be set according to actual circumstances or needs. The scope of this disclosure is not limited to the specific value of the predetermined duration.

[0116] Here, taking the detection of stick outward swing as an example, the detection system provides a stick retraction handle stroke signal. When the stick is retracted to its limit position, and the acceleration sensor continuously outputs a value of 0, it indicates that the stick retraction has reached its limit position. The stick retraction handle stroke signal is then set to 0 to prepare for stick outward swing detection.

[0117] In step S405, the detection system provides a step stroke signal for the stick outward swing handle.

[0118] In step S406, the response time of the stick outward swing under the step signal of the handle and the duration of the stick outward swing process are read.

[0119] For example, the detection system provides a step stroke signal for the stick outward swing handle. The stick outward swing handle stroke is increased from 0% to 100%. The system records the moment the step stroke signal is first received (time t1), the moment a non-zero acceleration value is first received (time t2, the time when the accelerometer outputs a value), and the moment the acceleration value changes from non-zero to zero (time t3). Time t2 is the start of the device's response under the step stroke signal. The difference between time t2 and time t1 (e.g., time t1 can be set to 0) is the first response time T between receiving the step stroke signal and the device starting to execute its action. R1 That is, T R1=t2-t1, corresponding to the dead zone of the handle step signal activation. This first response time is the response time of the stick outward swing under the handle step signal. Calculate the difference between the third time t3 and the second time t2, which is the first action process time T of the working device. A1 That is, T A1 = t3-t2. The duration of this first action process is the duration of the stick outward swing process under the step signal of the handle.

[0120] In step S407, the current value of the proportional solenoid valve is read during the stick outward swing process under the step signal of the handle. That is, the first current value of the proportional solenoid valve of the stick outward swing of the fully electric control excavator is acquired.

[0121] In step S408, it is determined whether the start response time of the stick outward swing under the handle step signal, the duration of the stick outward swing process, and the current value of the proportional solenoid valve exceed the allowable error range. If yes, the process proceeds to step S409; otherwise, the process proceeds to step S410.

[0122] In step S409, the judgment result exceeding the limit is stored.

[0123] In step S410, the judgment result that did not exceed the limit is stored.

[0124] That is, the detection data analysis module determines the response time T of the fully electric excavator's stick outward swing. R1 Does it exceed the allowable error range based on the stick outward swing start response time corresponding to the standard machine's recorded step stroke signal of the handle? What is the stick outward swing process duration T of the fully electric excavator? A1 Determine whether the error exceeds the allowable error range of the stick outward swing process duration corresponding to the step stroke signal of the handle, based on the standard machine record, and store the judgment result.

[0125] For example, the allowable error range of the stick outward swing start response time corresponding to the step stroke signal of the handle, and the allowable error range of the stick outward swing process time, are obtained by collecting data from a standard prototype with the same configuration as the machine to be tested, or by averaging data from multiple standard prototypes.

[0126] The detection data analysis module determines whether the current value of the proportional solenoid valve for the stick outward swing of the fully electric control excavator exceeds the allowable error range of the current value of the proportional solenoid valve for the stick outward swing corresponding to the step stroke signal of the handle, as recorded by the standard machine, and stores the judgment result.

[0127] For example, the allowable error range of the current value of the boom swing proportional solenoid valve corresponding to the handle step stroke signal recorded by the standard machine is obtained by collecting data from a standard prototype with the same configuration as the machine to be tested, or by averaging data from multiple standard prototypes.

[0128] In step S411, it is determined whether the detection has been performed n times. n is a positive integer. If yes, the process proceeds to step S412; otherwise, the process returns to step S403, that is, the stick is retracted and reset to the limit position. Steps S403 to S410 are repeated n times. For example, n can be a positive integer between 3 and 10 as needed.

[0129] like Figure 4B As shown, in step S412, the detection system provides a stick retraction handle stroke signal.

[0130] In step S413, it is determined whether the accelerometer outputs a value of 0 for a predetermined duration. If so, the process proceeds to step S414; otherwise, the process returns to step S412. For example, the predetermined duration is 2 seconds. Of course, the value of the predetermined duration is merely exemplary, and it can be set according to actual circumstances or needs. The scope of this disclosure is not limited to the specific value of the predetermined duration. Steps S412 and S413 are similar to steps S403 and S404 described above.

[0131] In step S414, the detection system provides a boom outboard handle ramp stroke signal with a slope of K1. The handle ramp stroke signal is the handle linear stroke signal.

