Method and device for weighing material of excavator and storage medium

Abstract

The present disclosure provides a kind of excavator material weighing method, device and storage medium, wherein the method comprises: determining the dynamic process compensation parameter of oil cylinder according to the running state of the upper body of excavator;According to the pressure information, size information of the large cavity and small cavity of boom cylinder and the dynamic process compensation parameter of oil cylinder, the pressure of boom cylinder is determined;According to the distance information between the first hinged point and the excavating execution component, the mass of excavating execution component and the acceleration information of excavating execution component, the inertia moment is determined;Based on the position information and acceleration information of material, and boom cylinder moment, static moment and inertia moment, the material mass information is determined.The present disclosure can compensate the influence of excavator rotation on boom cylinder hydraulic pressure, can improve the weighing precision;Improve the work efficiency and weighing efficiency in the operation of excavator, improve the safety of operation.

Description

Technical Field

[0001] This invention relates to the field of excavator technology, and in particular to a method, apparatus, and storage medium for weighing materials in an excavator. Background Technology

[0002] Currently, excavators are widely used. During excavator operations, materials can be transferred to various transport vehicles. To prevent overloading or underloading of these vehicles, the material in the excavator bucket needs to be weighed. To meet the need for measuring the weight of the material in the bucket, various sensors are added to the excavator to collect and detect data, allowing for the calculation of the material's weight. However, during excavator operation, changes in bucket acceleration, hydraulic cylinder pressure, and other factors can significantly affect the calculation results, making it difficult to accurately calculate the actual weight of the material in the bucket. This low accuracy compromises the safety of excavator operations. Summary of the Invention

[0003] In view of this, one technical problem to be solved by the present invention is to provide a method, apparatus and storage medium for weighing materials in an excavator.

[0004] According to a first aspect of this disclosure, a method for weighing materials in an excavator is provided, comprising: determining hydraulic cylinder dynamic process compensation parameters based on the operating state of the excavator upper body; determining boom cylinder pressure based on pressure and size information of the large and small chambers of the boom cylinder, and the hydraulic cylinder dynamic process compensation parameters; determining boom cylinder torque based on position information of a first hinge point between the boom and the excavator upper body, a second hinge point between the boom cylinder and the excavator upper body, a third hinge point between the boom and the boom cylinder, and the boom cylinder pressure; determining static torque based on distance information between the digging execution component and the first hinge point, and the mass of the digging execution component; determining inertial torque based on distance information between the digging execution component and the first hinge point, the mass of the digging execution component, and the acceleration information of the digging execution component; and determining material mass information based on the material's position and acceleration information, the boom cylinder torque, the static torque, and the inertial torque.

[0005] Optionally, the dimensional information includes: the cross-sectional area of ​​the large cavity and the cross-sectional area of ​​the small cavity; determining the boom cylinder pressure includes: determining a pressure difference based on the pressure of the large cavity and the pressure of the small cavity, and the ratio of the cross-sectional area of ​​the small cavity to the cross-sectional area of ​​the large cavity; determining a pressure value based on the cross-sectional area of ​​the large cavity and the pressure difference; and determining the boom cylinder pressure based on the pressure value and the cylinder dynamic process compensation parameters.

[0006] Optionally, determining the boom cylinder torque includes: determining a first distance between the boom cylinder and the first hinge point based on the position information of the first hinge point, the second hinge point, and the third hinge point; and calculating the boom cylinder torque based on the first distance and the boom cylinder pressure.

[0007] Optionally, determining the static torque includes: acquiring the center of gravity position information and mass of the excavation execution group; determining a second distance between the center of gravity of the excavation execution component and the first hinge point based on the center of gravity position information of the excavation execution component; and calculating the static torque based on the second distance and the mass of the excavation execution component.

[0008] Optionally, determining the moment of inertia includes: determining the lateral acceleration and longitudinal acceleration at the center of gravity of the excavation execution component; and calculating the moment of inertia based on the horizontal and vertical distances between the center of gravity of the excavation execution component and the first hinge point, the mass of the excavation execution component, the lateral acceleration, and the longitudinal acceleration.

[0009] Optionally, determining the material mass information includes: determining a third distance between the material and the first hinge point based on the position information of the material; calculating the material motion change information based on the third distance and the acceleration information of the material; and calculating the material mass information based on the boom cylinder torque, the static torque, the inertial torque, and the material motion change information.

[0010] Optionally, the excavation execution component includes one or more of the following: boom, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod.

[0011] Optionally, determining the hydraulic cylinder dynamic process compensation parameters based on the working state of the excavator upper body includes: obtaining a first coefficient when the excavator upper body is stationary; and determining the hydraulic cylinder dynamic process compensation parameters based on the first coefficient and preset dynamic process parameters.

[0012] Optionally, determining the hydraulic cylinder dynamic process compensation parameters based on the working state of the excavator upper body includes: obtaining the rotational speed of the excavator upper body when it is in motion; determining a second coefficient based on the rotational speed; and determining the hydraulic cylinder dynamic process compensation parameters based on the second coefficient and preset dynamic process parameters.

[0013] Optionally, when the excavator body is moving, the height information of the bucket above the ground is acquired; based on the height information, the weighing height range of the material is determined.

