Data collection device for excavator gear selection control and selection control method

Abstract

The application discloses a data acquisition device for gear selection control of an excavator and a selection control method thereof, and belongs to the field of excavator control. The device collects excavating operation parameters and oil consumption under different modes and gears in actual application working conditions, forms operation efficiency, oil consumption per cubic material and hourly oil consumption data, and displays data tables of each gear on a display for user selection. The device mainly comprises a controller, wherein a gyroscope is connected to the controller; a bucket pressure sensor and a bucket displacement sensor are respectively connected to the controller; the bucket pressure sensor is connected in series to a large cavity oil inlet pipeline of a bucket oil cylinder; one end of the bucket displacement sensor is installed on the bucket oil cylinder, and the other end is installed on a piston rod pin shaft of the bucket oil cylinder; a stick displacement sensor and a stick pressure sensor are respectively connected to the controller; and the stick pressure sensor is connected in series to a large cavity oil inlet pipeline of a stick oil cylinder. The application is mainly used for gear selection control of an excavator.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of excavator control, in particular, especially relates to a data acquisition device for excavator gear selection control and a selection control method thereof. BACKGROUND

[0002] At present, excavators are widely used in various working conditions, such as earthwork construction, mine excavation and loading, etc., and the types of work materials are also various, such as loose soil, clay and stone, etc. Excavators generally have several operating modes and more gears, and excavator users select operating modes and gears according to working conditions to perform work.

[0003] During the work operation, excavator users often select operating modes and gears based on experience and subjective feelings, or use the same gears as the similar tonnage vehicles, and the system settings of excavators from different manufacturers or different versions of excavators from the same manufacturer are often different, even if the tonnage is the same. Therefore, the selection of modes and gears of excavators is sometimes not very reasonable, and there is no accurate data for work efficiency and oil consumption, and the gear selection is not intuitive enough. SUMMARY

[0004] The purpose of the present application is to provide a data acquisition device for excavator gear selection control and a selection control method thereof, which acquires excavating operation parameters and oil consumption under different modes and gears in actual application working conditions, forms work efficiency, oil consumption per cubic material, and hourly oil consumption data, and displays a data table of each gear on a display for user selection; an automatic mode can be selected, and a target value of work efficiency or oil consumption per cubic material or hourly oil consumption data, or a target work amount and expected completion time, or a target work amount and expected oil consumption are input in the display, and the controller automatically adjusts and switches gears to meet the requirements through the collected real-time data.

[0005] The present application is realized by the following technical solutions:

[0006] The utility model provides a kind of data acquisition device for excavator gear selection control, including controller, controller is connected with gyroscope, gyroscope is fixedly installed in excavator cab, the controller is connected with bucket pressure sensor and bucket displacement sensor respectively, bucket pressure sensor is connected in series to bucket cylinder big cavity oil inlet line, one end of bucket displacement sensor is installed on bucket cylinder, and the other end is installed to bucket cylinder piston rod pin shaft;The controller is connected with stick displacement sensor and stick pressure sensor respectively, stick pressure sensor is connected in series to stick cylinder big cavity oil inlet line, one end of stick displacement sensor is installed on stick cylinder, and the other end is installed to stick cylinder piston rod pin shaft;The controller is connected with boom pressure sensor and boom displacement sensor respectively, boom pressure sensor is connected in series to boom cylinder big cavity oil inlet line, one end of boom displacement sensor is installed on boom cylinder, and the other end is installed to boom cylinder piston rod pin shaft;Controller connects OBD interface in excavator cab, controller is connected with display, and controller and display are all installed in excavator cab.

[0007] Further, the controller is connected with OBD interface in excavator cab by CAN communication line 9.

