A landslide early warning device, system and method for excavator slope operation

Abstract

This invention discloses a landslide early warning device, system, and method for excavator slope operations, belonging to the field of excavator testing technology. The method involves acquiring the slope angle, the angles of each actuator, the torque of the slewing motor, and the hydraulic pressure of each actuator during excavator slope operations. Based on the acquired data, the excavator's posture and the output force of each actuator are calculated. This allows for the calculation of the resistance experienced by the excavator, the machine's weight, the first component of the slewing force in the slope direction, and the friction between the tracks and the ground. The sum of the resistance, weight, and the first component of the slewing force in the slope direction is compared with the friction between the tracks and the ground to determine if a landslide exists. The excavator's landslide distance is then detected. Based on the landslide distance, landslide assessment information, slope holding capacity information, and landslide early warning information are generated and output to alert the user. This invention provides accurate excavator slope operation information and early warnings to the driver or intelligent terminal, protecting both the driver and the excavator.

Description

TECHNICAL FIELD

[0001] The present application relates to a slope operation landslide early warning device, system and method of excavator, belonging to the technical field of excavator testing. BACKGROUND

[0002] As a multipurpose earthwork construction machinery, excavator is widely used in mining, water conservancy construction and other aspects. For excavator, slope operation is its most basic function. If the friction between the track and the ground is insufficient, landslide phenomenon is more likely to occur, which may affect the construction speed and cause damage to the excavator, or even pose a life-threatening risk to the driver.

[0003] There are also improvements for landslide phenomenon in the prior art, usually using GPS positioning system or vehicle-mounted displacement sensor to measure the landslide distance. However, this method of measuring landslide distance can only be applied to ordinary cars, and the posture of excavator is variable when it operates on a slope. Therefore, the existing landslide distance measurement method cannot accurately warn the slope operation of excavator, and thus the existing excavator has frequent accidents and limited operation range when operating on a slope. SUMMARY

[0004] The purpose of the present application is to provide a slope operation landslide early warning device, system and method of excavator, which can monitor in real time whether there is a landslide risk during the slope operation of excavator according to the slope angle where the excavator is located, the posture of each actuator of the excavator, the posture of the excavator, the resistance received by the excavator during operation, the overall gravity of the excavator, the turning force of the excavator and the friction between the track and the ground, and calculate the landslide risk, so as to provide the driver with accurate information of excavator landslide evaluation, excavator slope holding capacity and excavator landslide early warning, guide the driver to operate on a slope, improve the safety of slope operation, and achieve the purpose of protecting the driver and the excavator.

[0005] To solve the above technical problems, the present application is realized by the following technical scheme.

[0006] A slope operation landslide early warning method of excavator, comprising:

[0007] When the excavator operates on a slope, the slope angle where the excavator is located, the angle of each actuator of the excavator, the turning torque of the excavator and the hydraulic pressure of each actuator of the excavator are obtained;

[0008] The posture of the excavator is obtained according to the slope angle where the excavator is located and the angle of each actuator of the excavator, and the output force of each actuator of the excavator is obtained according to the hydraulic pressure of the excavator;

[0009] According to the slope angle where the excavator is located, the excavator swing motor torque, the excavator posture, the output force of each actuator of the excavator and the preset parameters of the excavator, the position of the center of gravity of the excavator, the first component of the resistance to the operation of the excavator in the direction of the slope where the excavator is located, the first component of the gravity of the whole excavator in the direction of the slope where the excavator is located, the first component of the rotation force of the excavator in the direction of the slope where the excavator is located and the friction between the track of the excavator and the ground are obtained respectively.

[0010] Based on the comparison result of the sum of the first components of the resistance to the operation of the excavator, the gravity of the whole excavator and the rotation force of the excavator in the direction of the slope where the excavator is located and the friction between the track of the excavator and the ground, it is determined whether the excavator produces a landslide.

[0011] When it is determined that the excavator produces a landslide, the landslide distance of the excavator is detected.

[0012] Based on the comparison result of the slope parking ability threshold of the excavator and the landslide distance of the excavator, the excavator landslide evaluation information, the excavator slope parking ability information and the excavator landslide early warning information are generated, and the excavator landslide evaluation information, the excavator slope parking ability information and the excavator landslide early warning information are visually outputted to remind the user.

[0013] Optionally, the posture of the excavator is obtained according to the slope angle where the excavator is located and the angles of each actuator of the excavator, including:

[0014] The angles of the boom, the stick and the bucket of the excavator are obtained respectively.

[0015] The posture of the boom is determined according to the angle of the boom.

[0016] The posture of the stick is determined according to the angles of the boom and the stick.

[0017] The posture of the bucket is determined according to the angles of the boom, the stick and the bucket.

[0018] The posture of the excavator is obtained based on the slope angle where the excavator is located and the postures of the boom, the stick and the bucket of the excavator.

[0019] Optionally, the output force of each actuator of the excavator is obtained according to the hydraulic pressure of each actuator of the excavator, including:

[0020] The hydraulic pressures of the boom cylinder, the stick cylinder and the bucket cylinder of the excavator are obtained respectively.

[0021] The output force of each actuator is obtained according to the hydraulic pressures of the boom cylinder, the stick cylinder and the bucket cylinder and the preset areas of the boom cylinder, the stick cylinder and the bucket cylinder.

[0022] Optionally, the excavator preset parameters at least include: excavator brand, excavator model, excavator mass, excavator track-ground friction coefficient, number of teeth of the driving sprocket, length of a single track shoe, and other parameters not limited to the excavator itself.

[0023] Optionally, according to the slope angle at which the excavator is located, the excavator swing motor torque, the excavator posture, the output force of each actuator of the excavator, and the excavator preset parameters, the first component of the excavator gravity in the direction of the slope at which the excavator is located, the first component of the resistance to the excavator operation in the direction of the slope at which the excavator is located, the first component of the excavator gravity in the direction of the slope at which the excavator is located, the first component of the excavator swing force in the direction of the slope at which the excavator is located, and the track-ground friction force of the excavator are obtained, including:

[0024] According to the slope angle at which the excavator is located and the excavator posture, the position of the center of gravity of the excavator is obtained.

[0025] According to the excavator posture and the output force of each actuator of the excavator, the resistance to the excavator operation is obtained, and based on the slope angle at which the excavator is located, the first component of the resistance to the excavator operation in the direction of the slope at which the excavator is located is obtained.

[0026] According to the excavator mass, the excavator gravity is obtained, and based on the slope angle at which the excavator is located, the first component of the excavator gravity in the direction of the slope at which the excavator is located is obtained.

[0027] According to the excavator posture and the excavator swing motor torque, the excavator swing force is obtained, and based on the slope angle at which the excavator is located, the first component of the excavator swing force in the direction of the slope at which the excavator is located is obtained.

[0028] According to the excavator mass and the excavator track-ground friction coefficient, the track-ground friction force of the excavator is obtained, and based on the slope angle at which the excavator is located, the track-ground friction force of the excavator is obtained.

[0029] The direction of the first component is parallel to the slope surface.

[0030] Optionally, according to the excavator posture and the output force of each actuator of the excavator, the resistance to the excavator operation is obtained, and based on the slope angle at which the excavator is located, the first component of the resistance to the excavator operation in the direction of the slope at which the excavator is located is obtained, including:

[0031] According to the excavator posture, the position of the excavator crank-rocker working device is obtained.

[0032] Based on the position of the excavator crank-rocker working device, the hydraulic pressure of each actuator of the excavator is converted, and the output force of each actuator of the excavator transmitted to the cutting edge of the bucket tooth is calculated.

[0033] The output force at the cutting edge of the bucket tooth is taken as the resistance to the excavator operation.

[0034] obtaining a first component of the resistance to the operation of the excavator in a direction of the slope in which the excavator is located based on the slope angle in which the excavator is located and the resistance to the operation of the excavator;

[0035] the output force at the cutting edge of the bucket tooth is in a reaction force relationship with the resistance to the operation of the excavator;

[0036] if the first component of the resistance to the operation of the excavator in the direction of the slope in which the excavator is located is in the same direction as the first component of the gravity of the whole excavator in the direction of the slope in which the excavator is located, a positive value is output, and if the first component of the resistance to the operation of the excavator in the direction of the slope in which the excavator is located is in the opposite direction to the first component of the gravity of the whole excavator in the direction of the slope in which the excavator is located, a negative value is output.