[0132] In step S415, the response time of the stick outward swing under the handle ramp signal and the duration of the stick outward swing process are read.

[0133] For example, the detection data analysis module records the fourth moment t when the handle ramp travel signal is first received. 4k1 (For example, the fourth time t can be set) 4k1 (At time 0), record the fifth time t when a non-zero acceleration value is first received. 5k1 That is, the starting response time of the working device when the handle ramp signal is received, and the sixth time t when the recorded acceleration value changes from a non-zero value to zero. 6k1 Calculate the fifth time step t. 5k1 and the fourth moment t 4k1 The difference is the second response time T between receiving the handle ramp travel signal and the start of the action of the working device. R2k1 That is, T R2k1 =t 5k1 -t 4k1 That is, the time it takes for the stick to start responding to the ramp signal from the handle, corresponding to the dead zone of the ramp opening. Calculate the sixth time t. 6k1 and the fifth moment t 5k1 The difference is the duration T of the second action process of the working device. A2k1 That is, TA2k1 =t 6k1 -t 5k1 That is, the duration of the stick swinging outward under the handle ramp signal.

[0134] In step S416, the current value of the proportional solenoid valve is read during the stick outward swing process under the handle ramp signal. That is, the current value of the proportional solenoid valve of the stick outward swing of the fully electric excavator is collected.

[0135] In step S417, it is determined whether the response time of the stick outward swing under the handle ramp signal, the duration of the stick outward swing process, and the current value of the proportional solenoid valve exceed the allowable error range. If yes, the process proceeds to step S418; otherwise, the process proceeds to step S419.

[0136] In step S418, the result of the excess judgment is stored.

[0137] In step S419, the judgment result that did not exceed the limit is stored.

[0138] In step S420, it is determined whether the detection has been performed n times. If so, the process proceeds to step S421; otherwise, the process returns to step S412. n is a positive integer. For example, n can be a positive integer between 3 and 10, depending on the need.

[0139] In step S421, it is determined whether K1 should be replaced with K2. If yes, the process proceeds to step S423; otherwise, the process proceeds to step S422.

[0140] In step S422, K1 is replaced with K2.

[0141] In step S423, it is determined whether K1 should be replaced with K3. If yes, the process proceeds to step S425; otherwise, the process proceeds to S424.

[0142] In step S424, K1 is replaced with K3.

[0143] In the above steps, the detection system provides a ramp travel signal for the stick outward swing handle. The stick outward swing handle travel is slowly increased from 0% to 100% with ramps of K1, K2, and K3 respectively. The fourth time t when the handle ramp travel signal is first received is recorded. 4k1 t 4k2 , t 4k2 Record the fifth moment t when the non-zero acceleration value is first received. 5k1 t 5k2 t 5k3 That is, the time when the accelerometer outputs a value, and the sixth time t when the acceleration value changes from a non-zero value to zero. 6k1 t 6k2 t6k3 Among them, t 5k1 t 5k2 t 5k3 This refers to the start response time of the working device upon receiving the handle ramp travel signal. The second response time T is calculated from the receipt of the handle ramp travel signal to the start of the working device's action. R2k1 T R2k2 T R2k3 That is, T R2k1 =t 5k1 -t 4k1 T R2k2 =t 5k2 -t 4k2 T R2k3 =t 5k3 -t 4k3 This corresponds to the dead zone of the handle ramp opening. Calculate the duration T of the second action process of the working device's execution action. A2k1 T A2k2 T A2k3 That is, T A2k1 =t 6k1 -t 5k1 T A2k2 =t 6k2 -t 5k2 T A2k3 =t 6k3 -t 5k3 That is, the duration of the stick swinging outward under the handle ramp signal.

[0144] The detection data analysis module determines the initial response time (i.e., the second response time T) of the fully electric excavator's stick outward swing. R2k1 T R2k2 T R2k3 Whether it exceeds the allowable error range of the stick outward swing start response time corresponding to the handle ramp stroke signal recorded by the standard machine, and the stick outward swing process time of the fully electric excavator (i.e., the second action process time T) A2k1 T A2k2 T A2k3 Check whether the stick swing time exceeds the allowable error range based on the standard machine record corresponding to the handle ramp stroke signal, and store the judgment result.