[0008] A kind of excavator gear selection control method, using the data acquisition device for excavator gear selection control, including the following steps:

[0009] S1, at the beginning of operation, operator first selects certain gear in commonly used gear, and according to complete operation procedure, carries out several times of cyclic excavating operation;

[0010] S2, each displacement sensor gathers the displacement data of each cylinder, each pressure sensor gathers the pressure of each cylinder big cavity, gyroscope gathers the angle of rotation of upper frame of excavator, and the above-mentioned collected data is transmitted to controller, simultaneously, controller reads out the instantaneous fuel consumption data of engine by OBD interface, forms the database of each data after a period of time is collected;

[0011] S3, controller processes the obtained data and obtains the curve of corresponding data, controller then carries out shape identification to each cylinder displacement, each cylinder pressure and angle of rotation curve, curve trend analysis, limit point analysis determination etc.

[0012] S4, the calculation of fuel consumption in a period of time: the instantaneous fuel consumption curve collected in this period is integrated to obtain the cumulative fuel consumption in this period, and then the hourly fuel consumption is obtained;According to the number of cycles per hour and bucket capacity, the operation amount per hour is obtained, and then the fuel consumption per cubic meter of operation is obtained;

[0013] S5, the display displays the recommended working mode in a table form and in a ranking according to the fuel consumption efficiency for the user to select.

[0014] Further, each complete working procedure comprises the steps of excavating material, lifting the boom and rotating in combination, unloading the bucket, and then lowering the boom, rotating and extending the bucket arm to return to the position of the material to be excavated.

[0015] Further, the step S4 specifically comprises the steps of:

[0016] The accumulated fuel consumption M in a certain period of time is:

[0017]

[0018] a represents a starting time of a cycle, b represents an ending time, t represents an arbitrary time point on the horizontal coordinate within the cycle time, and m represents the instantaneous fuel consumption value corresponding to the arbitrary time point collected within the time period, wherein the unit of M is L;

[0019] The cycle time of this cycle is T = b - a; the unit of T is s;

[0020] The total cycle number n is calculated by identifying the collected working curve characteristics, and O represents the hourly fuel consumption, M1...M n n-1 represent the fuel consumption per cycle obtained by collecting and screening, and T1...T n n-1 represent the cycle time obtained by collecting and screening, and then O = ∑(M1...M n n-1) / ∑(T1...T n )*3600; the unit of O is L / h;

[0021] The average cycle time is (T1+...+T n n-1) / n, and N represents the number of working cycles per hour,

[0022] N = 3600 / [(T1+...+T n n-1) / n], unit: cycle / h;

[0023] The input bucket volume v is pre-stored in the controller (7), and the bucket volume is manually input on the screen after replacing the bucket with different volumes, and then the hourly working volume V = N * v is calculated; the unit of v is m3, and the unit of V is m 3 / h;

[0024] Finally, the fuel consumption o per cubic meter of work is O / V*1000; the unit of o is mL / m 3 .

[0025] Further, the step S5 specifically comprises the steps of:

[0026] 1) The first gear data screening: the average value of the bucket, stick and boom cylinder displacement is taken when the cylinder moves to each action from the start to the end position, and all data of those cycles with a difference greater than β% from the average value is screened out;

[0027] The average value of the bucket, stick and boom cylinder displacement is taken when the cylinder moves to each action from the start to the end position, and all data of those cycles with a difference greater than γ% from the average value is screened out;

[0028] The average value of the rotation angle value is taken when the upper frame rotates from the digging start position to the unloading position and from the unloading position to the digging position, and all data of those cycles with a difference greater than δ% from the average value is screened out;

[0029] Finally, the average value of the remaining data is taken, and the hourly work volume, hourly fuel consumption value and fuel consumption per cubic meter of material are calculated; β, γ and δ represent suitable limiting values selected according to the vehicle type, working conditions and the like;

[0030] 2) After the work in the first gear is completed, the work in the subsequent gears and gear data screening is performed according to the method described in step 1);

[0031] 3) The controller summarizes the fuel consumption per cubic meter, hourly work volume and hourly fuel consumption data of each gear;

[0032] 4) According to the calculation results, the data is sorted, and the specific values are displayed in table form through the display, and the user selects the appropriate mode and gear for work in this working condition according to this information.