[0037] wherein an expression of the output force of the bucket cylinder of the excavator is:

[0038]

[0039] in the expression, is a cylinder diameter of the bucket cylinder, is a hydraulic pressure of the bucket cylinder, is the output force of the bucket cylinder;

[0040] wherein an expression of the output force at the cutting edge of the bucket tooth is:

[0041]

[0042] in the expression, is a length of a rocker, is an included angle between a connecting rod and the bucket cylinder, is a distance between a hinged point of a bucket ear plate, is an included angle between the connecting rod and a connecting line of the hinged point of the bucket ear plate, is an included angle between the connecting rod and the rocker, is a digging radius of the bucket, is the output force at the cutting edge of the bucket tooth;

[0043] wherein an expression of the first component of the resistance to the operation of the excavator in the direction of the slope in which the excavator is located is:

[0044]

[0045] in the expression, is the first component of the resistance to the operation of the excavator in the direction of the slope in which the excavator is located, is the slope angle in which the excavator is located.

[0046] Optionally, based on the posture of the excavator and the torque of a slewing motor of the excavator, a slewing force of the excavator is obtained, and based on the slope angle in which the excavator is located, a first component of the slewing force of the excavator in a direction of the slope in which the excavator is located is obtained, including:

[0047] Based on the excavator's posture, obtain the distance from the center of the slewing motor gear to the cutting edge of the bucket teeth and the angle between the excavator's working device and the excavator's tracks projected onto the slope.

[0048] The excavator's slewing force is obtained by calculating the distance from the center of the slewing motor gear to the cutting edge of the bucket teeth, the angle between the excavator's working device and the excavator's tracks projected onto the slope, and the torque of the excavator's slewing motor.

[0049] The first component of the excavator's rotational force in the direction of the slope is calculated based on the excavator's rotational force and the slope angle where the excavator is located.

[0050] The expression for the first component of the excavator's slewing force in the direction of the slope is as follows:

[0051]

[0052] In the formula, This is the first component of the excavator's rotational force along the slope. This refers to the torque of the rotary motor. This is the distance from the center of the rotary motor gear to the cutting edge of the bucket teeth. The angle between the excavator's working device and the excavator's tracks projected onto the slope on which it is located. The slope angle where the excavator is located.

[0053] Optionally, the frictional force between the excavator tracks and the ground is obtained based on the excavator's mass and the coefficient of friction between the excavator tracks and the ground, and based on the slope angle where the excavator is located, the frictional force between the excavator tracks and the ground is obtained, including:

[0054] Based on the excavator's mass, the slope angle where the excavator is located, and the acceleration due to gravity, the first and second components of the excavator's total weight in the direction of the slope are obtained.

[0055] The friction force between the excavator tracks and the ground is obtained based on the second component of the excavator's total weight in the direction of the slope and the friction coefficient between the excavator tracks and the ground.

[0056] Among them, the direction of the second component of the excavator's total weight in the direction of the slope is perpendicular to the slope surface;

[0057] The expressions for the first and second components of the excavator's total weight along the slope direction are:

[0058]

[0059] In the formula, For the quality of excavators, For the local gravitational acceleration, This is the first component of the excavator's total weight along the slope. This is the second component of the excavator's total weight in the direction of the slope it is on;

[0060] The expression for the frictional force between the excavator tracks and the ground is:

[0061]

[0062] In the formula, The coefficient of friction between the excavator tracks and the ground. This refers to the friction between the excavator tracks and the ground.

[0063] Optionally, based on a comparison of the sum of the resistance experienced by the excavator during operation, the total weight of the excavator, the first component of the excavator's rotational force in the direction of the slope, and the frictional force between the excavator's tracks and the ground, it can be determined whether the excavator has caused a landslide, including:

[0064] If the sum of the resistance encountered by the excavator during operation, the total weight of the excavator, and the first component of the excavator's rotational force in the direction of the slope is less than the friction between the excavator's tracks and the ground, then it is determined that the excavator will not slip.

[0065] If the sum of the resistance encountered by the excavator, the total weight of the excavator, and the first component of the excavator's rotational force in the direction of the slope is greater than or equal to the frictional force between the excavator's tracks and the ground, then the excavator is determined to have caused a landslide.

[0066] The expression that determines the excavator will not cause a landslide is:

[0067] .

[0068] Optionally, when a landslide occurs, the landslide distance of the excavator is detected, including:

[0069] Based on the excavator's center of gravity position before the landslide, the excavator's center of gravity position after the landslide, and the slope angle where the excavator is located, the sliding distance generated by the excavator after overcoming the friction between the excavator's tracks and the ground is obtained, and the status of the excavator's travel motor balance block is detected.

[0070] When the balance weight of the excavator travel motor fails, obtain the rotation distance generated after the failure of the balance weight of the excavator travel motor and output the travel motor fault information.

[0071] The expression for determining whether an excavator causes a landslide is:

[0072]

[0073] The expression for the sliding distance generated by the excavator after overcoming the friction between the excavator tracks and the ground is:

[0074]

[0075] In the formula, Here are the vertical coordinates of the excavator's center of gravity before the landslide. This represents the vertical coordinates of the excavator's center of gravity after the landslide. This refers to the sliding distance generated by the excavator after overcoming the friction between the excavator tracks and the ground.

[0076] The expression for obtaining the rotation distance caused by the failure of the balance weight of the excavator's travel motor is as follows:

[0077]

[0078] In the formula, This refers to the rotational distance caused by the failure of the balance weight on the excavator's travel motor. This refers to the rotational speed of the travel motor. The number of teeth on the drive sprocket. The length of a single track piece For rotation time;

[0079] The expression for determining the excavator's landslide distance is:

[0080]

[0081] In the formula, This represents the distance the excavator traveled on the landslide.

[0082] Optionally, based on the comparison results between the excavator's slope holding capacity threshold and the excavator's landslide distance, the excavator's landslide level information, slope holding capacity information, and excavator landslide early warning information are evaluated, and the excavator's landslide level information, slope holding capacity information, and excavator landslide early warning information are visualized and output to remind users, including:

[0083] If the excavator's landslide distance is less than or equal to the first threshold of the excavator's slope holding capacity, it is assessed as a minor landslide and the excavator's current slope holding capacity is strong.

[0084] If the excavator's landslide distance is greater than the first threshold of the excavator's slope holding capacity, but less than or equal to the second threshold of the excavator's slope holding capacity, it is assessed as a moderate landslide and the excavator's current slope holding capacity is average.

[0085] If the excavator's landslide distance is greater than the second threshold of the excavator's slope holding capacity, it is assessed as a severe landslide and the excavator's current slope holding capacity is poor.

[0086] Excavator landslide warning information is generated based on excavator landslide level information and excavator slope holding capacity information to remind the driver to stop and check the slope road conditions.

[0087] A landslide early warning device for excavator slope operation includes:

[0088] The system includes a data acquisition module, a landslide calculation module, a slope holding capacity and landslide assessment module, and a display module.

[0089] The operation data acquisition module is used to acquire the slope angle of the excavator, the angle of each actuator of the excavator, the torque of the excavator's swing motor, and the hydraulic pressure of each actuator of the excavator when the excavator is working on a slope.

[0090] The landslide calculation module is used to obtain the excavator's posture based on the slope angle and the angles of each actuator of the excavator; and to obtain the output force of each actuator of the excavator based on the hydraulic pressure of the excavator.

[0091] Based on the slope angle where the excavator is located, the torque of the excavator's swing motor, the excavator's posture, the output force of each actuator of the excavator, and the excavator's preset parameters, the excavator's center of gravity position, the first component of the resistance force on the excavator in the slope direction, the first component of the excavator's total weight in the slope direction, the first component of the excavator's swing force in the slope direction, and the friction force between the excavator's tracks and the ground are obtained respectively.