[0014] According to a second aspect of this disclosure, an excavator material weighing device is provided, comprising: a parameter determination module for determining hydraulic cylinder dynamic process compensation parameters based on the operating state of the excavator upper body; a pressure determination module for determining boom cylinder pressure based on pressure and size information of the large and small chambers of the boom cylinder, and the hydraulic cylinder dynamic process compensation parameters; and a first torque determination module for determining torque based on position information of the first hinge point between the boom and the excavator upper body, the second hinge point between the boom cylinder and the excavator upper body, the third hinge point between the boom and the boom cylinder, and the boom... The system uses a hydraulic cylinder pressure to determine the boom cylinder torque; a second torque determination module determines the static torque based on the distance between the digging execution component and the first hinge point, and the mass of the digging execution component; a third torque determination module determines the inertial torque based on the distance between the digging execution component and the first hinge point, the mass of the digging execution component, and the acceleration information of the digging execution component; and a mass determination module determines the material mass information based on the material's position and acceleration information, as well as the boom cylinder torque, the static torque, and the inertial torque.

[0015] According to a third aspect of this disclosure, an excavator material weighing device is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to perform the method described above based on instructions stored in the memory.

[0016] According to a fourth aspect of this disclosure, an excavator is provided, comprising: the excavator material weighing device as described above.

[0017] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions which, when executed by a processor, perform the method described above.

[0018] The excavator material weighing method, device, and storage medium disclosed herein can determine the dynamic process compensation parameters of the hydraulic cylinder based on the operating state of the excavator upper body, and determine the material mass information based on the material's position and acceleration information, as well as the boom cylinder torque, static torque, and inertial torque. It can consider factors such as component rotational inertia during the material weighing calculation process, and incorporate the boom cylinder dynamic process compensation parameters, thereby compensating for the influence of excavator rotation on the hydraulic pressure of the boom cylinder and improving weighing accuracy. This enhances the excavator's operational efficiency and weighing efficiency, and improves operational safety. Attached Figure Description

[0019] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The accompanying drawings are provided to further understand the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. The above and other objects and advantages of this disclosure will be further described below with reference to specific embodiments and the accompanying drawings. In the drawings, the same or corresponding technical features or components will be represented by the same or corresponding reference numerals.

[0020] Figure 1 This is a schematic flowchart of an embodiment of the excavator material weighing method according to the present disclosure;

[0021] Figure 2A This is a schematic flowchart illustrating the determination of boom cylinder pressure in one embodiment of the excavator material weighing method according to the present disclosure. Figure 2B A pressure diagram showing the pressure of the boom cylinder;

[0022] Figure 3A This is a schematic flowchart illustrating the determination of boom cylinder torque in one embodiment of the excavator material weighing method according to the present disclosure. Figure 3B This is an application diagram for determining the boom cylinder torque;

[0023] Figure 4A This is a schematic flowchart illustrating the determination of static torque in one embodiment of the excavator material weighing method according to the present disclosure. Figure 4B This is a schematic diagram illustrating an application used to determine static torque;

[0024] Figure 5A This is a schematic flowchart illustrating the determination of the moment of inertia in one embodiment of the material weighing process for an excavator according to the present disclosure. Figure 5B This is a schematic diagram illustrating an application used to determine the moment of inertia.

[0025] Figure 6A This is a schematic flowchart illustrating the process of determining material quality information in one embodiment of the excavator material weighing method according to the present disclosure. Figure 6B This is an application diagram used to determine material quality information;

[0026] Figure 7 This is a schematic diagram of a module of an embodiment of the excavator material weighing device according to the present disclosure;

[0027] Figure 8 This is a schematic diagram of another embodiment of the excavator material weighing device according to the present disclosure. Detailed Implementation

[0028] Exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of the embodiments are described in the specification. However, it should be understood that many implementation-specific settings must be made in carrying out the embodiments to achieve the developer's specific goals, such as complying with constraints related to the device and business, and these constraints may vary depending on the implementation. Furthermore, it should be understood that while development work can be very complex and time-consuming, such development work is merely a routine task for those skilled in the art who benefit from the present disclosure.

[0029] 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 this disclosure.

[0030] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0031] It should also be understood that in the embodiments disclosed herein, "a plurality of" may refer to two or more, and "at least one" may refer to one, two or more.

[0032] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0033] Furthermore, the term "and / or" in this disclosure is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0034] It should also be understood that the description of the various embodiments in this disclosure emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] Furthermore, to avoid obscuring this disclosure with unnecessary detail, only processing steps and / or apparatus structures closely related to at least the solutions according to this disclosure are shown in the accompanying drawings, while other details not closely related to this disclosure are omitted. It should also be noted that similar reference numerals and letters in the drawings indicate similar items, and therefore once an item is defined in one drawing, it need not be discussed again in subsequent drawings.

[0040] Figure 1 This is a schematic flowchart of an embodiment of the excavator material weighing method according to the present disclosure, as follows: Figure 1 As shown:

[0041] Step 101: Determine the dynamic process compensation parameters of the hydraulic cylinder based on the operating status of the excavator's upper body.

[0042] In some embodiments, the excavator can be of various types, including an excavator upper body, a rotary table, and a lower body. The excavator upper body and the excavator rotary table are connected, and the rotary table is connected to the excavator upper body. The rotary table can drive the excavator upper body to rotate. The operating states of the excavator upper body include a stationary state and a moving state, and the moving state can be a rotating state.