[0145] The allowable error range for the start response time of the stick outward swing corresponding to the handle ramp stroke signal, and the allowable error range for the stick outward swing process time, are obtained by collecting data from a standard prototype with the same configuration as the machine to be tested, or by averaging data from multiple standard prototypes.

[0146] In addition, the above process also collects the current value I of the boom swing proportional solenoid valve of the fully electric excavator. K1I K2 I K3 The detection data analysis module determines the current value I of the boom swing ratio solenoid valve of the fully electric excavator. K1 I K2 I K3 Determine whether the current value of the boom swing proportional solenoid valve, which corresponds to the handle ramp stroke signal and is recorded by a standard machine, exceeds the allowable error range, and store the determination result.

[0147] The allowable error range of the current value of the boom swing proportional solenoid valve corresponding to the handle ramp stroke signal recorded by the standard machine is obtained by collecting data from a standard prototype with the same configuration as the machine to be tested, or by averaging data from multiple standard prototypes.

[0148] Repeat step S412 to retract the stick to its limit position. Repeat steps S412 to S419 n times. For example, n can be a positive integer between 3 and 10, as needed.

[0149] You can refer to the steps described above to test the boom lifting action, boom lowering action, stick retraction action, stick swing action, bucket retraction action, and bucket swing action of the fully electric excavator in sequence.

[0150] In step 425, the excavator's identification information and the judgment result are used to generate an electronic inspection report, which can be printed as needed. For example, after the above six actions are completed sequentially, the inspection system automatically completes the test. The inspection data analysis module generates an electronic inspection report based on the stored identification information of the fully electronically controlled excavator and the judgment result, which can be printed as needed. In some other embodiments, the electronic inspection report can also be displayed on a monitor.

[0151] Thus, a detection method for excavators according to some embodiments of this disclosure is provided. This detection method can improve the accuracy and efficiency of off-line inspection of fully electric excavators; it eliminates the need for manual operation, improving the automation level of off-line inspection, eliminating human error, saving labor costs, and improving the consistency of off-line inspection; it can detect multiple key parameters of the excavator system, including the step stroke signal and ramp stroke signal of the control handle. This detection method can detect the start response time, running time, and current values ​​of the proportional solenoid valves of various working devices during the operation of the step stroke signal and ramp stroke signal of the control handle.

[0152] The aforementioned detection system and method can achieve automatic detection and automatic detection safety settings. It records the correspondence between the standard prototype's handle step and ramp stroke signals and the start response time, running time, and current values ​​of the proportional solenoid valves of each working device during the running process. It can detect multiple key parameters of the excavator system, including the handle step and ramp stroke signals, the start response time and running time of the handle step and ramp stroke signals, and the current values ​​of the proportional solenoid valves of each working device during the operation of the step and ramp stroke signals. Moreover, it can digitize the detection results.

[0153] Figure 5 This is a schematic block diagram illustrating a detection system for an excavator according to other embodiments of the present disclosure. The detection system includes a memory 510 and a processor 520. Wherein:

[0154] The memory 510 can be a disk, flash memory, or any other non-volatile storage medium. The memory is used for storage. Figure 3 , Figure 4A and / or Figure 4B The instructions in the corresponding embodiment.

[0155] Processor 520 is coupled to memory 510 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. Processor 520 executes instructions stored in memory, which can improve the accuracy and efficiency of excavator product off-line inspection.

[0156] It should be noted that the detection system may include multiple memories 510 and multiple processors 520, and the multiple memories 510 and multiple processors 520 may be configured in different devices or modules.

[0157] In some embodiments, it may also be as follows Figure 6 As shown, the detection system 600 includes a memory 610 and a processor 620. The processor 620 is coupled to the memory 610 via a BUS bus 630. The detection system 600 can also be connected to an external storage device 650 via a storage interface 640 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 660, which will not be described in detail here.

[0158] In this embodiment, by storing data instructions in a memory and then processing the instructions by a processor, the accuracy and efficiency of excavator product off-line inspection can be improved.

[0159] It should be noted that the detection system may include multiple memories 610, multiple processors 620, multiple BUS buses 630, multiple storage interfaces 640, multiple external storage devices 650, and multiple network interfaces 660. These multiple memories 610, multiple processors 620, multiple BUS buses 630, multiple storage interfaces 640, multiple external storage devices 650, and multiple network interfaces 660 can be configured in different devices or modules.

[0160] In some embodiments of this disclosure, an excavator is also provided. The excavator includes: a detection system as described above, for example, such as... Figure 1 , Figure 2 , Figure 5 or Figure 6 The detection system shown.