[0092] Based on the comparison of the resistance encountered by the excavator during operation, the total weight of the excavator, and the first component of the excavator's rotational force in the direction of the slope, with the friction between the excavator's tracks and the ground, it is determined whether the excavator has caused a landslide.

[0093] The slope holding capacity and landslide assessment module is used to determine the landslide distance of the excavator when a landslide occurs; and based on the comparison between the excavator's slope holding capacity threshold and the excavator's landslide distance, it generates excavator landslide assessment information, excavator slope holding capacity information, and excavator landslide early warning information.

[0094] The display module is used to visualize and output excavator landslide assessment information, excavator slope holding capacity information, and excavator landslide early warning information to remind users.

[0095] Optionally, the display module also communicates with the excavator landslide calculation module to visually output whether the excavator has experienced a landslide, the landslide distance of the excavator, and warning information about the travel motor malfunction.

[0096] A landslide early warning system for excavator slope operation includes: at least one tilt sensor, several angle sensors, several pressure sensors, a slewing motor sensor, and a controller.

[0097] When the excavator is working on a slope, the at least one tilt sensor, several angle sensors, a swing motor sensor, and several pressure sensors are used to obtain the slope angle where the excavator is located, the angle of each actuator of the excavator, the torque of the swing motor of the excavator, and the hydraulic pressure of each actuator of the excavator, respectively.

[0098] The controller is connected to the tilt sensor, angle sensor, pressure sensor and slewing motor sensor respectively, and is configured to implement the steps of the above-described landslide early warning method for excavator slope operation.

[0099] Optionally, it may also include a host computer configured to communicate with the controller; the host computer includes a memory for storing computer programs / instructions;

[0100] A processor is used to execute the computer program / instructions to implement the steps of the above-described landslide early warning method for excavator slope operations;

[0101] The controller is configured to forward information to the host computer, including the slope angle where the excavator is located, the attitude of each actuator of the excavator, the torque of the excavator's slewing motor, and the hydraulic pressure of each actuator of the excavator; and to receive information from the host computer, including whether the excavator is in a landslide state, the landslide distance of the excavator, the travel motor fault warning information, landslide assessment information, the excavator's slope holding ability information, and the excavator's landslide warning information.

[0102] Optionally, the controller also communicates with an output device, which is one or more combinations of excavator instruments and displays, for visually outputting whether the excavator has a landslide status, the excavator's landslide distance and travel motor fault warning information, excavator landslide assessment information, excavator's slope holding ability information, and excavator landslide warning information.

[0103] Optionally, the tilt sensor is installed at the slewing bearing to provide feedback on the slope angle at which the excavator is located;

[0104] The plurality of angle sensors include:

[0105] The first angle sensor is installed at the slewing bearing and is used to measure the slewing angle of the excavator.

[0106] The second angle sensor is installed at the boom cylinder and is used to measure the boom angle.

[0107] The third angle sensor is installed at the boom cylinder and is used to measure the boom angle;

[0108] The fourth angle sensor, installed at the bucket cylinder, is used to measure the bucket angle;

[0109] The aforementioned pressure sensors are respectively installed in the large and small cavities of the boom cylinder, stick cylinder, and bucket cylinder to provide feedback on the hydraulic pressure of the boom, stick, and bucket cylinders.

[0110] The rotary motor sensor is used to obtain the rotary motor speed and torque.

[0111] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0112] 1. When the excavator is operating on a slope, it can monitor in real time whether there is a risk of landslide during the operation of the excavator based on the slope angle, the attitude of each actuator and the overall posture of the excavator, the rotation force and the resistance encountered during operation, and calculate the landslide risk. Finally, it provides the driver with accurate landslide assessment information, excavator slope holding capacity information and landslide early warning information to guide the driver to operate on the slope.

[0113] 2. During the calculation process, based on the comparison between the resistance encountered by the excavator during operation, the total weight of the excavator, and the first component of the excavator's rotational force in the direction of the slope, and the friction between the excavator's tracks and the ground, it is estimated in real time whether the excavator will cause a landslide; and when the excavator causes a landslide, the landslide distance is calculated to provide data reference for the assessment of the excavator's slope holding capacity.

[0114] 3. During the assessment of excavator slope holding capacity, multi-level excavator slope holding capacity thresholds are set. By comparing the multi-level excavator slope holding capacity thresholds with the excavator landslide distance, multi-level landslide assessment information, excavator slope holding capacity information, and excavator landslide early warning information are generated.

[0115] 4. Visualize and output multi-level landslide assessment information, excavator slope holding capacity information, and excavator landslide early warning information. It also visualizes and outputs whether the excavator is in a landslide state, the excavator's landslide distance, and travel motor failure early warning information to remind users. This allows users to have a comprehensive grasp of the excavator's information at all stages of slope operation, enabling them to use the equipment correctly and efficiently and reduce equipment maintenance costs. Attached Figure Description

[0116] Figure 1 The diagram shows a flowchart of the landslide early warning method for excavator slope operations according to the present invention;

[0117] Figure 2 The diagram shown is an analysis of the output force at the cutting edge of the bucket teeth in this invention.

[0118] Figure 3 The diagram shown is a force analysis diagram of the excavator operating on a slope according to the present invention;

[0119] Figure 4 The diagram shown is a structural diagram of the landslide early warning device for excavator slope operation according to the present invention;

[0120] Figure 5 The figure shown is an embodiment of the landslide early warning system for excavator slope operations of the present invention.

[0121] In the diagram: 1-Excavator, 2-Data acquisition device, 21-Tilt sensor, 22-First angle sensor, 23-Second angle sensor, 24-Third angle sensor, 25-Fourth angle sensor, 3-Control device, 31-Host computer, 32-Controller, 33-Landslide information and landslide early warning calculation interface, 34-Slope holding capacity calculation interface, K1-Electrical connection between host computer and controller, K2-Electrical connection between controller and data acquisition device, Q1-Connection between host computer and landslide information and landslide early warning calculation interface, Q2-Connection between landslide information and landslide early warning calculation interface and landslide early warning calculation device, S1-Connection between host computer and slope holding capacity calculation interface, S2-Connection between slope holding capacity calculation interface and slope holding capacity calculation device, 4-Landslide early warning calculation device, 41-First component of excavator's total weight in the direction of the slope. Calculation module, 42 - the first component of the resistance force experienced by the excavator in the direction of the slope. Calculation module, 43 - the first component of the excavator's slewing force in the direction of the slope. Calculation module, 44-excavator track friction with ground Calculation module, 45- Excavator landslide calculation and early warning calculation module, 401- First component of excavator's total weight in the direction of the slope. The connection between the calculation module and the excavator landslide calculation and early warning calculation module; 402 - the first component of the resistance force experienced by the excavator in the direction of the slope. The connection between the calculation module and the excavator landslide calculation and early warning module, 403 - the first component of the excavator's slewing force in the direction of the slope. Connection between the calculation module and the excavator landslide calculation and early warning module, 404-excavator track friction between the ground Connection between the calculation module and the excavator landslide calculation and early warning module; 5-slope holding capacity calculation device; 51-sliding distance calculation module; 52-rotation distance calculation module; 53-slope holding capacity level calculation module; 501-connection between the sliding distance calculation module and the slope holding capacity level calculation module; 502-connection between the rotation distance calculation module and the slope holding capacity level calculation module. Detailed Implementation

[0122] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0123] Example 1

[0124] This embodiment provides a landslide early warning method for excavator slope operations, combined with... Figure 1 The methods include:

[0125] Step 1: When the excavator is working on a slope, obtain the slope angle where the excavator is located, the angle of each actuator of the excavator, the torque of the excavator's swing motor, and the hydraulic pressure of each actuator of the excavator;

[0126] Step 2: Obtain the excavator's posture based on the slope angle and the angles of each actuator; obtain the output force of each actuator based on the excavator's hydraulic pressure;

[0127] Step 3: Based on the slope angle where the excavator is located, the torque of the excavator's swing motor, the excavator's posture, the output force of each actuator of the excavator, and the excavator's preset parameters, obtain the excavator's center of gravity position, the first component of the resistance force on the excavator in the slope direction, the first component of the excavator's total weight in the slope direction, the first component of the excavator's swing force in the slope direction, and the friction force between the excavator's tracks and the ground.

