Workload determination method and storage medium

Abstract

The invention provides a workload determination method and a storage medium, and the method comprises the steps: determining a loading starting moment according to the position information of an excavator, and the position information, the operation state and the speed information of a transport vehicle; according to the position information of the transport vehicle at multiple moments after the loading starting moment, the loading ending moment is determined; according to the vehicle hopper pressure information of the transport vehicle at each moment after the loading ending moment, determining a transport ending moment; the time period from the loading starting moment to the loading ending moment serves as a first time period, and the loading workload of the excavator is determined according to the duration of the first time period and the position information of the excavator in the first time period; and taking a time period from the loading ending moment to the transportation ending moment as a second time period, and determining the transportation workload of the transportation vehicle according to the duration of the second time period and the position information of the transportation vehicle in the second time period. According to the invention, the workload of the excavator and the transport vehicle can be accurately counted.

Description

Technical Field

[0001] The present application relates to the technical field of engineering workload data processing, and in particular to a workload determination method and storage medium. Background Art

[0002] At present, there are problems such as inaccurate measurement, chaotic scheduling, and ineffective monitoring in mine management. How to automatically, effectively, and comprehensively count the workload at the mine site is an urgent problem to be solved.

[0003] The prior art discloses a method for counting the workload at a mine site, which performs weighing and counting by lifting pressure, and matches loading and excavating machines by positioning and calculating distance, thereby realizing workload statistics.

[0004] However, the above method is prone to identification errors when the vehicle is temporarily lifted, resulting in a certain error between the obtained workload and the actual workload, and the workload statistics are not accurate enough. Summary of the invention

[0005] The purpose of the present application is to provide a workload determination method and a storage medium to address the deficiencies in the above-mentioned prior art, so as to solve the problem that workload statistics in the prior art are not accurate enough.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for determining workload, the method comprising:

[0008] Determine the loading start time according to the position information of the excavator at multiple times and the position information, operation status and speed information of the transport vehicle at multiple times;

[0009] Determining the loading end time according to the position information of the transport vehicle at multiple time points after the loading start time;

[0010] Determining the transport end time according to the bucket pressure information of the transport vehicle at each time after the loading end time;

[0011] The time period between the loading start time and the loading end time is taken as a first time period, and the loading workload of the excavator is determined according to the length of the first time period and the position information of the excavator in the first time period, wherein the loading workload includes: loading time, number of loading buckets, and loading fuel consumption;

[0012] The time period between the end of loading and the end of transportation is taken as the second time period. The transportation workload of the transportation vehicle is determined according to the length of the second time period and the position information of the transportation vehicle in the second time period. The transportation workload includes: transportation time, transportation distance, transportation height and transportation fuel consumption.

[0013] In a second aspect, another embodiment of the present application provides a workload determination device, the device comprising:

[0014] A first determination module is used to determine the loading start time according to the position information of the excavator at multiple times and the position information, operation status and speed information of the transport vehicle at multiple times;

[0015] A second determination module is used to determine the loading end time according to the position information of the transport vehicle at multiple time points after the loading start time;

[0016] A third determination module is used to determine the transportation end time according to the bucket pressure information of the transportation vehicle at each time after the loading end time;

[0017] a fourth determination module, configured to take the period between the loading start time and the loading end time as a first period, and determine the loading workload of the excavator according to the duration of the first period and the position information of the excavator in the first period, wherein the loading workload includes: loading duration, number of loading buckets, and loading fuel consumption;

[0018] The fifth determination module is used to take the time period between the end of loading and the end of transportation as the second time period, and determine the transportation workload of the transportation vehicle according to the length of the second time period and the position information of the transportation vehicle in the second time period, and the transportation workload includes: transportation time, transportation distance, transportation height and transportation fuel consumption.

[0019] In the third aspect, another embodiment of the present application provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of any method described in the first aspect above.

[0020] In a fourth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any method described in the first aspect are executed.