[0033] Further, it also includes an automatic work gear selection mode, including the following steps: the excavator starts the digging work, collects for a certain time t', the controller does not delete the collected data, calculates the work cycle number n1' through the work curve characteristics, calculates the oil consumption M1' of this period of time through the instantaneous oil consumption integral of this period of time, unit: L, then the work volume V1' of this period of time = n1' * v, the work volume per hour V' = V1' / t' * 60, the average oil consumption o1' of each cubic meter of material = M1' / V1' * 1000, the hourly oil consumption M' = M1' / t' * 60; t' unit is min, M1' unit is L, V1' unit is m 3 , V' unit is m 3 / h, o1' unit is mL / m 3 , M' unit is L / h.

[0034] Further, 1) the user inputs the hourly fuel consumption or work efficiency or per cubic meter fuel consumption target value on the display, the controller compares the previously collected hourly fuel consumption or work efficiency or per cubic meter fuel consumption of each gear, automatically selects the gear closest to the value, starts working, and feeds back the currently collected data compared with the target value at a certain frequency: if the difference is less than a certain percentage, the gear is maintained to continue working; if it cannot be met, it is automatically switched to the smaller gear of the item close to the current gear compared with the target value; if it is smaller, it is automatically switched to the larger gear of the item close to the current gear, and the next feedback is still performed according to this step until the work is completed.

[0035] 2) the user inputs the target work amount and the expected fuel consumption on the display, the controller calculates the fuel consumption required for unit material, compares the previously collected work per fuel consumption of each gear, automatically selects the gear closest to the value, starts working, and feeds back the current work amount compared with the target total value at a certain frequency, calculates the remaining work amount, and compares the current fuel consumption with the target total fuel consumption to calculate the remaining available fuel consumption: whether the current gear can complete the remaining target work amount by consuming the remaining available fuel consumption, if the difference is less than a certain percentage, the gear is maintained to continue working; if the difference exceeds this percentage, it cannot be completed and is automatically adjusted to the adjacent gear lower than the fuel consumption per gear of this gear; if the fuel is too small, the gear is automatically adjusted to the adjacent gear higher than the fuel consumption per gear of this gear, and the next feedback is still performed according to this step until the work is completed.

[0036] 3) the user inputs the target work amount and the expected time on the display, the controller calculates the work amount required to be completed per unit time, compares the previously collected work efficiency of each gear, selects the gear closest to the value, starts working, and feeds back the current work amount compared with the target total value at a certain frequency, calculates the remaining work amount: whether the work efficiency of the current gear can be completed or completed in advance within the remaining target time, if the difference is less than a certain percentage, the gear is maintained to continue working; if the difference exceeds this percentage, it cannot be completed and is automatically adjusted to the adjacent gear higher than the efficiency of this gear, and the next feedback is still performed according to this step until the work is completed.

[0037] Compared with the prior art, the beneficial effects of the present application are:

[0038] The present application can automatically collect the working parameters and instantaneous oil consumption data of each working mode and gear of the excavator under different working conditions, and the controller calculates the oil consumption per cubic material, the working capacity per hour and the oil consumption data per hour of each gear after processing, and displays them in a table form on the display according to the high-low ranking; the user can make better choices during the use of the excavator after understanding these information; and the automatic mode can also be selected, that is, the target value of the hourly oil consumption or the working efficiency or the oil consumption per cubic meter can be input in the display, or the target working capacity and the expected time or the target working capacity and the expected oil consumption can be input, and then the program automatically adjusts the gear to execute the working target until the working is completed. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is the schematic diagram of the installation of each sensor of the present application;

[0040] Figure 2 is the control framework diagram of the present application;

[0041] Figure 3 is the data acquisition and processing flow chart of the present application;

[0042] Figure 4 is the curve diagram of the relevant data collected and intercepted in a certain period of time of the present application;

[0043] Figure 5 is the oil consumption efficiency ranking diagram of the present application;

[0044] Figure 6 is the data acquisition and processing flow chart of the automatic mode in the application process of the present application;

[0045] Figure 7 is the program adjustment flow chart of the automatic mode in the application process of the present application;

[0046] Figure 8 is the time and oil consumption diagram of completing a certain amount of material work of the present application;

[0047] Figure 9 is the working condition oil consumption efficiency diagram of a certain model collected by the present application.