[0043] Step 102: Determine the boom cylinder pressure based on the pressure and size information of the large and small chambers of the boom cylinder, as well as the dynamic process compensation parameters of the cylinder.

[0044] Step 103: Based on the position information of the first hinge point between the boom and the excavator upper body, the second hinge point between the boom cylinder and the excavator upper body, the third hinge point between the boom and the boom cylinder, and the boom cylinder pressure, determine the boom cylinder torque.

[0045] Step 104: Determine the static torque based on the distance information between the excavation execution component and the first hinge point, as well as the mass of the excavation execution component.

[0046] Step 105: Determine the inertial torque based on the distance information between the excavation execution component and the first hinge point, the mass of the excavation execution component, and the acceleration information of the excavation execution component.

[0047] Step 106: Based on the material's position and acceleration information, as well as the boom cylinder torque, static torque, and inertial torque, determine the material's mass information.

[0048] The excavator material weighing method in the above embodiments can determine the dynamic process compensation parameters of the hydraulic cylinder based on the running state of the excavator body, and determine the material mass information based on the material's position and acceleration information, as well as the boom cylinder torque, static torque, and inertial torque. It can consider factors such as component rotational inertia during the material weighing calculation process, and incorporate the boom cylinder dynamic process compensation parameters, thereby compensating for the influence of excavator rotation on the hydraulic pressure of the boom cylinder and improving weighing accuracy. This improves the excavator's operational efficiency and weighing efficiency, and enhances operational safety.

[0049] In some embodiments, the boom cylinder pressure can be determined using a variety of methods. Figure 2A This is a schematic flowchart illustrating the determination of boom cylinder pressure in one embodiment of the excavator material weighing method according to this disclosure, as shown below. Figure 2A As shown:

[0050] Step 201: Determine the pressure difference based on the pressure of the large cavity and the pressure of the small cavity, as well as the ratio of the cross-sectional area of ​​the small cavity to the cross-sectional area of ​​the large cavity.

[0051] Step 202: Determine the pressure value based on the cross-sectional area of ​​the large cavity and the pressure difference.

[0052] Step 203: Determine the boom cylinder pressure based on the pressure value and the cylinder dynamic process compensation parameters.

[0053] like Figure 2B As shown, pressure sensors can be installed in the oil supply lines of the large and small chambers of the boom cylinder to collect the pressure values ​​pA and pB of the large and small chambers. The structural parameters of the boom cylinder include its cross-sectional area, cylinder diameter, and rod diameter. The ratio of the small chamber cross-sectional area AB to the large chamber cross-sectional area AA is determined to be α = AB / AA.

[0054] Based on the pressure pA in the large cavity and the pressure pB in the small cavity, as well as the ratio α of the cross-sectional area AA of the large cavity to the cross-sectional area α of the small cavity, the pressure difference is determined to be pA-α*pB; based on the cross-sectional area AA of the large cavity and the pressure difference, the pressure value is determined to be 2*AA*(pA-α*pB).

[0055] The boom cylinder pressure is Figure 2B The pressure F in the figure is calculated based on the pressure value and the dynamic process compensation parameters of the hydraulic cylinder. The calculation formula is shown in equation (1-1) below:

[0056] FBoomCyl=2*AA*(pA-α*pB)+Cylinder dynamic process compensation parameter(1-1);

[0057] Wherein, FBoomCyl is the boom cylinder pressure; pA is the large cavity pressure of the boom cylinder, which can be collected by a pressure sensor installed in the large cavity pipeline of the boom cylinder; pB is the small cavity pressure of the boom cylinder, which can be collected by a pressure sensor installed in the small cavity pipeline of the boom cylinder; AA is the cross-sectional area of ​​the large cavity of the boom cylinder, AB is the cross-sectional area of ​​the small cavity of the boom cylinder; α is the ratio of the small cavity cross-sectional area to the large cavity cross-sectional area; the cylinder dynamic process compensation parameters can be determined according to the operating status of the excavator body.

[0058] In some embodiments, the boom cylinder torque can be determined using a variety of methods. Figure 3A This is a flowchart illustrating the determination of the boom cylinder torque in one embodiment of the excavator material weighing method according to this disclosure, as shown below. Figure 3A As shown:

[0059] Step 301: Based on the position information of the first hinge point, the second hinge point, and the third hinge point, determine the first distance between the boom cylinder and the first hinge point.

[0060] Step 302: Calculate the boom cylinder torque based on the first distance and the boom cylinder pressure.

[0061] like Figure 3B As shown, the first hinge point between the boom and the upper body of the excavator is hinge point A, the second hinge point between the boom cylinder and the upper body of the excavator is hinge point C, and the third hinge point between the boom and the boom cylinder is hinge point B.

[0062] Tilt sensors can be installed on the boom cylinder, boom, and excavator body. These sensors can collect the angles of the boom, etc., and combine this with the distances between hinge points B and A, and C and A to construct a triangle with hinge points A, C, and B as vertices. In other words, a triangle can be constructed based on the positional information of hinge points A, C, and B. By solving the triangle formed by hinge points A, C, and B, the distance from the boom cylinder to hinge point A can be obtained, and thus the boom cylinder torque can be calculated.