[0021] The beneficial effects of the present application are: determining the loading start time through the position information of the excavator at multiple times and the position information, operating status and speed information of the transport vehicle at multiple times; and determining the loading end time through the position information of the transport vehicle at multiple times after the loading start time; at the same time, determining the transportation end time through the bucket pressure information of the transport vehicle at each time after the loading end time; thus, taking the period between the loading start time and the loading end time as the first period, and determining the loading workload of the excavator according to the length of the first period and the position information of the excavator in the first period; and taking the period between the loading end time and the transportation end time as the second period, and determining the transportation workload of the transport vehicle according to the length of the second period and the position information of the transport vehicle in the second period, the accurate statistics of the workload of the excavator and the transport vehicle can be realized. At the same time, since the transportation workload is obtained through the loading start time, the loading end time and the transportation end time, it can also effectively exclude some abnormal information in the workload statistics process, and improve the accuracy of workload determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of an application scenario involved in the workload determination method provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of a workload determination method provided in an embodiment of the present application;

[0025] Figure 3 A flowchart of a method for determining workload provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of a process for determining the loading start time in the workload determination method provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of the operating state of a transport vehicle provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of a flow chart for determining whether a transport vehicle performs a reverse action before stopping in a workload determination method provided in an embodiment of the present application;

[0029] Figure 7 Another flow chart of determining whether a transport vehicle performs a reverse action before stopping in the workload determination method provided in an embodiment of the present application;

[0030] Figure 8 A schematic diagram of location information in a workload determination method provided in an embodiment of the present application;

[0031] Fig. 9 A schematic diagram of a flow chart for determining whether the position relationship between the transport vehicle and the excavator at the parking moment satisfies a preset loading position relationship in the workload determination method provided in an embodiment of the present application;

[0032] Fig.10 A schematic diagram of a flow chart for determining whether an excavator performs a preset rotation action in a workload determination method provided in an embodiment of the present application;

[0033] Fig.11 A schematic diagram of a flow chart for determining the transport end time in the workload determination method provided in an embodiment of the present application;

[0034] Fig.12 A schematic diagram of the bucket pressure information of a transport vehicle provided in an embodiment of the present application;

[0035] Fig.13 A schematic diagram of a workload determination device provided in an embodiment of the present application;

[0036] Fig.14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0038] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0039] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0040] The prior art discloses a method for counting the workload at a mine site, which performs weighing and counting by lifting pressure, and matches loading and excavating machines by positioning and calculating distance, thereby realizing workload statistics.

[0041] However, the above method is prone to identification errors when the vehicle is temporarily lifted, resulting in a certain error between the obtained workload and the actual workload, and the workload statistics are not accurate enough.

[0042] Based on the above-mentioned problems, an embodiment of the present application proposes a workload determination method, which determines the loading start time through the position information of the excavator at multiple times and the position information, operating status and speed information of the transport vehicle at multiple times; and determines the loading end time through the position information of the transport vehicle at multiple times after the loading start time; at the same time, determines the transportation end time through the bucket pressure information of the transport vehicle at each time after the loading end time; thereby, the time period between the loading start time and the loading end time is taken as the first time period, and the loading workload of the excavator is determined according to the length of the first time period and the position information of the excavator in the first time period; and the time period between the loading end time and the transportation end time is taken as the second time period, and the transportation workload of the transport vehicle is determined according to the length of the second time period and the position information of the transport vehicle in the second time period, so as to realize accurate statistics of the workload of the excavator and the transport vehicle.

[0043] The following describes the application scenarios involved in the workload determination method provided in the embodiments of the present application.

[0044] Figure 1 A schematic diagram of an application scenario involved in the workload determination method provided in an embodiment of the present application, referring to Figure 1As shown, the workload determination method provided in the embodiment of the present application is applied to the scenario of mine site operations. Specifically, when the workload determination method provided in the embodiment of the present application is applied to mine site operations, in the scenario where the workload of each equipment operation at the mine site is counted, in the mine site, the equipment involved includes excavators and transport vehicles, wherein there are multiple excavators and multiple transport vehicles, and each excavator and each transport vehicle jointly complete the loading operation of the items to be transported. After the loading operation is completed, each transport vehicle transports the items to be transported, transports the items to be transported to the unloading location, and unloads the items after the transportation is completed. After the unloading operation is completed, each transport vehicle returns to the loading location to perform the next loading operation.