[0048] In the figure: 1, excavator cab; 2, bucket pressure sensor; 3, arm displacement sensor; 4, bucket displacement sensor; 5, boom pressure sensor; 6, arm pressure sensor; 7, controller; 8, gyroscope; 9, CAN communication line; 10, display; 11, boom displacement sensor. DETAILED DESCRIPTION

[0049] The present application will be further described and illustrated below in combination with the drawings.

[0050] As Figure 1 -Figure 9 As shown in the embodiment 1, the data acquisition device for excavator gear selection control comprises a controller 7, the controller 7 is connected with a gyroscope 8, the gyroscope 8 is fixedly installed in the cab 1 of the excavator, the controller 7 is respectively connected with a bucket pressure sensor 2 and a bucket displacement sensor 4, the bucket pressure sensor 2 is installed in series to the large cavity inlet oil pipeline of the bucket oil cylinder, one end of the bucket displacement sensor 4 is installed on the bucket oil cylinder, and the other end is installed to the pin shaft of the piston rod of the bucket oil cylinder; the controller 7 is respectively connected with a stick displacement sensor 3 and a stick pressure sensor 6, the stick pressure sensor 6 is installed in series to the large cavity inlet oil pipeline of the stick oil cylinder, one end of the stick displacement sensor 3 is installed on the stick oil cylinder, and the other end is installed to the pin shaft of the piston rod of the stick oil cylinder; the controller 7 is respectively connected with a boom pressure sensor 5 and a boom displacement sensor 11, the boom pressure sensor 5 is installed in series to the large cavity inlet oil pipeline of the boom oil cylinder, one end of the boom displacement sensor 11 is installed on the boom oil cylinder, and the other end is installed to the pin shaft of the piston rod of the boom oil cylinder; the controller 7 is connected with the OBD interface in the cab 1 of the excavator, the controller 7 is connected with a display 10, and the controller 7 and the display 10 are both installed in the cab 1 of the excavator, and the controller 7 is connected with the OBD interface in the cab 1 of the excavator through a CAN communication line 9.

[0051] Embodiment 2, a method for excavator gear selection control, using the data acquisition device for excavator gear selection control in embodiment 1, comprising the following steps:

[0052] S1, at the beginning of the operation, the operator first selects a gear in the commonly used gear, and performs several times of cyclic excavating operation according to the complete operation process; a complete operation cycle process comprises: excavating material, boom lifting and rotating compound action, bucket unloading, then rotating and boom descending and stick outward swinging compound action to return to the material position to be excavated, preparing for the next excavation, different excavating operation conditions are slightly different, and the overall operation process is basically the same;

[0053] S2, the boom pressure sensor 5 collects the boom oil cylinder large cavity pressure, the bucket pressure sensor 2 collects the bucket oil cylinder large cavity pressure, the stick pressure sensor 6 collects the stick oil cylinder large cavity pressure, the stick displacement sensor 3 collects the stick oil cylinder displacement, the bucket displacement sensor 4 collects the bucket oil cylinder displacement, the boom displacement sensor 11 collects the boom oil cylinder displacement, the gyroscope 8 collects the upper frame rotation angle of the excavator, and the above collected data is transmitted to the controller 7, at the same time, the controller 7 reads out the instantaneous fuel consumption data of the engine through the OBD interface, after a period of time, the database of each data is formed;

[0054] S3 and controller 7 process the acquired data and obtain corresponding data curves. Controller 7 then performs shape recognition, curve trend analysis, and limit point analysis on the curves of each cylinder displacement, each cylinder pressure, and rotation angle to distinguish the start and end points of each cycle, as well as the start and end points of a certain action within a single cycle; for example... Figure 4 The figure shows a data curve of a certain vehicle under certain working conditions, which is a data curve of a certain period of time. The horizontal axis is time and the vertical axis is the data curve. The entire curve is composed of multiple single-cycle curves. The characteristics of cylinder displacement, rotation angle, pressure curve, etc. of each cycle are similar when the excavator performs the same action. The AF line interval is one cycle, the FG line interval is the next cycle, the AC line area is the process of digging material with bucket, stick and boom, the CD line interval is the process of bucket carrying material, boom lifting and rotation, the DE line interval is the process of bucket unloading material, and the EF line interval is the process of rotation, boom lowering and stick swinging out to the digging position after unloading material.