[0063] The first distance between the boom cylinder and hinge point A can be calculated using the following formula (1-2), based on the position information of hinge points A, C, and B:

[0064]

[0065] Where r{BoomCylA, Stat} is the first distance, i.e. Figure 3B The distance R from BC to A in the equation; L BC Let L be the length of BC.AB L is the length of AB; AC The length is AC.

[0066] Several methods can be used to obtain the parameters needed for material weighing in excavators. For example, a 3D model of the excavator can be built in advance using tools such as SolidWorks; the detection angles collected by tilt sensors installed at locations such as the boom cylinder, boom, and excavator body can be acquired in real time, and the 3D model of the excavator can be updated based on the detection angles; the position information of hinge points A, C, and B can be determined using the 3D model of the excavator, and based on the triangle formed by the position information of hinge points A, C, and B, the L... BC L AB L AC Parameters such as these.

[0067] The boom cylinder torque can be calculated based on the following formula (1-3), according to the first distance R and the boom cylinder pressure:

[0068] TBoomCylA, Stat=r{BoomCylA, Stat}*FBoomCyl (1-3);

[0069] Where r{BoomCylA,Stat} is the first distance between the boom cylinder and the hinge point A, and FBoomCyl is the boom cylinder pressure.

[0070] In some embodiments, the static torque can be determined using a variety of methods. Figure 4A This is a flowchart illustrating the determination of static torque in one embodiment of the excavator material weighing method according to the present disclosure, as shown below. Figure 4A As shown:

[0071] Step 401: Obtain the center of gravity location information and quality of the mining execution group.

[0072] The excavation execution components may include boom, stick, stick cylinder, bucket, bucket cylinder, rocker arm, connecting rod, etc. Tilt sensors may be installed on one or more of these components, as well as on the excavator platform, to detect tilt angle.

[0073] Step 402: Based on the center of gravity position information of the excavation execution component, determine the second distance between the center of gravity of the excavation execution component and the first hinge point.

[0074] Step 403: Calculate the static torque based on the second distance and the mass of the excavation execution component.

[0075] like Figure 4BAs shown, by installing tilt sensors on the boom, stick, bucket, and excavator body, the detection angles of the boom, stick, bucket, and excavator body are collected. Combined with the center of gravity positions of the digging actuators such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod, the horizontal and vertical distances from the center of gravity of the digging actuators to the first hinge point are obtained. Combined with the mass of the digging actuators such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod, the static torque is obtained.

[0076] The static torque can be calculated based on the second distance and the mass of the excavation execution component, using the following formula (1-4):

[0077] TA, Stat=-∑(XG,i*FG,i) (1-4);

[0078] Where TA,Stat represents the static torque, XG,i represents the second distance between the center of gravity of the i-th digging actuator and the hinge point A, which can be obtained by the angle detected by the tilt sensor installed on the i-th digging actuator and the position of the center of gravity of the i-th digging actuator; FG,i represents the mass or weight of the i-th digging actuator. Based on XG,i * FG,i, the torque of each digging actuator can be calculated, and the torques of each digging actuator are added together to obtain the static torque.

[0079] The i-th excavation execution component may include: CylB, B, CylA, A, K, CylK, T, R; CylB is the boom cylinder, B is the boom, CylA is the stick cylinder, A is the stick, K is the bucket, CylK is the bucket cylinder, T is the rocker arm, and R is the connecting rod.

[0080] like Figure 4B As shown, XG,CylB is the second distance between the boom cylinder and hinge point A, XG,B is the second distance between the boom and hinge point A, XG,CylA is the second distance between the stick cylinder and hinge point A, XG,A is the second distance between the stick and hinge point A, XG,K is the second distance between the bucket and hinge point A, XG,CylK is the second distance between the bucket cylinder and hinge point A, XG,T is the second distance between the rocker arm and hinge point A, and XG,R is the second distance between the connecting rod and hinge point A.

[0081] FG,CylB is the weight of the boom cylinder, FG,B is the weight of the boom, FG,CylA is the weight of the stick cylinder, FG,A is the weight of the stick, FG,K is the weight of the bucket, FG,CylK is the weight of the bucket cylinder, FG,T is the weight of the rocker arm, and FG,R is the weight of the connecting rod.

[0082] Various methods can be used to obtain the parameters needed for material weighing in an excavator. For example, a 3D model of the excavator can be built in advance using tools such as SolidWorks. The detection angles collected by tilt sensors installed on the digging actuators such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod can be obtained. The position of each digging actuator in the 3D model can be adjusted based on the detection angles. The center of gravity position information of each digging actuator can be obtained from the 3D model, and parameters such as the second distance between the center of gravity of the digging actuator and the first hinge point can be obtained based on the 3D model. The mass of each digging actuator can also be obtained from the 3D model.

[0083] In some embodiments, a variety of methods can be used to determine the moment of inertia. Figure 5A This is a schematic diagram illustrating the process of determining the moment of inertia in one embodiment of the excavator material weighing method according to this disclosure, as shown below. Figure 5A As shown:

[0084] Step 501: Determine the lateral and longitudinal accelerations at the center of gravity of the excavation execution component.