[0045] Continue to refer to Figure 1 As shown, it can be understood that the transport vehicle needs to perform a reverse action before loading operations in order to park the transport vehicle in a location convenient for loading. When the excavator is performing loading operations with the transport vehicle, the excavator needs to perform a rotating action to load the vehicle, and after the loading operation is completed, the transport vehicle performs a heavy vehicle driving, and after the driving is completed, it is prepared for unloading operations. During the unloading operation, the transport vehicle needs to perform a bucket lifting action to unload the vehicle.

[0046] It can be understood that the excavator can be installed with a data acquisition terminal and a high-precision positioning device to enable the collection of the excavator's position information, cargo box information and fuel consumption information; the transport vehicle can be installed with a data acquisition terminal and a high-precision positioning device to enable the collection of the transport vehicle's position information, operating status, speed information, cargo box pressure information and fuel consumption information.

[0047] It is worth noting that by executing the workload determination method provided in the embodiment of the present application, the workload of each excavator and each transport vehicle can be determined separately, so that accurate statistics of the workload of each excavator and each transport vehicle can be achieved. On this basis, the workload of all excavators and all transport vehicles can be determined according to the workload of each excavator and each transport vehicle, so as to achieve statistics of the workload of the entire fleet, wherein the fleet may include multiple excavators and multiple transport vehicles.

[0048] It should be understood that the workload determination method provided in the embodiment of the present application can determine the workload during the real-time operation of the excavator and the transport vehicle, or it can determine the workload by processing the information recorded during the operation of the excavator and the transport vehicle after the operation of the excavator and the transport vehicle is completed. The present application does not limit this.

[0049] By way of example, the relevant concepts in the workload determination method provided in the embodiment of the present application are first described. Figure 2A schematic diagram of a workload determination method provided in an embodiment of the present application, referring to Figure 2 As shown, taking an excavator and a transport vehicle as an example, the operation conditions of the excavator and the transport vehicle within any period of time are selected to illustrate the workload. It can be understood that in the process of determining the workload of the excavator and the transport vehicle, at least three moments are involved, namely the loading start moment, the loading end moment and the transport end moment. Among them, the loading start moment is the moment when the excavator starts loading the transport vehicle, the loading end moment is the moment when the excavator ends loading the transport vehicle, and it can also be the moment when the transport vehicle starts transporting, and the transport end moment is the moment when the transport vehicle ends transporting, and it can also be the moment when the transport vehicle starts unloading.

[0050] Specifically, during the loading operation phase, the excavator loads the transport vehicle through a rotation action at the start of loading, and completes the loading of the transport vehicle at the end of loading. The transport vehicle can start heavy vehicle transportation at the end of loading, and complete the transportation operation at the end of transportation. Therefore, the workload of the excavator includes the workload of the excavator from the start of loading to the end of loading, and the workload of the transport vehicle includes the workload of the transport vehicle from the end of loading to the end of transportation.

[0051] The workload determination method provided in the embodiments of the present application is described in detail below in combination with multiple embodiments.

[0052] Figure 3 A flowchart of a method for determining workload provided in an embodiment of the present application, referring to Figure 3 As shown, the execution subject of the method can be any electronic device with processing capability, and the method includes:

[0053] S301. Determine a loading start time according to the position information of the excavator at multiple times and the position information, operating status and speed information of the transport vehicle at multiple times.

[0054] It can be understood that the workload of the excavator is the loading workload of the excavator. When determining the loading workload of the excavator, we can first determine when the excavator starts loading and when the excavator ends loading, that is, determine the starting time and the ending time of loading.