[0055] S4. Calculation of fuel consumption over a certain period of time: Integrate the instantaneous fuel consumption curve collected during this period to obtain the cumulative fuel consumption during this period, and then calculate the hourly fuel consumption; calculate the hourly workload based on the number of cycles per hour and the bucket capacity, and then obtain the fuel consumption per cubic meter of work.

[0056] S5. The display 10 shows the recommended working modes in a table format and ranks them according to fuel consumption, so that users can choose. The rest is the same as in Example 1.

[0057] Example 3: A method for controlling the gear selection of an excavator, wherein each complete operation process includes excavating material, a combination of boom lifting and slewing, unloading the bucket, and then a combination of boom lowering, slewing, and stick swinging back to the position of the material to be excavated.

[0058] Step S4 specifically includes:

[0059] The cumulative fuel consumption M over a certain period of time is:

[0060]

[0061] a represents the start time of a cycle, b represents the end time, t represents any time point on the horizontal axis within this cycle, and m represents the instantaneous fuel consumption value corresponding to any time point within this cycle, where the unit of M is L.

[0062] The loop time for this iteration is T = ba; the unit of T is seconds.

[0063] The total number of cycles n is calculated by identifying the features of the collected operation curves. Hourly fuel consumption is represented by O, and M1…M… nThis represents the fuel consumption per cycle obtained from the collection and screening process, denoted by T1…T. n Let O represent the time for each cycle from data collection and filtering to the final result. Then, O = ∑(M1…M n ) / ∑(T1…T n )*3600; The unit of O is L / h;

[0064] The average cycle time is (T1 + ... + T) n ) / n, where N represents the number of work cycles per hour.

[0065] Then N = 3600 / [(T1 + ... + T n [) / n], unit: cycles / h;

[0066] The bucket capacity v is pre-stored in controller 7. After changing to a bucket with a different capacity, the bucket capacity is manually entered on the screen, and then the hourly output V = N * v is calculated, where v is in meters. 3 The unit of V is m. 3 / h;

[0067] Ultimately, the fuel consumption per cubic meter of work is o = O / V * 1000; the unit of o is mL / m³. 3 ;

[0068] Step S5 specifically includes the following steps:

[0069] 1) First gear data filtering: When the collected hydraulic cylinders move to the starting and ending positions of each action, the average displacement of the bucket, stick and boom cylinders is taken, and all data of those cycles with a difference greater than β% from the average value are filtered out.

[0070] When the collected hydraulic cylinder moves to each action from start to end position, the average pressure of the bucket, stick, and boom large chamber is calculated, and all data of those cycles that differ from the average value by more than γ% are filtered out.

[0071] The average value of the rotation angles collected when the frame rotates from the excavation start position to the unloading position and from the unloading position to the excavation position is taken, and all data of those cycles with a difference greater than δ% from the average value are removed.

[0072] Finally, the retained data are averaged, and the hourly workload, hourly fuel consumption, and fuel consumption per cubic meter of material are calculated; β, γ, and δ represent appropriate limit values ​​selected according to different vehicle models, working conditions, etc., β∈(5,10), γ∈(5,15), δ∈(20,40).

[0073] 2) After completing the operation of the first gear, perform the subsequent gear operations and gear data filtering according to the method described in step 1).