[0085] Step 502: Calculate the moment of inertia based on the horizontal and vertical distances between the center of gravity of the excavation execution component and the first hinge point, the mass of the excavation execution component, the lateral acceleration, and the longitudinal acceleration.

[0086] like Figure 5B As shown, by using tilt sensors installed on the boom, stick, bucket, and excavator body, the detection angles of the boom, stick, bucket, and excavator body are collected. Combined with the center of gravity positions of the excavation execution components such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod, the horizontal and vertical distances from the center of gravity of the excavation execution components such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod to the first hinge point are obtained.

[0087] Accelerometers are installed on the boom, stick, bucket, and upper body to collect the acceleration of these components, including horizontal and vertical acceleration. Combined with the mass of the excavation actuators such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod, a first part of the inertial torque can be obtained. Based on the moment of inertia of the boom, stick, and bucket, a second part of the inertial torque can be obtained. Adding the first and second parts of the inertial torque yields the final inertial torque. The inertial torque can be calculated using the following formula (1-5):

[0088] TA, Dyn=-0.001*∑((ai,z*XG,i-ai,x*ZG,i)*mG,i)+T (1-5);

[0089] Where TA and Dyn are the inertial torques; -0.001*∑((ai, z*XG, i-ai, x*ZG, i)*mG, i) is the first part of the inertial torque; ai, z is the acceleration of the center of gravity of the i-th excavation execution component in the vertical direction, which can be detected by an acceleration sensor set at the center of gravity of the i-th excavation execution component in the vertical direction; ai, x is the acceleration of the center of gravity of the i-th excavation execution component in the horizontal direction, which can be detected by an acceleration sensor set at the center of gravity of the i-th excavation execution component in the horizontal direction.

[0090] XG,i is the horizontal distance between the center of gravity of the i-th digging execution component and the hinge point A; ZG,i is the vertical distance between the center of gravity of the i-th digging execution component and the hinge point A; mG,i is the weight of the i-th digging execution component; the i-th digging execution component may include multiple or all of B, CylA, A, K, CylK, T, and R; B is the boom, CylA is the stick cylinder, A is the stick, K is the bucket, CylK is the bucket cylinder, T is the rocker arm, and R is the connecting rod.

[0091] In formula (1-5), T represents the second part of the inertial torque, which can be calculated based on the following formula (1-6):

[0092] TA, Dyn1=-0.001*∑((aj,z*XG,j-aj,x*ZG,j)*mG,j) (1-6);

[0093] Wherein, TA, Dyn1 represents the second part of the inertial torque; aj, z represents the vertical acceleration of the center of gravity of the j-th digging execution component, which can be detected by an acceleration sensor located at the center of gravity of the j-th digging execution component; aj, x represents the horizontal acceleration of the center of gravity of the j-th digging execution component, which can be detected by an acceleration sensor located at the center of gravity of the j-th digging execution component; XG, j represents the horizontal distance between the center of gravity of the j-th digging execution component and the hinge point A; ZG, j represents the vertical distance between the center of gravity of the j-th digging execution component and the hinge point A; and mG, j represents the weight of the j-th digging execution component. The j-th digging execution component may include at least one of B, A, and K; where B is the boom, A is the stick, and K is the bucket.

[0094] Various methods can be used to obtain the parameters needed for material weighing in excavators. For example, a 3D model of the excavator can be built in advance using tools such as SolidWorks. The detection angles collected by tilt sensors installed on the digging actuators such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod can be obtained. The position of each digging actuator in the 3D model can be adjusted based on the detection angles. The center of gravity position information of each digging actuator can be obtained from the 3D model. The distance between the center of gravity of the digging actuator and the hinge point A in the horizontal and vertical directions can be obtained from the 3D model. The mass of each digging actuator can be obtained from the 3D model.

[0095] In some embodiments, material quality information can be determined using a variety of methods. Figure 6A This is a schematic flowchart illustrating the process of determining material quality information according to one embodiment of the excavator material weighing method of this disclosure, as shown below. Figure 6A As shown:

[0096] Step 601: Based on the material's position information, determine the third distance between the material and the first hinge point. The third distance may include horizontal distance, vertical distance, etc.

[0097] Step 602: Calculate the material motion change information based on the third distance and the material's acceleration information. The acceleration information includes horizontal acceleration, vertical acceleration, etc.

[0098] Step 603: Calculate the material quality information based on the boom cylinder torque, static torque, and inertial torque, as well as the material motion change information.

[0099] like Figure 6B As shown, by using tilt sensors installed on the boom, stick, bucket, and excavator body, the detection angles of the boom, stick, bucket, and excavator body are collected. Combined with the center of gravity positions of the excavation execution components such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod, the horizontal and vertical distances from the center of gravity of the material to the first hinge point are obtained.

[0100] Acceleration sensors are installed on the boom, stick, bucket, and upper body to collect the acceleration of these components. This acceleration can include horizontal and vertical acceleration. Based on the detected acceleration, the horizontal and vertical acceleration of the material can be obtained. For example, the horizontal and vertical acceleration of the bucket can be approximated as the horizontal and vertical acceleration of the material.