[0055] Optionally, the position information of the excavator at multiple times and the position information, transportation status and speed information of the transport vehicle at multiple times can be compared. If the position information of the excavator at multiple times and the position information, operation status and speed information of the transport vehicle at multiple times meet the preset loading position conditions, the time when the loading position conditions are met can be used as the loading start time. The loading start time is the time when the excavator starts loading the transport vehicle, that is, the loading start time of the excavator and the transport vehicle.

[0056] Among them, the position information of the excavator at multiple times may include the latitude and longitude information of the excavator at multiple times, the position information of the transport vehicle at multiple times may include the latitude and longitude information of the transport vehicle at multiple times, the operating status of the transport vehicle may include whether the transport vehicle is in a driving state or a parked state at multiple times, and the speed information of the transport vehicle may include the speed of the transport vehicle at multiple times.

[0057] The loading position condition may be the conditions that the position information of the excavator at multiple times and the position information, transportation state and speed information of the transport vehicle at multiple times should meet. For example, the position distance between the excavator and the transport vehicle at multiple times is less than or equal to the preset maximum distance, and the transport state of the transport vehicle is a specified state, wherein the specified state may be a driving state or a parking state, and the speed information of the transport vehicle is less than or equal to the preset maximum speed.

[0058] S302: Determine the loading end time according to the position information of the transport vehicle at multiple time points after the loading start time.

[0059] It can be understood that after determining the loading start time, that is, determining when the excavator starts loading the transport vehicle, the loading end time can be determined based on the position information of the transport vehicle at multiple times after the loading start time.

[0060] Optionally, processing can be performed based on the position information of the transport vehicle at multiple moments after the start of loading. If the position information of the transport vehicle at multiple moments after the start of loading changes, the moment corresponding to the changed position information can be used as the end of loading.

[0061] The loading end time is the time when the excavator finishes loading the transport vehicle, that is, the loading end time of the excavator and the transport vehicle, and may also be the time when the transport vehicle starts the transport operation. The location information of the transport vehicle at multiple times after the loading start time may include the latitude and longitude information of the transport vehicle at multiple times after the loading start time.

[0062] Exemplarily, the longitude and latitude information of the transport vehicle at multiple moments after the start of loading can be processed. If at a certain moment after the start of loading, the change value of the longitude and latitude information of the transport vehicle is greater than or equal to a preset longitude and latitude information change threshold, then the moment of change can be used as the end of loading, wherein the change value of the longitude and latitude information can be the change value of the longitude and latitude information of the transport vehicle at the current moment and the moment before the current moment.

[0063] S303, determining the transport end time according to the bucket pressure information of the transport vehicle at each time after the loading end time.

[0064] It can be understood that after the loading end time is determined, that is, after the loading operation of the excavator and the transport vehicle is completed, the transport vehicle performs heavy vehicle transportation and transports the items to be transported to the designated location. When the transport vehicle arrives at the designated location, the transport vehicle performs unloading. When the transport vehicle is unloading, the transport end time can be determined through the transport vehicle's bucket pressure information.

[0065] Optionally, processing can be performed based on the bucket pressure information of the transport vehicle at each moment after the loading is completed. If the bucket pressure information of the transport vehicle at each moment after the loading is completed changes, the moment corresponding to the changed position information can be used as the transportation end time.

[0066] The transport end time is the time when the transport vehicle finishes transporting, or it may be the time when the transport vehicle starts unloading.

[0067] S304: The time period between the start time and the end time of loading is taken as the first time period, and the loading workload of the excavator is determined according to the length of the first time period and the position information of the excavator in the first time period.

[0068] It can be understood that after determining the loading start time and the loading end time, the loading workload of the excavator can be determined based on the loading start time, the loading end time and the position information of the excavator from the loading start time to the loading end time.

[0069] Optionally, the period between the start time and the end time of loading is taken as the first period, and the duration of the first period is determined. The loading workload of the excavator is determined based on the duration of the first period and the position information of the excavator in the first period. Specifically, the loading action of the excavator in the first period can be analyzed through the position information of the excavator in the first period, thereby determining the loading workload of the excavator.