[0128] Step 4: Based on the comparison of the resistance encountered by the excavator during operation, the total weight of the excavator, and the sum of the first component of the excavator's rotational force in the direction of the slope, with the friction between the excavator's tracks and the ground, determine whether the excavator has caused a landslide.

[0129] Step 5: Determine the excavator's landslide distance when it occurs;

[0130] Step 6: Based on the comparison results between the excavator's slope holding capacity threshold and the excavator's landslide distance, generate excavator landslide assessment information, excavator slope holding capacity information, and excavator landslide early warning information, and visualize these information to remind users.

[0131] Preferably, the method for obtaining the excavator's posture in step 2 based on the slope angle and the angles of each actuator of the excavator is as follows:

[0132] Obtain the angles of the excavator boom, stick, and bucket respectively;

[0133] Determine the boom's posture based on the boom's angle;

[0134] Determine the stick's posture based on the angles of the boom and stick;

[0135] Determine the bucket's posture based on the angles of the boom, stick, and bucket;

[0136] The excavator's posture is obtained based on the slope angle, the posture of the excavator's boom, stick, and bucket.

[0137] Preferably, the method for obtaining the output force of each actuator of the excavator based on the hydraulic pressure of each actuator in step 2 is as follows:

[0138] The hydraulic pressures of the excavator boom, stick, and bucket cylinders are obtained respectively;

[0139] The output force of each actuator is obtained based on the hydraulic pressure of the boom, stick, and bucket cylinders and the pre-set areas of the boom, stick, and bucket cylinders.

[0140] Preferably, the pre-set parameters for the excavator include at least: excavator brand, excavator model, excavator weight, coefficient of friction between the excavator tracks and the ground, number of teeth on the drive sprocket, length of a single track piece, area of ​​the pre-set boom cylinder, stick cylinder, and bucket cylinder, and other parameters not limited to those set by the excavator itself. The excavator model includes not only the model of the entire excavator but also the models of each actuator, thereby quickly obtaining the area of ​​the boom cylinder, stick cylinder, and bucket cylinder, as well as other relevant parameters of the power mechanism.

[0141] Preferably, in step 3, the method for obtaining the excavator's center of gravity position, the first component of the resistance force experienced by the excavator in the slope direction, the first component of the excavator's total weight in the slope direction, the first component of the excavator's rotational force in the slope direction, and the friction force between the excavator's tracks and the ground in the slope direction, based on the slope angle of the excavator, the torque of the excavator's swing motor, the excavator's posture, the output force of each actuator of the excavator, and the excavator's preset parameters, is as follows:

[0142] A: The position of the excavator's center of gravity is obtained based on the slope angle and the excavator's posture.

[0143] B: Based on the excavator's posture and the output force of each excavation actuator, obtain the resistance encountered by the excavator during operation, and based on the slope angle where the excavator is located, obtain the first component of the resistance encountered by the excavator during operation in the slope direction.

[0144] C: Based on the excavator's mass, obtain the total weight of the excavator and, based on the slope angle where the excavator is located, obtain the first component of the total weight of the excavator in the slope direction.

[0145] D: Based on the excavator's posture and the torque of the excavator's swing motor, obtain the excavator's swing force and, based on the slope angle where the excavator is located, obtain the first component of the excavator's swing force in the slope direction.

[0146] E: Based on the excavator mass and the friction coefficient between the excavator tracks and the ground, obtain the friction force between the excavator tracks and the ground, and based on the slope angle where the excavator is located, obtain the friction force between the excavator tracks and the ground.

[0147] The direction of the first component of the excavator's gravity, resistance, and rotational force is parallel to the slope surface.

[0148] Preferably, for step B, the method of obtaining the resistance experienced by the excavator based on the excavator's posture and the output force of each actuator, and obtaining the first component of the resistance experienced by the excavator in the slope direction based on the slope angle, is combined with... Figure 2 and Figure 3 Further explanation is provided, including:

[0149] Based on the excavator's posture, obtain the position of the excavator's crank rocker arm working device;

[0150] Based on the position conversion of the excavator crank rocker working device, the hydraulic pressure of each actuator of the excavator is converted, and the output force of each actuator of the excavator is calculated to be transmitted to the cutting edge of the bucket teeth.

[0151] The output force at the cutting edge of the bucket teeth is taken as the resistance encountered by the excavator during operation;

[0152] Based on the slope angle where the excavator is located and the resistance encountered by the excavator during operation, the first component of the resistance encountered by the excavator during operation in the direction of the slope is obtained.

[0153] The output force at the cutting edge of the bucket teeth has a reaction force relationship with the resistance encountered by the excavator during operation;

[0154] If the first component of the resistance force experienced by the excavator in the direction of the slope is in the same direction as the first component of the excavator's total weight in the direction of the slope, a positive value will be output; otherwise, a negative value will be output.

[0155] The expression for the output force of the excavator bucket cylinder is as follows:

[0156]

[0157] In the formula, Where is the cylinder diameter of the bucket cylinder. The hydraulic pressure of the bucket cylinder. This refers to the output force of the bucket cylinder;

[0158] in, Figure 2 F, G, H, M, N, and K are the connection points of each actuator. The expression for the output force at the cutting edge of the bucket teeth is:

[0159]

[0160] In the formula, The length of the joystick. The angle between the connecting rod and the bucket cylinder. The distance between the hinge points of the bucket lugs. The angle is the line connecting the connecting rod and the hinge point of the bucket lug. The angle between the connecting rod and the rocker arm. The digging radius of the bucket. This refers to the output force at the cutting edge of the bucket teeth;

[0161] like Figure 3 The force analysis of the excavator operating on a slope shown is illustrated, where the expression for the first component of the resistance force acting on the excavator along the slope direction is:

[0162]

[0163] In the formula, Let this be the first component of the resistance force experienced by the excavator in the direction of the slope it is on. The slope angle where the excavator is located.

[0164] Preferably, the method for obtaining the excavator's slewing force based on the excavator's posture and the excavator's slewing motor torque in step D, and obtaining the first component of the excavator's slewing force in the slope direction based on the slope angle where the excavator is located, is as follows:

[0165] Based on the excavator's posture, obtain the distance from the center of the slewing motor gear to the cutting edge of the bucket teeth and the angle between the excavator's working device and the excavator's tracks projected onto the slope.

[0166] The excavator's slewing force is obtained by calculating the distance from the center of the slewing motor gear to the cutting edge of the bucket teeth, the angle between the excavator's working device and the excavator's tracks projected onto the slope, and the torque of the excavator's slewing motor.

[0167] The first component of the excavator's rotational force in the direction of the slope is calculated based on the excavator's rotational force and the slope angle where the excavator is located.

[0168] Among them, such as Figure 3 The expression for the first component of the excavator's slewing force in the direction of the slope is as follows:

[0169]

[0170] In the formula, This is the first component of the excavator's rotational force along the slope. This refers to the torque of the rotary motor. This is the distance from the center of the rotary motor gear to the cutting edge of the bucket teeth. The angle between the excavator's working device and the excavator's tracks projected onto the slope on which it is located. The slope angle where the excavator is located.

[0171] Preferred, such as Figure 3The method shown for step E, which involves obtaining the frictional force between the excavator tracks and the ground based on the excavator's mass and the coefficient of friction between the excavator tracks and the ground, and then obtaining the frictional force between the excavator tracks and the ground based on the slope angle where the excavator is located, is as follows:

[0172] Based on the excavator's mass, the slope angle where the excavator is located, and the acceleration due to gravity, the first and second components of the excavator's total weight in the direction of the slope are obtained.

[0173] The friction force between the excavator tracks and the ground is obtained based on the second component of the excavator's total weight on the slope and the friction coefficient between the excavator tracks and the ground.

[0174] Among them, the direction of the second component of the excavator's total weight in the direction of the slope is perpendicular to the slope surface;

[0175] The expressions for the first and second components of the excavator's total weight along the slope direction are:

[0176]

[0177] In the formula, For the quality of excavators, For the local gravitational acceleration, This is the first component of the excavator's total weight along the slope. This is the second component of the excavator's total weight in the direction of the slope it is on;

[0178] The expression for the frictional force between the excavator tracks and the ground is:

[0179]

[0180] In the formula, The coefficient of friction between the excavator tracks and the ground. This refers to the friction between the excavator tracks and the ground.