[0161] In some embodiments, this disclosure also provides a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) having stored thereon computer program instructions that are implemented when executed by a processor. Figure 3 , Figure 4A and / or Figure 4B The steps of the method in the corresponding embodiments are described. 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.

[0162] 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.

[0163] 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.

[0164] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause 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.

[0165] This disclosure has now been described in detail. To avoid obscuring the concept of this disclosure, some details known in 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.

[0166] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A detection system for an excavator, comprising: The scanning device is used to scan and identify the vehicle number barcode of the excavator, obtain the excavator's identity information, and send the identity information to the detection data analysis module; An acceleration sensor is installed on the working device of the excavator to output acceleration values ​​to the detection data analysis module when the working device performs an action. The controller is used to control the working device to perform actions based on the handle stroke signal, and to transmit the handle stroke signal to the detection data analysis module; and The detection data analysis module is used to store the identity information, determine the excavator currently being detected based on the identity information, determine the corresponding time information based on the handle stroke signal and the acceleration value, and obtain the detection result of the excavator based on the time information. The handle travel signal includes a handle step travel signal; The controller is used to control the working device to perform corresponding actions according to the handle step stroke signal so that the working device changes from a first position state to a second position state. The detection data analysis module is used to record the first moment when the handle step stroke signal is first received, the second moment when a non-zero acceleration value is first received, and the third moment when the acceleration value changes from a non-zero value to 0. Based on the second moment and the first moment, a first response time is calculated from the receipt of the handle step stroke signal to the start of the action of the working device. Based on the third moment and the second moment, a first action process time of the action of the working device is calculated. The detection result includes the first response time and the first action process time. The detection data analysis module is further used to determine whether the first response duration is within a predetermined first error range and whether the first action process duration is within a predetermined second error range, and to record the corresponding first judgment result, wherein the detection result includes the first judgment result.

2. The detection system according to claim 1 further includes: The safety detection module is used to detect the surrounding environment of the excavator to determine whether the excavator is in a safe detection state. When the excavator is in a safe detection state, it sends a detection execution signal to the controller to perform the detection. When the excavator is in a non-safe detection state, it sends a detection stop signal to the controller to stop the detection and causes the controller to store the current detection progress.

3. The detection system according to claim 1 or 2 further includes: The data acquisition module is used to acquire data information from the controller and send the data information to the detection data analysis module, wherein the data information includes the handle stroke signal.

4. The detection system according to claim 3, wherein: The data information also includes: the first current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing the corresponding action under the action of the handle step stroke signal; The detection data analysis module is also used to determine whether the first current value is within a predetermined third error range and to record the corresponding second judgment result, wherein the detection result includes the second judgment result.

5. The detection system according to claim 3, wherein: The handle travel signal includes the handle ramp travel signal; The controller is used to control the working device to perform corresponding actions according to the handle ramp stroke signal so that the working device changes from a first position state to a second position state. The detection data analysis module is used to record the fourth moment when the handle ramp stroke signal is first received, the fifth moment when a non-zero acceleration value is first received, and the sixth moment when the acceleration value changes from a non-zero value to 0. Based on the fifth moment and the fourth moment, a second response time is calculated from the receipt of the handle ramp stroke signal to the start of the action of the working device. Based on the sixth moment and the fifth moment, a second action process time of the action of the working device is calculated. The detection result includes the second response time and the second action process time.

6. The detection system according to claim 5, wherein, The detection data analysis module is also used to determine whether the second response duration is within a predetermined fourth error range, and to determine whether the second action process duration is within a predetermined fifth error range, and to record the corresponding third judgment result, wherein the detection result includes the third judgment result.

7. The detection system according to claim 5 or 6, wherein: The data information also includes: the second current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing corresponding actions under the action of the handle ramp stroke signal; The detection data analysis module is also used to determine whether the second current value is within a predetermined sixth error range and to record the corresponding fourth judgment result, wherein the detection result includes the fourth judgment result.

8. The detection system according to claim 1, wherein, The corresponding actions performed by the working device include: boom lifting action, boom lowering action, stick retraction action, stick swinging action, bucket retraction action, or bucket swinging action.