[0074] 3) Controller 7 summarizes each gear per cubic meter fuel consumption (mL / m 3 ), per hour work volume (m 3 / h), per hour fuel consumption (L / h) data;

[0075] 4) According to the calculation results, the data is sorted, and the specific values are displayed in the form of a table (as shown in Figure 5 ) through the display 10, and the user selects the appropriate mode and gear for operation according to this information; the smaller the per-cubic fuel consumption, the smaller the per-hour fuel consumption value, and the larger the per-hour work volume value, the higher the efficiency; as shown in Figure 9 : with the decrease of the gear, the per-hour fuel consumption and the per-cubic fuel consumption are reduced, and the work efficiency is also reduced;

[0076] It also includes an automatic selection mode of operation gear, including the following steps: the excavator starts excavating operation, collects a certain time t' (such as ten minutes), and the controller 7 does not delete the collected data, calculates the operation cycle number n1' through the collected operation curve characteristics, calculates the fuel consumption M1' of this period of time through the instantaneous fuel consumption integral of this period of time, and then the work volume V1' of this period of time = n1' * v; converted into per-hour work volume V' = V1' / t' * 60, the average fuel consumption o1' of each cubic meter of material = M1' / V1' * 1000; converted into per-hour fuel consumption M' = M1' / t' * 60; t' unit is min, M1' unit is L, V1' unit is m3, V' unit is m 3 / h, o1' unit is mL / m 3 , M' unit is L / h;

[0077] It also includes the following user selection mode:

[0078] 1) The user inputs the per-hour fuel consumption or work efficiency or per-cubic meter fuel consumption target value on the display 10, the controller 7 compares with the previously collected per-hour fuel consumption of each gear, selects the gear closest to this value, starts working, and feeds back the currently collected data compared with the target value at a certain frequency (such as ten minutes): if the difference is less than a certain percentage (such as 3%), the gear is maintained for continuous operation; if it cannot be met (the difference from the target value is greater than 3%), it is larger than the target value, and the gear is automatically switched to the smaller gear adjacent to the current gear; it is smaller than the target value, and the gear is automatically switched to the larger gear adjacent to the current gear, and the next feedback still follows this step until the work is completed;

[0079] 2) User input target work volume and expected fuel consumption on display 10, controller 7 calculates the fuel consumption per unit of material needed, compares with the previously collected fuel consumption per unit of material for each gear, selects the gear closest to the value, starts work, compares the current work volume with the target total volume at a certain frequency (e.g. ten minutes), calculates the remaining work volume, compares the current fuel consumption with the target total fuel consumption, calculates the remaining available fuel consumption: whether the current gear can complete the remaining target work volume by consuming the remaining available fuel consumption, if the difference from the target value is less than a certain percentage (e.g. 3%), maintain the gear to continue work; if the difference from the target value exceeds this percentage (e.g. 3%), cannot be completed automatically adjusted to the next gear lower than the fuel consumption per unit of material of this gear; if the fuel used is too small, automatically adjust to the next gear higher than the fuel consumption per unit of material of this gear, the next feedback still follow this step until the work is completed; fuel consumption per cubic meter is referred to as fuel consumption per unit of material;

[0080] 3) User input target work volume and expected time on display 10, controller 7 calculates the work volume needed to be completed per unit of time, compares with the previously collected work efficiency for each gear, selects the gear closest to the value, starts work, compares the current work volume with the target total volume at a certain frequency (e.g. ten minutes), calculates the remaining work volume: whether the work efficiency of the current gear can be completed within the remaining target time or ahead of schedule, if the difference from the target value is less than a certain percentage (e.g. 3%), maintain the gear to continue work; if the difference from the target value exceeds this percentage (e.g. 3%), cannot be completed automatically adjusted to the next gear higher than the efficiency of this gear, ahead of schedule automatically adjusted to the next gear lower than the efficiency of this gear, the next feedback still follow this step until the work is completed, the rest is the same as example 2.

[0081] As shown in Figure 8 : a certain amount of material for excavating work, as the gear is lowered, the fuel consumption is reduced, and the time used is increased, the intersection of the two lines is the balanced gear point where both fuel consumption and time are optimal.