[0101] Material quality information can be calculated based on the following formula (1-7):

[0102]

[0103] Where mLoad, Raw is the mass of the material; XG, Load is the horizontal distance from the center of gravity of the material to hinge point A; aLoad, z is the vertical acceleration of the center of gravity of the material; ZG, Load is the vertical distance from the center of gravity of the material to hinge point A; aLoad, x is the horizontal acceleration of the center of gravity of the material; XG, Load*(g+0.001*aLoad, z)-0.001*ZG, Load*aLoad, x is the material motion change information; TBoomCylA, Stat is the boom cylinder torque; TA, Stat is the static torque; TA, Dyn is the inertial torque.

[0104] Various methods can be used to obtain the parameters needed for material weighing in an excavator. For example, a 3D model of the excavator can be built in advance using tools such as SolidWorks. The detection angles collected by tilt sensors installed on the digging actuators such as the boom, boom cylinder, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod can be obtained. The position of each digging actuator in the 3D model can be adjusted based on the detection angles. The center of gravity position information of the material and the horizontal and vertical distances from the center of gravity of the material to the first hinge point can be obtained from the 3D model. The mass of each digging actuator can also be obtained from the 3D model.

[0105] Accelerometers are installed on the boom, stick, bucket, and upper body to collect the acceleration of these components, including horizontal and vertical acceleration. Using a 3D model and based on the detected acceleration, the horizontal and vertical acceleration of the material can be obtained. Alternatively, the horizontal and vertical acceleration of the bucket can be approximated as the horizontal and vertical acceleration of the material.

[0106] In some embodiments, the dynamic process compensation parameters of the hydraulic cylinder can be determined using various methods. When the excavator body is stationary, a first coefficient is obtained; based on the first coefficient and preset dynamic process parameters, the dynamic process compensation parameters of the hydraulic cylinder are determined.

[0107] When the excavator body is in motion, the rotational speed of the excavator body is obtained; based on the rotational speed, a second coefficient is determined; and based on the second coefficient and the preset parameters of the dynamic process, the dynamic process compensation parameters of the hydraulic cylinder are determined.

[0108] For example, weighing accuracy can be improved by determining the dynamic process compensation parameters of the hydraulic cylinder. The dynamic process preset parameters can be preset based on experimental results. When the excavator body is stationary, i.e., when the excavator body is not rotating, the first coefficient A0 is obtained. A0 is measured through calibration. The product of the dynamic process preset parameters and A0 is used as the hydraulic cylinder dynamic process compensation parameter.

[0109] The operator brings up the weighing window on the instrument panel and performs weighing after the weighing function is activated. If the excavator body is not rotating, the first coefficient A0 is obtained, and the product of the preset dynamic process parameters and A0 is used as the hydraulic cylinder dynamic process compensation parameter. Weighing is then performed in the instrument panel weighing window.

[0110] When the excavator upper body is in motion, the rotational speed V1 / V2… / Vn of the excavator upper body is obtained. Based on the rotational speed, a matching second coefficient A1 / A2… / An is determined. The product of the second coefficient and the preset parameters for the dynamic process is calculated as the compensation parameter for the hydraulic cylinder dynamic process. A1 / A2… / An is used to compensate for the influence of different rotational speeds on the weighing process when the upper body rotates at different speeds during the weighing process. A1 / A2… / An can be measured through calibration.

[0111] If the excavator body is in motion during the weighing process, the rotational speed V1 / V2… / Vn of the excavator body is collected, matched with the dynamic process preset parameters of the corresponding model, and the product of the dynamic process preset parameters and the corresponding second coefficient A1 / A2… / An is used as the hydraulic cylinder dynamic process compensation parameter.

[0112] In some embodiments, while the excavator body is moving, the height information of the bucket above the ground is acquired; based on the height information, a material mass weighing height range is determined. For example, the rotation position point of the bucket is recorded, and the rotation position point is the height of the bucket above the ground, thus obtaining the height information of the bucket above the ground; the interval between positions H1 and H2 above the determined rotation position is used as the material mass weighing height range, and weighing is performed when the bucket reaches the material mass weighing height range. By setting a material mass weighing height range, the influence of hydraulic pressure impact on weighing during the initial and final stages of excavation can be avoided.

[0113] For example, when the excavator body is moving, the height of the bucket above the ground is obtained as 20 centimeters. Based on the height information of 20 centimeters, the interval between the 10-centimeter position above the 20-centimeter position is taken as the material mass weighing height interval, that is, the material mass weighing height interval is 30-40 centimeters. When the height of the bucket reaches the material mass weighing height interval of 30-40 centimeters, the material is weighed.

[0114] In one embodiment, such as Figure 7 As shown, this disclosure provides a material weighing device 70 for excavators, including: a parameter determination module 71, a pressure determination module 72, a first torque determination module 73, a second torque determination module 74, a third torque determination module 75, and a mass determination module 76.

[0115] The parameter determination module 71 determines the dynamic process compensation parameters of the hydraulic cylinder based on the operating status of the excavator upper body; the pressure determination module 72 determines the pressure of the boom cylinder based on the pressure and size information of the large and small chambers of the boom cylinder, as well as the dynamic process compensation parameters of the hydraulic cylinder; the first torque determination module 73 determines the boom cylinder torque based on the position information of the first hinge point between the boom and the excavator upper body, the second hinge point between the boom cylinder and the excavator upper body, the third hinge point between the boom and the boom cylinder, and the boom cylinder pressure.