[0181] Preferably, the method for determining whether the excavator has caused a landslide in step 4, based on the comparison of the sum of the resistance experienced by the excavator during operation, the total weight of the excavator, the first component of the excavator's rotational force in the direction of the slope, and the frictional force between the excavator's tracks and the ground, is as follows:

[0182] If the sum of the resistance encountered by the excavator during operation, the total weight of the excavator, and the first component of the excavator's rotational force in the direction of the slope is less than the friction between the excavator's tracks and the ground, then it is determined that the excavator will not slip.

[0183] If the sum of the resistance encountered by the excavator, the total weight of the excavator, and the first component of the excavator's rotational force in the direction of the slope is greater than or equal to the frictional force between the excavator's tracks and the ground, then the excavator is determined to have caused a landslide.

[0184] The expression that determines the excavator will not cause a landslide is:

[0185] .

[0186] Preferably, in step 5, when determining that the excavator has caused a landslide, the method for detecting the landslide distance is as follows:

[0187] Based on the excavator's center of gravity position before the landslide, the excavator's center of gravity position after the landslide, and the slope angle where the excavator is located, the sliding distance generated by the excavator after overcoming the friction between the excavator's tracks and the ground is obtained, and the status of the excavator's travel motor balance block is detected.

[0188] When the balance weight of the excavator travel motor fails, obtain the rotation distance generated after the failure of the balance weight of the excavator travel motor and output the travel motor fault information.

[0189] The expression for determining whether an excavator causes a landslide is:

[0190]

[0191] The expression for the sliding distance generated by the excavator after overcoming the friction between the excavator tracks and the ground is:

[0192]

[0193] In the formula, Here are the vertical coordinates of the excavator's center of gravity before the landslide. This represents the vertical coordinates of the excavator's center of gravity after the landslide. This refers to the sliding distance generated by the excavator after overcoming the friction between the excavator tracks and the ground.

[0194] The expression for obtaining the rotation distance caused by the failure of the balance weight of the excavator's travel motor is as follows:

[0195]

[0196] In the formula, This refers to the rotational distance caused by the failure of the balance weight on the excavator's travel motor. This refers to the rotational speed of the travel motor. The number of teeth on the drive sprocket. The length of a single track piece For rotation time;

[0197] The expression for determining the excavator's landslide distance is:

[0198]

[0199] In the formula, This represents the distance the excavator traveled on the landslide.

[0200] Preferably, in step 6, based on the comparison results between the excavator's slope holding capacity threshold and the excavator's landslide distance, the excavator's landslide level information, slope holding capacity information, and excavator landslide early warning information are evaluated, and the excavator landslide level information, slope holding capacity information, and excavator landslide early warning information are visualized and output to remind the user, including:

[0201] If the excavator's landslide distance is less than or equal to the first threshold of the excavator's slope holding capacity, it is assessed as a minor landslide and the excavator's current slope holding capacity is strong.

[0202] If the excavator's landslide distance is greater than the first threshold of the excavator's slope holding capacity, but less than or equal to the second threshold of the excavator's slope holding capacity, it is assessed as a moderate landslide and the excavator's current slope holding capacity is average.

[0203] If the excavator's landslide distance is greater than the second threshold of the excavator's slope holding capacity, it is assessed as a severe landslide and the excavator's current slope holding capacity is poor.

[0204] Excavator landslide warning information is generated based on excavator landslide level information and excavator slope holding capacity information to remind the driver to stop and check the slope road conditions.

[0205] In this embodiment, the excavator's slope-holding capacity threshold is determined by the excavator manufacturer based on the excavator brand, model, and other preset landslide distance severity values. Alternatively, multiple slope-holding capacity thresholds can be set according to specific working scenarios.

[0206] Example 2

[0207] This embodiment provides a landslide early warning device for excavator slope operations, such as... Figure 4 The following are included:

[0208] The system includes a data acquisition module, a landslide calculation module, a slope holding capacity and landslide assessment module, and a display module.

[0209] The operation data acquisition module is used to acquire the slope angle of the excavator, the angle of each actuator of the excavator, the torque of the excavator's swing motor, and the hydraulic pressure of each actuator of the excavator when the excavator is working on a slope.

[0210] The landslide calculation module is used to obtain the excavator's posture based on the slope angle and the angles of each actuator of the excavator; and to obtain the output force of each actuator of the excavator based on the hydraulic pressure of the excavator.

[0211] Based on the slope angle where the excavator is located, the torque of the excavator's swing motor, the excavator's posture, the output force of each actuator of the excavator, and the excavator's preset parameters, the excavator's center of gravity position, the first component of the resistance force on the excavator in the slope direction, the first component of the excavator's total weight in the slope direction, the first component of the excavator's swing force in the slope direction, and the friction force between the excavator's tracks and the ground are obtained respectively.

[0212] Based on the comparison of the resistance encountered by the excavator during operation, the total weight of the excavator, and the first component of the excavator's rotational force in the direction of the slope, with the friction between the excavator's tracks and the ground, it is determined whether the excavator has caused a landslide.

[0213] The excavator slope holding capacity and excavator landslide assessment module is used to determine the excavator's landslide distance when a landslide occurs; and based on the comparison between the excavator's slope holding capacity threshold and the excavator's landslide distance, it generates excavator landslide assessment information, excavator slope holding capacity information, and excavator landslide early warning information.

[0214] The display module is used to visualize and output excavator landslide assessment information, excavator slope holding capacity information, and excavator landslide early warning information to remind users.

[0215] Preferably, the display module also communicates with the excavator landslide calculation module to visually output whether the excavator has a landslide state, the excavator landslide distance, and travel motor fault warning information. It transmits the excavator landslide warning activation status, sliding distance, rotation distance, landslide distance, and slope holding capacity to the excavator instrument to facilitate users to obtain relevant information.

[0216] In addition, it can provide landslide data references for other terminals or big data cloud, making it easier to obtain excavator usage data in real time, which is beneficial for unmanned driving, vehicle maintenance tracking and vehicle fault tracing.

[0217] Example 3

[0218] This embodiment provides a landslide early warning system for excavator slope operations. The system is installed on excavator 1, such as... Figure 5 The device includes: a data acquisition device 2, a control device 3, a landslide early warning calculation device 4, and a slope holding capacity calculation device 5. The data acquisition device 2 mainly consists of at least one tilt sensor 21, several angle sensors, several pressure sensors, and a slewing motor sensor. When the excavator 1 is working on the slope, the at least one tilt sensor 21, several angle sensors, slewing motor sensors, and several pressure sensors are used to acquire the slope angle where the excavator 1 is located, the angles of each actuator of the excavator 1, the torque of the slewing motor of the excavator 1, and the hydraulic pressure of each actuator of the excavator 1, respectively.

[0219] The control device 3 is a collection of a host computer 31, a controller 32, and various hardware and software devices. In terms of logical function, the host computer 31 is connected to the landslide early warning calculation device 4 and the slope holding capacity calculation device 5 through the landslide information and landslide early warning calculation interface 33 and the slope holding capacity calculation interface 34, respectively, to realize the calculation and judgment of landslide early warning, and then forward it to the controller 32. In terms of hardware, the host computer 31 is configured to communicate with the controller 32. The host computer 31 includes a memory for storing computer programs / instructions.

[0220] A processor is configured to execute the computer program / instructions to implement the steps of the landslide early warning method for excavator 1 slope operation as described in Embodiment 1.

[0221] In addition, through the electrical connection K2 between the controller and the data acquisition device and the electrical connection K1 between the host computer and the controller, the controller 32 can forward information to the host computer 31, including the slope angle of the excavator 1, the attitude of each actuator of the excavator 1, the torque of the swing motor of the excavator 1, and the hydraulic pressure of each actuator of the excavator 1; and receive information from the host computer 31, including whether the excavator 1 has a landslide state, the landslide distance of the excavator 1 and the travel motor fault warning information, the landslide assessment information of the excavator 1, the slope holding ability information of the excavator 1, and the landslide warning information of the excavator 1.