Claims

1. A method of gear selection control for an excavator, characterized by: The method comprises the following steps: S1, at the beginning of the operation, the operator selects a gear from the commonly used gears, and performs a plurality of cycle excavation operations according to a complete operation process; S2, each displacement sensor collects the displacement data of each oil cylinder, each pressure sensor collects the pressure of the large cavity of each oil cylinder, and the gyroscope (8) collects the swing angle of the upper frame of the excavator, and transmits the collected data to the controller (7), and at the same time, the controller (7) reads out the instantaneous fuel consumption data of the engine through the OBD interface, and after a period of time, a database of each data is formed; S3, the controller (7) processes the obtained data and obtains the corresponding data curve, and then the controller (7) performs shape recognition, curve trend analysis and limit point analysis on the displacement of each oil cylinder, the pressure of each oil cylinder and the swing angle curve to distinguish the time start and end points of each cycle and the time start and end points of a certain action in a single cycle; S4, calculation of fuel consumption in a certain period of time: the instantaneous fuel consumption curve collected in this period of time is integrated to obtain the cumulative fuel consumption in this period of time, and then the hourly fuel consumption is calculated; according to the number of cycles per hour and the bucket capacity, the hourly operation amount is calculated, and then the fuel consumption per cubic meter of operation is obtained; S5, the display (10) displays the recommended working mode in table form according to the fuel consumption ranking for the user to select; Step S5 specifically comprises the following steps: 1) first gear data screening: when the oil cylinder moves to each action from the start to the end position, the bucket, stick and boom cylinder displacements are respectively averaged, and all data of those cycles with a difference greater than β% from the average value are screened out; When the oil cylinder moves to each action from the start to the end position, the bucket, stick and boom cylinder displacements are respectively averaged, and all data of those cycles with a difference greater than γ% from the average value are screened out; When the upper frame rotates from the start of excavation to the unloading position and from the unloading position to the excavation position, the average value of the rotation angle value is taken, and all data of those cycles with a difference greater than δ% from the average value are removed; Finally, the average value of the remaining data is taken, and the hourly operation amount, the hourly fuel consumption value and the fuel consumption per cubic material are calculated; β, γ and δ represent the limiting values selected according to different vehicle types and working conditions; 2) after the operation of the first gear is completed, the operation of the subsequent gears and gear data screening are performed according to the method described in step 1); 3) the controller (7) summarizes the fuel consumption per cubic meter, the hourly operation amount and the hourly fuel consumption data of each gear; 4) according to the calculation results, the data is sorted, and the specific values are displayed in table form through the display (10), and the user selects the appropriate mode and gear for operation in this working condition according to the information.

2. The method of claim 1, wherein: Each complete operation process comprises excavating material, boom lifting and rotating compound action, bucket unloading, and then boom descending, rotating and stick outward swinging compound action to return to the material position to be excavated.

3. The method of claim 1, wherein: Step S4 specifically includes: accumulated fuel consumption in a certain period of time is: ， represents a cycle start time, represents an end time, represents an arbitrary time point on the horizontal axis within this cycle time, represents the instantaneous fuel consumption value corresponding to the arbitrary time point within this time period. The cycle time for this cycle is then ; The total number of cycles is calculated by the collected work curve characteristics O represents the hourly fuel consumption, and M1...M n represent the fuel consumption per cycle obtained by the collection and screening, and T1...T n represent the time per cycle obtained by the collection and screening, and O= / *3600; The average cycle time is (T1+...+T n ) / n, with N representing the number of job cycles per hour, N = 3600 / [(T1+...+T n ) / n]; The input bucket capacity v is pre-stored in the controller (7), and the bucket capacity is manually input on the screen after replacing the bucket with a different capacity, and then the hourly operation amount V=N*v is calculated. Finally, the fuel consumption per cubic meter of work o = O / V * 1000.