9. A detection method for excavators, comprising: The scanning device scans and identifies the vehicle number barcode of the excavator to obtain the excavator's identity information, and sends the identity information to the detection data analysis module; When the working device of the excavator performs an action, the acceleration sensor outputs an acceleration value to the detection data analysis module, wherein the acceleration sensor is installed on the working device; The controller controls the working device to perform actions based on the handle travel signal, and transmits the handle travel signal to the detection data analysis module; and The detection data analysis module stores the identity information, determines the excavator currently being detected based on the identity information, determines the corresponding time information based on the handle stroke signal and the acceleration value, and obtains the detection result of the excavator based on the time information. The handle travel signal includes a handle step travel signal; The controller controls the working device to perform actions according to the handle stroke signal, including: the controller controls the working device to perform corresponding actions according to the handle step stroke signal so that the working device changes from a first position state to a second position state; The detection data analysis module determines the corresponding time information based on the handle travel signal and the acceleration value, and obtains the detection results of the excavator based on the time information, including: The detection data analysis module records the first moment when the handle step stroke signal is first received, the second moment when a non-zero acceleration value is first received, and the third moment when the acceleration value changes from a non-zero value to 0. Based on the second moment and the first moment, it calculates the first response time from receiving the handle step stroke signal to the start of the action of the working device. Based on the third moment and the second moment, it calculates the first action process time of the working device. The detection result includes the first response time and the first action process time. The detection data analysis module obtains the detection results of the excavator based on the time information, including: The detection data analysis module determines whether the first response duration is within a predetermined first error range and whether the first action process duration is within a predetermined second error range, and records the corresponding first judgment result, wherein the detection result includes the first judgment result.

10. The detection method according to claim 9, further comprising: The safety detection module detects the surrounding environment of the excavator to determine whether the excavator is in a safe detection state. If the excavator is in a safe detection state, it sends a detection execution signal to the controller to perform the detection. If the excavator is in a non-safe detection state, it sends a detection stop signal to the controller to stop the detection and causes the controller to store the current detection progress.

11. The detection method according to claim 9 or 10, wherein, The controller transmits the handle travel signal to the detection data analysis module, including: The controller sends data information to the data acquisition module, which then sends the data information to the detection data analysis module. The data information includes the handle travel signal.

12. The detection method according to claim 11, wherein: The data information also includes: the first current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing the corresponding action under the action of the handle step stroke signal; The detection method further includes: The detection data analysis module determines whether the first current value is within a predetermined third error range and records the corresponding second judgment result, wherein the detection result includes the second judgment result.

13. The detection method according to claim 11, wherein: The handle travel signal includes the handle ramp travel signal; The controller controls the working device to perform actions based on the handle stroke signal, including: the controller controls the working device to perform corresponding actions based on the handle ramp stroke signal so that the working device changes from a first position state to a second position state; The detection data analysis module determines the corresponding time information based on the handle travel signal and the acceleration value, and obtains the detection results of the excavator based on the time information, including: The detection data analysis module records the fourth moment when the handle ramp stroke signal is first received, the fifth moment when a non-zero acceleration value is first received, and the sixth moment when the acceleration value changes from a non-zero value to 0. Based on the fifth moment and the fourth moment, it calculates the second response time from receiving the handle ramp stroke signal to the start of the action of the working device. Based on the sixth moment and the fifth moment, it calculates the second action process time of the working device. The detection result includes the second response time and the second action process time.

14. The detection method according to claim 13, wherein, The detection data analysis module further includes obtaining the detection results of the excavator based on the time information, including: The detection data analysis module determines whether the second response duration is within a predetermined fourth error range and whether the second action process duration is within a predetermined fifth error range, and records the corresponding third judgment result, wherein the detection result includes the third judgment result.

15. The detection method according to claim 13 or 14, wherein: The data information also includes: the second current value of the corresponding proportional solenoid valve during the process of the excavator's working device performing corresponding actions under the action of the handle ramp stroke signal; The detection method further includes: The detection data analysis module determines whether the second current value is within a predetermined sixth error range and records the corresponding fourth judgment result, wherein the detection result includes the fourth judgment result.

16. The detection method according to claim 9, wherein, The corresponding actions performed by the working device include: boom lifting action, boom lowering action, stick retraction action, stick swinging action, bucket retraction action, or bucket swinging action.

17. A detection system for an excavator, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the detection method as described in any one of claims 9 to 16 based on instructions stored in the memory.

18. An excavator, comprising: The detection system as described in any one of claims 1 to 8, or the detection system as described in claim 17.

19. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the detection method as described in any one of claims 9 to 16.

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