[0116] The second torque determination module 74 determines the static torque based on the distance information between the excavation execution component and the first hinge point, as well as the mass of the excavation execution component; the third torque determination module 75 determines the inertial torque based on the distance information between the excavation execution component and the first hinge point, the mass of the excavation execution component, and the acceleration information of the excavation execution component; the mass determination module 76 determines the material mass information based on the material's position and acceleration information, as well as the boom cylinder torque, static torque, and inertial torque.

[0117] In some embodiments, when the excavator body is stationary, the parameter determination module 71 acquires a first coefficient; and determines the hydraulic cylinder dynamic process compensation parameters based on the first coefficient and the preset parameters of the dynamic process.

[0118] When the excavator body is in motion, the parameter determination module 71 obtains the rotation speed of the excavator body; based on the rotation speed, it determines the second coefficient; and based on the second coefficient and the preset parameters of the dynamic process, it determines the compensation parameters of the hydraulic cylinder dynamic process.

[0119] When the excavator body moves, the parameter determination module 71 acquires the height information of the bucket above the ground; based on the height information, the parameter determination module 71 determines the weighing height range of the material mass.

[0120] The pressure determination module 72 determines the pressure difference based on the pressure of the large cavity and the pressure of the small cavity, as well as the ratio of the cross-sectional area of ​​the small cavity to the cross-sectional area of ​​the large cavity; the pressure determination module 72 determines the pressure value based on the cross-sectional area of ​​the large cavity and the pressure difference; and the boom cylinder pressure is determined based on the pressure value and the cylinder dynamic process compensation parameters.

[0121] The first torque determination module 73 determines the first distance between the boom cylinder and the first hinge point based on the position information of the first hinge point, the second hinge point, and the third hinge point; the first torque determination module 73 calculates the boom cylinder torque based on the first distance and the boom cylinder pressure.

[0122] The second torque determination module 74 acquires the center of gravity position information and mass of the excavation execution group; based on the center of gravity position information of the excavation execution component, the second torque determination module 74 determines the second distance between the center of gravity of the excavation execution component and the first hinge point; the second torque determination module 74 calculates the static torque according to the second distance and the mass of the excavation execution component.

[0123] The third torque determination module 75 determines the lateral acceleration and longitudinal acceleration at the center of gravity of the excavation execution component; the third torque determination module 75 calculates the inertial torque based on the horizontal and vertical distances between the center of gravity of the excavation execution component and the first hinge point, the mass of the excavation execution component, and the lateral and longitudinal accelerations.

[0124] The mass determination module 76 determines the third distance between the material and the first hinge point based on the material's position information; the mass determination module 76 calculates the material's motion change information based on the third distance and the material's acceleration information; and calculates the material's mass information based on the boom cylinder torque, static torque, and inertial torque, as well as the material's motion change information.

[0125] In one embodiment, such as Figure 8 As shown, this disclosure provides an excavator material weighing device, which may include a memory 82, a processor 81, a communication interface 83, and a bus 84. The memory 82 is used to store instructions, and the processor 81 is coupled to the memory 82. The processor 81 is configured to execute the excavator material weighing method described above based on the instructions stored in the memory 82.

[0126] The memory 82 can be a high-speed RAM, non-volatile memory, or a memory array. The memory 82 may also be divided into blocks, and these blocks can be combined into virtual volumes according to certain rules. The processor 81 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the excavator material weighing method of this disclosure.

[0127] In one embodiment, this disclosure provides an excavator including the excavator material weighing device as described in any of the above embodiments. The excavator can be of various types.

[0128] In one embodiment, this disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the method as described in any of the above embodiments.

[0129] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (not an exhaustive list) of readable storage media may include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0130] Embodiments of this disclosure may also be computer program products comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps of the methods according to various embodiments of this disclosure as described in the "Exemplary Methods" section above.

[0131] The excavator material weighing method, device, and storage medium in the above embodiments can determine the dynamic process compensation parameters of the hydraulic cylinder based on the operating state of the excavator's upper body, and determine the material mass information based on the material's position and acceleration information, as well as the boom cylinder torque, the static torque, and the inertial torque. The material weighing calculation can consider factors such as component rotational inertia and incorporate the boom cylinder dynamic process compensation parameters, thus compensating for the impact of excavator rotation on the hydraulic pressure of the boom cylinder. This avoids the impact of hydraulic pressure shocks at the beginning and end of excavation on weighing, improving weighing accuracy. It also improves the excavator's operational efficiency and weighing efficiency, enhances operational safety, and increases customer satisfaction and user experience.

[0132] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0133] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0134] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0135] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0136] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0137] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although several exemplary aspects and embodiments have been discussed above, those skilled in the art will understand that the above embodiments are illustrative only and do not limit the scope of this disclosure. Those skilled in the art will understand that the above embodiments can be combined, modified, or replaced without departing from the scope and spirit of this disclosure.