[0222] Preferably, the controller 32 also communicates with an output device, which is one or more combinations of an instrument and a display of the excavator 1, for visually outputting whether the excavator 1 has a landslide state, the landslide distance of the excavator 1 and the travel motor fault warning information, landslide assessment information, the slope holding ability information of the excavator 1 and the landslide warning information of the excavator 1.

[0223] Preferably, the tilt sensor 21 is installed at the slewing bearing to provide feedback on the slope angle of the excavator 1;

[0224] The plurality of angle sensors include:

[0225] The first angle sensor 22 is installed at the slewing bearing and is used to measure the slewing angle of the excavator 1;

[0226] The second angle sensor 23 is installed at the boom cylinder and is used to measure the boom angle;

[0227] The third angle sensor 24 is installed at the boom cylinder and is used to measure the boom angle;

[0228] The fourth angle sensor 25 is installed at the bucket cylinder and is used to measure the bucket angle;

[0229] The aforementioned pressure sensors are respectively installed in the large and small cavities of the boom cylinder, stick cylinder, and bucket cylinder to provide feedback on the hydraulic pressure of the boom, stick, and bucket cylinders.

[0230] The rotary motor sensor is used to obtain the rotary motor speed and torque.

[0231] Preferably, through the connection Q1 between the host computer and the landslide information and landslide early warning calculation interface and the connection Q2 between the landslide information and landslide early warning calculation interface and the landslide early warning calculation device, control programs can be sent to the landslide early warning calculation device 4, and landslide calculation information and landslide early warning can be received.

[0232] Secondly, the landslide early warning calculation device 4 is further divided logically into the first component of the excavator's total weight in the direction of the slope. Calculation module 41: The first component of the resistance force experienced by the excavator during operation in the direction of the slope. Calculation module 42: The first component of the excavator's slewing force in the direction of the slope. Calculation module 43: Friction between excavator tracks and the ground Calculation module 44; Excavator landslide calculation and early warning calculation module 45;

[0233] Among them, the first component of the excavator's total weight in the direction of the slope is used. The connection 401 between the calculation module and the excavator landslide calculation and early warning calculation module enables real-time updates of the first component of the excavator's total weight along the slope direction during excavator operation. .

[0234] The first component of the resistance encountered by the excavator during operation in the direction of the slope. The connection 402 between the calculation module and the excavator landslide calculation and early warning module enables real-time updates of the first component of the resistance force experienced by the excavator in the direction of the slope during excavator operation. .

[0235] The first component of the excavator's rotational force along the slope direction. The connection 403 between the calculation module and the excavator landslide calculation and early warning module enables real-time updates of the first component of the excavator's rotational force in the slope direction during excavator operation. .

[0236] Through the friction between the excavator tracks and the ground The connection between the calculation module and the excavator landslide calculation and early warning module 404 enables real-time updates of the friction force between the excavator tracks and the ground during excavator operation. .

[0237] The excavator landslide calculation and early warning calculation module 45 outputs landslide information and landslide early warning results of excavator 1 in real time, and feeds back real-time data to the landslide information and early warning calculation interface 33 through the connection Q2 between the landslide information and early warning calculation interface and the landslide early warning calculation device; and then feeds back to the host computer 31 in real time through the landslide information and early warning calculation interface 33, providing users or terminal operators with accurate and effective landslide data reference for excavator 1, guiding slope operations and ensuring the safety of the driver and excavator 1.

[0238] Preferably, through the connection S1 between the host computer and the slope capacity calculation interface and the connection S2 between the slope capacity calculation interface and the slope capacity calculation device, control programs can be sent to the slope capacity calculation device 5 and slope capacity assessment information can be received.

[0239] The expression for the friction force between the excavator tracks and the ground in the slope holding capacity calculation device is further divided into the following logical functions: sliding distance calculation module 51, rotation distance calculation module 52 and slope holding capacity level calculation module 53;

[0240] Furthermore, through the connection 501 between the sliding distance calculation module and the slope holding capacity level calculation module, the sliding distance of the excavator 1 can be detected in real time during the operation of the excavator 1, and whether the travel motor balance block has failed and is rotating in real time can be detected in real time. After rotation, the rotation value is obtained to trigger the rotation distance calculation module 52 to calculate.

[0241] By connecting the rotation distance calculation module and the slope holding capacity level calculation module 502, the rotation distance of the excavator 1 can be detected in real time during the operation of the excavator 1.

[0242] The slope holding capacity level calculation module 53 outputs real-time slope holding assessment information, and through the connection between the host computer and the slope holding capacity calculation interface S1, and through the connection between the slope holding capacity calculation interface and the slope holding capacity calculation device S2, it feeds back to the slope holding capacity calculation interface 34 and the host computer 31 to provide users or terminal operators with accurate and effective slope holding capacity assessment data reference, guide slope operations and ensure the safety of drivers and excavators 1.

[0243] Example 4

[0244] This embodiment provides a landslide early warning system for excavator slope operations. The system is mounted on the excavator. Figure 5The device includes: a data acquisition device, a control device, a landslide early warning calculation device, and a slope holding capacity calculation device. The data acquisition device mainly consists of at least one tilt sensor, several angle sensors, several pressure sensors, and a slewing motor sensor. When the excavator is working on a slope, the at least one tilt sensor, several angle sensors, slewing motor sensors, and several pressure sensors are used to acquire the slope angle where the excavator is located, the angles of each actuator of the excavator, the torque of the excavator's slewing motor, and the hydraulic pressure of each actuator of the excavator, respectively.

[0245] The control device is a collection of controllers and various hardware and software devices on the excavator. Logically, the controller connects to the landslide warning calculation device and the slope holding capacity calculation device through the landslide information and landslide warning calculation interface and the slope holding capacity calculation interface, respectively, to realize the calculation and judgment of landslide warnings and forward them to the controller. The controller is configured to include a memory for storing computer programs / instructions and a processor for executing the computer programs / instructions to implement the steps of the landslide warning method for excavator slope operation described in Embodiment 1. It can provide the driver with accurate slope operation guidance and reference, reduce operation risks, and at the same time make the excavator slope operation less difficult and easier to operate.

[0246] In summary, this invention can monitor the excavator's operation on slopes in real time based on the slope angle, the attitude of each actuator and the overall posture of the excavator, the rotational force, and the resistance encountered during operation. It can also calculate the landslide risk and ultimately provide the driver with accurate landslide assessment information, excavator slope holding capacity information, and excavator landslide early warning information to guide the driver in slope operations. During the calculation process, the sum of the resistance encountered by the excavator during operation, the total weight of the excavator, and the first component of the excavator's rotational force in the slope direction is compared with the friction force between the excavator's tracks and the ground to predict in real time whether the excavator will experience a landslide. When a landslide occurs, the landslide distance is calculated to provide data reference for assessing the excavator's slope-holding capacity. In the process of assessing the excavator's slope-holding capacity, multiple levels of excavator slope-holding capacity thresholds are set. The comparison results between these thresholds and the landslide distance generate multi-level landslide assessment information, excavator slope-holding capacity information, and excavator landslide warning information. These information, along with the visual output of whether the excavator is experiencing a landslide, the landslide distance, and travel motor malfunction warnings, are used to remind users and facilitate comprehensive control of the excavator's information throughout the entire process of slope operation, enabling correct and efficient use of the equipment and reducing equipment maintenance costs.

[0247] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0248] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0249] 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.

[0250] 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.