4. The excavator gear selection control method according to claim 1, characterized by: Also included is an automatic selection mode of work gear, including the following steps: the excavator starts to dig work, collects a certain time t', the controller (7) does not delete the collected data, and calculates the work cycle number n1' through the collected work curve characteristics, and calculates the fuel consumption M1' of this period of time through the instantaneous fuel consumption integral of this period of time. The work volume V1' of this period of time is n1' * v; the work volume per hour V' is V1' / t' * 60, the average fuel consumption per cubic meter of work o1' is M1' / V1' * 1000; the hourly fuel consumption M' is M1' / t' * 60.

5. The method of claim 4, wherein: Also included is the following user selection mode: 1) The user inputs the hourly fuel consumption or work efficiency or the target value of fuel consumption per cubic meter on the display (10), the controller (7) compares with the previously collected hourly fuel consumption or work efficiency or fuel consumption per cubic meter of each gear, automatically selects the gear closest to the value, starts to work, and feeds back the currently collected data compared with the target value at a certain frequency: if the difference is less than a certain percentage, the gear is maintained to continue working; if it cannot be met, it is automatically switched to the smaller gear of the adjacent gear compared with the target value; if it is smaller, it is automatically switched to the larger gear of the adjacent gear, and the next feedback is still performed according to this step until the work is completed; 2) The user inputs the target work volume and the expected fuel consumption on the display (10), the controller (7) calculates the fuel consumption required for unit material, compares with the previously collected fuel consumption per cubic meter of each gear, automatically selects the gear closest to the value, starts to work, and compares the current work volume with the target total value at a certain frequency. Feedback, calculate the remaining work volume, compare the current fuel consumption with the target total fuel consumption, calculate the remaining available fuel consumption: whether the current gear can complete the remaining target work volume by consuming the remaining available fuel consumption, if the difference is less than a certain percentage, the gear is maintained to continue working; if the difference exceeds this percentage, it cannot be completed and is automatically adjusted to the adjacent gear lower than the fuel consumption per cubic meter of this gear; if the fuel is too small, the gear is automatically adjusted to the adjacent gear higher than the fuel consumption per cubic meter of this gear, and the next feedback is still performed according to this step until the work is completed; ​ 3) The user inputs the target work amount and the desired time on the display (10), the controller (7) calculates the work amount needed to be completed in unit time, compares it with the work efficiency of each gear collected before, automatically selects the gear closest to this value, starts working, and feeds back the current work amount and the target total value at a certain frequency, calculates the remaining work amount: whether the current gear work efficiency can be completed or completed in advance within the remaining target time, if the difference between the target value is less than a certain percentage, maintain the gear to continue working; If the difference between the target value exceeds this percentage, it cannot be completed, and automatically adjusts to the adjacent gear with higher efficiency than this gear, and automatically adjusts to the adjacent gear with lower efficiency than this gear when it is completed in advance, and the next feedback still follows this step until the work is completed.

6. A data acquisition device for use in gear selection control of an excavator, comprising a controller (7) to which a gyroscope (8) is connected, characterized in that: The excavator gear selection control method of any one of claims 1-5, the controller (7) is respectively connected with a bucket pressure sensor (2) and a bucket displacement sensor (4), the bucket pressure sensor (2) is installed in series in the bucket cylinder large cavity oil inlet pipeline, and the other end is installed on the bucket cylinder piston rod pin shaft; The controller (7) is respectively connected with a stick displacement sensor (3) and a stick pressure sensor (6), the stick pressure sensor (6) is installed in series in the stick cylinder large cavity oil inlet pipeline, and the other end is installed on the stick cylinder piston rod pin shaft; The controller (7) is respectively connected with a boom pressure sensor (5) and a boom displacement sensor (11), the boom pressure sensor (5) is installed in series in the boom cylinder large cavity oil inlet pipeline, and the other end is installed on the boom cylinder piston rod pin shaft; The controller (7) is connected with the OBD interface in the excavator cab (1), and the controller (7) is connected with the display (10).

7. The data collection device for use with the excavator gear selection control of claim 6, wherein: The controller (7) is connected with the OBD interface in the excavator cab (1) through the CAN communication line (9).

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