Claims

1. A method for weighing materials using an excavator, comprising: Determine the dynamic process compensation parameters of the hydraulic cylinders based on the operating status of the excavator's upper body; The boom cylinder pressure is determined based on the pressure and size information of the large and small chambers of the boom cylinder, as well as the dynamic process compensation parameters of the cylinder. Based on the positional information of the first hinge point between the boom and the upper body of the excavator, the second hinge point between the boom cylinder and the upper body of the excavator, the third hinge point between the boom and the boom cylinder, and the pressure of the boom cylinder, the boom cylinder torque is determined. The static torque is determined based on the distance information between the excavation execution component and the first hinge point, as well as the mass of the excavation execution component. The inertial torque is determined based on the distance information between the excavation execution component and the first hinge point, the mass of the excavation execution component, and the acceleration information of the excavation execution component. Based on the material's position and acceleration information, as well as the boom cylinder torque, static torque, and inertial torque, the material's mass information is determined. The determination of material quality information includes: Based on the position information of the material, a third distance between the material and the first hinge point is determined; based on the third distance and the acceleration information of the material, the material motion change information is calculated; based on the boom cylinder torque, the static torque and the inertial torque, and the material motion change information, the material mass information is calculated.

2. The method as described in claim 1, wherein, The dimensional information includes: the cross-sectional area of ​​the large cavity and the cross-sectional area of ​​the small cavity; the determination of the boom cylinder pressure includes: The pressure difference is determined based on the pressure of the large cavity and the pressure of the small cavity, as well as the ratio of the cross-sectional area of ​​the small cavity to the cross-sectional area of ​​the large cavity. The pressure value is determined based on the cross-sectional area of ​​the large cavity and the pressure difference. The pressure of the boom cylinder is determined based on the pressure value and the dynamic process compensation parameters of the cylinder.

3. The method as described in claim 1, wherein, The determination of the boom cylinder torque includes: Based on the position information of the first hinge point, the second hinge point, and the third hinge point, a first distance between the boom cylinder and the first hinge point is determined; The boom cylinder torque is calculated based on the first distance and the boom cylinder pressure.

4. The method of claim 1, wherein, The determination of the static torque includes: Obtain the center of gravity position information and mass of the excavation execution group; Based on the center of gravity position information of the excavation execution component, a second distance between the center of gravity of the excavation execution component and the first hinge point is determined; The static torque is calculated based on the second distance and the mass of the excavation execution component.

5. The method of claim 4, wherein, The determination of the moment of inertia includes: Determine the lateral and longitudinal accelerations at the center of gravity of the excavation execution component; The moment of inertia is calculated based on the horizontal and vertical distances between the center of gravity of the excavation execution component and the first hinge point, the mass of the excavation execution component, the lateral acceleration, and the longitudinal acceleration.

6. The method of claim 1, wherein, The excavation execution components include one or more of the following: boom, stick, stick cylinder, bucket, bucket cylinder, rocker arm, and connecting rod.

7. The method according to any one of claims 1 to 6, wherein, The determination of the hydraulic cylinder dynamic process compensation parameters based on the working state of the excavator's upper body includes: When the excavator body is stationary, the first coefficient is obtained; Based on the first coefficient and the preset parameters of the dynamic process, the compensation parameters of the hydraulic cylinder dynamic process are determined.

8. The method according to any one of claims 1 to 6, wherein, The determination of the hydraulic cylinder dynamic process compensation parameters based on the working state of the excavator's upper body includes: When the excavator upper body is in motion, the rotational speed of the excavator upper body is obtained; Based on the rotational speed, determine the second coefficient; The dynamic process compensation parameters of the hydraulic cylinder are determined based on the second coefficient and the preset parameters of the dynamic process.

9. The method of claim 8, further comprising: When the excavator body moves, the height information of the bucket above the ground is obtained; Based on the height information, determine the height range for weighing material mass.

10. A material weighing device for an excavator, comprising: The parameter determination module is used to determine the dynamic process compensation parameters of the hydraulic cylinders based on the operating status of the excavator's upper body; The pressure determination module is used to determine the boom cylinder pressure based on the pressure and size information of the large and small chambers of the boom cylinder, as well as the dynamic process compensation parameters of the cylinder. The first torque determination module is used to determine the boom cylinder torque based on the position information of the first hinge point between the boom and the upper body of the excavator, the second hinge point between the boom cylinder and the upper body of the excavator, the third hinge point between the boom and the boom cylinder, and the pressure of the boom cylinder. The second torque determination module is used to determine the static torque based on the distance information between the excavation execution component and the first hinge point, as well as the mass of the excavation execution component. The third torque determination module is used to determine the inertial torque based on the distance information between the excavation execution component and the first hinge point, the mass of the excavation execution component, and the acceleration information of the excavation execution component. A mass determination module is used to determine material mass information based on the material's position and acceleration information, as well as the boom cylinder torque, the static torque, and the inertial torque. The determination of material mass information includes: determining a third distance between the material and the first hinge point based on the material's position information; calculating material motion change information based on the third distance and the material's acceleration information; and calculating the material mass information based on the boom cylinder torque, the static torque, the inertial torque, and the material motion change information.

11. A material weighing device for an excavator, comprising: Memory; And a processor coupled to the memory, the processor being configured to perform the method as described in any one of claims 1 to 9 based on instructions stored in the memory.

12. An excavator, comprising: The excavator material weighing device as described in claim 10 or 11.

13. A computer-readable storage medium storing computer instructions that are executed by a processor according to any one of claims 1 to 9.

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