[0251] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A slope operation landslide warning method for a shovel, comprising: when the shovel is operating on a slope, obtaining a slope angle at which the shovel is located, angles of each actuator of the shovel, a slewing motor torque of the shovel, and hydraulic pressures of each actuator of the shovel; obtaining a posture of the shovel according to the slope angle at which the shovel is located and the angles of each actuator of the shovel, and obtaining output forces of each actuator of the shovel according to the hydraulic pressures of the shovel; obtaining a gravity center position of the shovel, a first component of a resistance to the operation of the shovel in a direction of the slope at which the shovel is located, a first component of a gravity of the whole shovel in the direction of the slope at which the shovel is located, a first component of a slewing force of the shovel in the direction of the slope at which the shovel is located, and a friction force between a track of the shovel and a ground, respectively, according to the slope angle at which the shovel is located, the slewing motor torque of the shovel, the posture of the shovel, the output forces of each actuator of the shovel, and preset parameters of the shovel; determining whether the shovel generates a landslide based on a comparison result of a sum of the first component of the resistance to the operation of the shovel in the direction of the slope at which the shovel is located, the first component of the gravity of the whole shovel in the direction of the slope at which the shovel is located, and the first component of the slewing force of the shovel in the direction of the slope at which the shovel is located, and the friction force between the track of the shovel and the ground; when it is determined that the shovel generates the landslide, detecting a landslide distance of the shovel; generating a landslide evaluation information of the shovel, a slope holding capability information of the shovel, and a landslide warning information of the shovel based on a comparison result of a slope holding capability threshold value of the shovel and the landslide distance of the shovel, and outputting the landslide evaluation information of the shovel, the slope holding capability information of the shovel, and the landslide warning information of the shovel visually to be used for reminding a user.

2. The method of claim 1, wherein the method further comprises: The posture of the shovel is obtained according to the slope angle at which the shovel is located and the angles of each actuator of the shovel, and comprises: obtaining angles of a swing arm, a stick, and a bucket of the shovel respectively; determining a posture of the swing arm according to the angle of the swing arm; determining a posture of the stick according to the angles of the swing arm and the stick; determining a posture of the bucket according to the angles of the swing arm, the stick, and the bucket; obtaining the posture of the shovel based on the slope angle at which the shovel is located, the postures of the swing arm, the stick, and the bucket.

3. The method of claim 1, wherein the method further comprises: The output forces of each actuator of the shovel are obtained according to the hydraulic pressures of each actuator of the shovel, and comprise: obtaining hydraulic pressures of cylinder of the swing arm, the stick, and the bucket of the shovel respectively; obtaining the output forces of each actuator according to the hydraulic pressures of the cylinder of the swing arm, the stick, and the bucket and preset areas of the cylinder of the swing arm, the stick, and the bucket.

4. The method of claim 1, wherein the method further comprises: The gravity center position of the shovel, the first component of the resistance to the operation of the shovel in the direction of the slope at which the shovel is located, the first component of the gravity of the whole shovel in the direction of the slope at which the shovel is located, the first component of the slewing force of the shovel in the direction of the slope at which the shovel is located, and the friction force between the track of the shovel and the ground are obtained respectively according to the slope angle at which the shovel is located, the slewing motor torque of the shovel, the posture of the shovel, the output forces of each actuator of the shovel, and the preset parameters of the shovel, and comprise: obtaining the gravity center position of the shovel according to the slope angle at which the shovel is located and the posture of the shovel; obtaining the resistance to the operation of the shovel according to the posture of the shovel and the output forces of each actuator of the shovel, and obtaining the first component of the resistance to the operation of the shovel in the direction of the slope at which the shovel is located based on the slope angle at which the shovel is located; According to the excavator quality, the excavator overall gravity is obtained and based on the slope angle where the excavator is located, the first component force of the excavator overall gravity in the direction of the slope is obtained; According to the excavator posture and the excavator swing motor torque, the excavator swing force is obtained and based on the slope angle where the excavator is located, the first component force of the excavator swing force in the direction of the slope is obtained; According to the excavator quality and the friction coefficient between the excavator track and the ground, the friction force between the excavator track and the ground is obtained and based on the slope angle where the excavator is located, the first component force of the friction force between the excavator track and the ground in the direction of the slope is obtained; The direction of the first component force is parallel to the slope surface. The excavator preset parameters at least include: excavator brand, excavator model, excavator quality, friction coefficient between the excavator track and the ground, tooth number of the driving sprocket, length of a single track piece and other parameters not limited to the setting of the excavator itself.

5. The method of claim 4, wherein the method further comprises: According to the excavator posture and the output force of each excavator execution mechanism, the resistance received by the excavator operation is obtained and based on the slope angle where the excavator is located, the first component force of the resistance received by the excavator operation in the direction of the slope is obtained, including: According to the excavator posture, the position of the excavator crank rocker working device is obtained; Based on the position of the excavator crank rocker working device, the hydraulic pressure of each excavator execution mechanism is converted, and the output force of each excavator execution mechanism is calculated to the output force at the cutting edge of the bucket tooth; The output force at the cutting edge of the bucket tooth is taken as the resistance received by the excavator operation; Based on the slope angle where the excavator is located and the resistance received by the excavator operation, the first component force of the resistance received by the excavator operation in the direction of the slope is obtained; The output force at the cutting edge of the bucket tooth and the resistance received by the excavator operation are in a reaction force relationship; If the first component force of the resistance received by the excavator operation in the direction of the slope is the same as the direction of the first component force of the excavator overall gravity in the direction of the slope, a positive value is output, and if the directions are opposite, a negative value is output; The expression of the output force of the excavator bucket cylinder is: ； In the formula, D is the cylinder diameter of the bucket oil cylinder, P is the hydraulic pressure of the bucket oil cylinder, F is the output force of the bucket oil cylinder; The expression of the output force at the cutting edge of the bucket tooth is: ； wherein, L is the length of the rocker, is the angle between the connecting rod and the bucket oil cylinder, is the distance between the bucket ear hinge point, is the angle between the connecting rod and the bucket ear hinge line, is the angle between the connecting rod and the rocker, is the bucket digging radius, is the output force at the bucket tooth cutting edge; The expression of the first component force of the resistance received by the excavator operation in the direction of the slope is: ； wherein is the first component of the resistance force to the excavator operation in the direction of the slope on which the excavator is located, is the angle of the slope on which the excavator is located.

6. The method of claim 4, wherein the method further comprises: According to the excavator posture and the excavator swing motor torque, the excavator swing force is obtained and based on the slope angle where the excavator is located, the first component force of the excavator swing force in the direction of the slope is obtained, including: According to the excavator posture, the distance from the center of the swing motor gear to the cutting edge of the bucket tooth and the included angle between the excavator working device and the projection of the excavator track on the slope are obtained; Based on the distance from the center of the swing motor gear to the cutting edge of the bucket tooth, the included angle between the excavator working device and the projection of the excavator track on the slope and the calculation of the excavator swing motor torque, the excavator swing force is obtained; According to the excavator swing force and the slope angle where the excavator is located, the first component force of the excavator swing force in the direction of the slope is calculated; The expression of the first component force of the excavator swing force in the direction of the slope is: ； wherein, is the first component of the swing force of the excavator in the direction of the slope on which the excavator is located, is the swing motor torque, is the distance from the center of the swing motor gear to the cutting edge of the bucket tooth, is the angle between the working device of the excavator and the normal projection of the track of the excavator on the slope on which the excavator is located, is the angle of the slope on which the excavator is located.

7. The method of claim 4, wherein the method further comprises: According to the excavator quality and the friction coefficient between the excavator track and the ground, the friction between the excavator track and the ground is obtained, and based on the slope angle of the excavator, the friction between the excavator track and the ground is obtained, including: According to the excavator quality, the slope angle of the excavator and the calculation of the acceleration of gravity, the first component and the second component of the gravity of the whole excavator in the direction of the slope are obtained; According to the second component of the gravity of the whole excavator in the direction of the slope, the friction coefficient between the excavator track and the ground is obtained; The direction of the second component of the gravity of the whole excavator in the direction of the slope is perpendicular to the slope surface; The expression of the first component and the second component of the gravity of the whole excavator in the direction of the slope is: ； wherein is the mass of the excavator, is the local acceleration of gravity, is the first component of the total weight of the excavator in the direction of the slope, is the second component of the total weight of the excavator in the direction of the slope; The expression of the friction between the excavator track and the ground is: ； wherein is the coefficient of friction between the ground and the track of the excavator, is the friction force between the ground and the track of the excavator.

8. The method of claim 1, wherein the method further comprises: Based on the comparison result of the resistance received by the excavator operation, the gravity of the whole excavator, the sum of the first component of the excavator rotating force in the direction of the slope and the friction between the excavator track and the ground, it is determined whether the excavator produces landslide, including: If the sum of the resistance received by the excavator operation, the gravity of the whole excavator and the first component of the excavator rotating force in the direction of the slope is less than the friction between the excavator track and the ground, it is determined that the excavator will not slide; If the sum of the resistance received by the excavator operation, the gravity of the whole excavator and the first component of the excavator rotating force in the direction of the slope is greater than or equal to the friction between the excavator track and the ground, it is determined that the excavator produces landslide; The expression of determining that the excavator will not slide is: ； In the formula, is the first component of the gravity of the excavator in the direction of the slope on which the excavator is located, is the first component of the turning force of the excavator in the direction of the slope on which the excavator is located, is the ground-to-track friction of the excavator, is the first component of the resistance to the operation of the excavator in the direction of the slope on which the excavator is located.

9. The method of claim 1, wherein the method further comprises: When it is determined that the excavator produces landslide, the sliding distance of the excavator is detected, including: According to the center of gravity position before the excavator slides, the center of gravity position after the excavator slides and the slope angle of the excavator, the sliding distance of the excavator after overcoming the friction between the excavator track and the ground is obtained, and the state of the walking motor balance block of the excavator is detected; When there is failure of the walking motor balance block of the excavator, the rotating distance generated after the failure of the walking motor balance block of the excavator is obtained, and the walking motor fault information is outputted; The expression of determining that the excavator produces landslide is: ； In the formula, is the first component of the gravity of the excavator in the direction of the slope on which the excavator is located, is the first component of the turning force of the excavator in the direction of the slope on which the excavator is located, is the ground-to-track friction of the excavator, is the first component of the resistance to the operation of the excavator in the direction of the slope on which the excavator is located; The expression of obtaining the sliding distance of the excavator after overcoming the friction between the excavator track and the ground is: ； In the formula, is a vertical coordinate value of the center of gravity of the excavator before the slide, is a vertical coordinate value of the center of gravity of the excavator after the slide, is a sliding distance of the excavator after overcoming the friction between the excavator track and the ground. The expression of obtaining the rotating distance generated after the failure of the walking motor balance block of the excavator is: ； wherein is the rotation distance of the excavator travel motor balance block after failure, is the rotation speed of the travel motor, is the number of teeth of the drive sprocket, is the length of a single track shoe, is the rotation time; The expression of determining the sliding distance of the excavator is: ； In the formula, is the distance of the excavator slip.

10. The method of claim 1, wherein, Based on the comparison result of the excavator slope parking ability threshold and the sliding distance of the excavator, the landslide grade information of the excavator, the slope parking ability information of the excavator and the landslide early warning information of the excavator are evaluated, and the landslide grade information of the excavator, the slope parking ability information of the excavator and the landslide early warning information of the excavator are visualized and outputted, which are used to remind the user, including: If the sliding distance of the excavator is less than or equal to the first threshold of the slope parking ability of the excavator, it is evaluated that the excavator produces slight landslide and the current slope parking ability of the excavator is strong; If the sliding distance of the excavator is greater than the first threshold of the slope parking ability of the excavator and less than or equal to the second threshold of the slope parking ability of the excavator, it is evaluated that the excavator produces moderate landslide and the current slope parking ability of the excavator is general; If the sliding distance of the excavator is greater than the second threshold of the slope parking ability of the excavator, it is evaluated that the excavator produces severe landslide and the current slope parking ability of the excavator is poor; The excavator slope warning information is generated based on the excavator slope grade information and the excavator slope standing ability information, and is used to remind the driver to stop and check the slope road condition.

11. A slope operation landslide warning device for a shovel, characterized by, The method comprises the following steps: an operation data acquisition module, a slope calculation module, a slope standing ability and slope evaluation module, and a display module; The operation data acquisition module is configured to acquire the slope angle of the excavator, the angles of the actuators of the excavator, the torque of the rotary motor of the excavator, and the hydraulic pressure of the actuators of the excavator when the excavator is working on a slope. The slope calculation module is configured to obtain the posture of the excavator according to the slope angle of the excavator and the angles of the actuators of the excavator, and obtain the output force of the actuators of the excavator according to the hydraulic pressure of the excavator. The slope standing ability and slope evaluation module is configured to acquire the position of the center of gravity of the excavator, the first component of the resistance to the operation of the excavator in the direction of the slope, the first component of the gravity of the whole excavator in the direction of the slope, the first component of the rotary force of the excavator in the direction of the slope, and the friction between the tracks of the excavator and the ground according to the slope angle of the excavator, the torque of the rotary motor of the excavator, the posture of the excavator, the output force of the actuators of the excavator, and the preset parameters of the excavator. The slope standing ability and slope evaluation module is configured to determine whether the excavator slips according to the comparison result of the sum of the first components of the resistance to the operation of the excavator, the gravity of the whole excavator, and the rotary force of the excavator in the direction of the slope and the friction between the tracks of the excavator and the ground. The slope standing ability and slope evaluation module is configured to detect the slope distance of the excavator when the excavator slips, and generate the slope evaluation information of the excavator, the slope standing ability information of the excavator, and the slope warning information of the excavator according to the comparison result of the slope standing ability threshold of the excavator and the slope distance of the excavator. The display module is configured to visually output the slope evaluation information of the excavator, the slope standing ability information of the excavator, and the slope warning information of the excavator, and is used to remind the user.

12. The slope work slip warning device for a shovel according to Claim 11, characterized by The display module is also in communication with the slope calculation module, and is configured to visually output the state of whether the excavator slips, the slope distance of the excavator, and the fault warning information of the walking motor.

13. A slope work slide warning system for a shovel, characterized by, The method comprises the following steps: at least one inclination sensor, a plurality of angle sensors, a plurality of pressure sensors, a rotary motor sensor, and a controller; When the excavator is working on a slope, the at least one inclination sensor, the plurality of angle sensors, the rotary motor sensor, and the plurality of pressure sensors are configured to acquire the slope angle of the excavator, the angles of the actuators of the excavator, the torque of the rotary motor of the excavator, and the hydraulic pressure of the actuators of the excavator, respectively. The controller is connected with the inclination sensor, the angle sensor, the pressure sensor, and the rotary motor sensor, and is configured to implement the steps of the excavator slope working slope warning method according to any one of claims 1-10.

14. The excavator slope work slip warning system of claim 13, wherein, The method further comprises a host computer, which is configured to communicate with the controller. The host computer comprises: a memory for storing computer programs / instructions; a processor for executing the computer programs / instructions to implement the steps of the excavator slope working slope warning method according to any one of claims 1-10. The controller is configured to forward to the upper computer the slope angle where the excavator is located, the posture of each actuator of the excavator, the torque of the slewing motor of the excavator, and the hydraulic pressure of each actuator of the excavator; and receive the output of the upper computer, whether the excavator generates a landslide state, the landslide distance of the excavator, and the walking motor fault warning information, the landslide evaluation information, the slope parking ability information of the excavator, and the landslide warning information of the excavator.

15. The excavator slope work slip warning system of claim 13, wherein, The controller also communicates with an output device, which is one or a combination of excavator instruments and displays, for visual output of whether the excavator generates a landslide state, the landslide distance of the excavator, and the walking motor fault warning information, the landslide evaluation information, the slope parking ability information of the excavator, and the landslide warning information of the excavator.

16. The excavator slope work slip warning system of claim 13, wherein, The inclination sensor is installed at the slewing bearing for feedback of the slope angle where the excavator is located. The angle sensors include: A first angle sensor installed at the slewing bearing for measurement of the slewing angle of the excavator; A second angle sensor installed at the boom cylinder for measurement of the boom angle; A third angle sensor installed at the stick cylinder for measurement of the stick angle; A fourth angle sensor installed at the bucket cylinder for measurement of the bucket angle; The pressure sensors are respectively arranged in the large and small cavities of the boom cylinder, the stick cylinder, and the bucket cylinder for feedback of the hydraulic pressure of the boom, the stick, and the bucket cylinders; The slewing motor sensor is used to acquire the slewing motor speed and torque.

Images