[0070] The loading workload includes: loading time, number of loading buckets and loading fuel consumption. The loading time refers to the time spent by the excavator in this loading operation, that is, the time spent by the excavator in loading the transport vehicle this time. The number of loading buckets refers to the number of loading buckets performed by the excavator's bucket when the excavator loads the transport vehicle this time. Loading fuel consumption refers to the fuel consumption consumed by the excavator when loading the transport vehicle this time. For example, the loading fuel consumption can be collected by the data collection terminal on the excavator.

[0071] S305: The time period between the end of loading and the end of transportation is taken as the second time period, and the transportation workload of the transportation vehicle is determined according to the length of the second time period and the position information of the transportation vehicle in the second time period.

[0072] It can be understood that after determining the loading end time and the transportation end time, the transportation workload of the transportation vehicle can be determined based on the loading end time, the transportation end time and the position information of the transportation vehicle from the loading end time to the transportation end time.

[0073] Optionally, the time period between the end of loading and the end of transportation is taken as the second time period, and the length of the second time period is determined. The transportation workload of the transportation vehicle is determined based on the length of the second time period and the position information of the transportation vehicle in the second time period. Specifically, the transportation movement of the transportation vehicle in the second time period can be analyzed through the position information of the transportation vehicle in the second time period, so as to determine the transportation workload of the transportation vehicle.

[0074] Among them, the transportation workload includes: transportation time, transportation distance, transportation altitude and transportation fuel consumption. Among them, transportation time refers to the time spent by the transportation vehicle in this transportation operation, transportation distance refers to the distance transported by the transportation vehicle in this transportation operation, including straight-line distance and actual distance, transportation altitude refers to the altitude change information transported by the transportation vehicle in this transportation operation, and transportation fuel consumption refers to the fuel consumption consumed by the transportation vehicle in this transportation operation. For example, transportation fuel consumption can be collected through the data collection terminal on the transportation vehicle.

[0075] In this embodiment, the loading start time is determined by the position information of the excavator at multiple times and the position information, operation status and speed information of the transport vehicle at multiple times; and the loading end time is determined by the position information of the transport vehicle at multiple times after the loading start time; at the same time, the transportation end time is determined by the bucket pressure information of the transport vehicle at each time after the loading end time; thus, the period from the loading start time to the loading end time is taken as the first period, and the loading workload of the excavator is determined according to the length of the first period and the position information of the excavator in the first period; and the period from the loading end time to the transportation end time is taken as the second period, and the transportation workload of the transport vehicle is determined according to the length of the second period and the position information of the transport vehicle in the second period, so that the accurate statistics of the workload of the excavator and the transport vehicle can be realized. At the same time, since the transportation workload is obtained through the loading start time, the loading end time and the transportation end time, it can also effectively exclude some abnormal information in the workload statistics process, and improve the accuracy of workload determination.

[0076] Figure 4 A schematic diagram of a flow chart for determining the starting time of loading in the workload determination method provided in an embodiment of the present application.

[0077] In one possible implementation, referring to Figure 4 As shown, in the above step S301, when determining the loading start time according to the position information of the excavator at multiple times and the position information, operation status and speed information of the transport vehicle at multiple times, the following steps can be performed, specifically including:

[0078] S401. Determine a parking time of the transport vehicle before the first current time according to the running status of the transport vehicle at each time before the first current time.

[0079] It can be understood that when determining the loading start time, it is possible to first determine whether the transport vehicle is stopped based on the operating status of the transport vehicle at each time, so that the loading start time can be determined based on the stop time of the transport vehicle.

[0080] Optionally, the first current moment can be determined from the obtained position information of the transport vehicle at multiple moments, and based on the first current moment, the operating status of the transport vehicle at multiple moments can be determined, thereby determining the parking moment of the transport vehicle before the first current moment.

[0081] The first current moment may be any one of a plurality of moments, and the first current moment may be adjusted. The parking moment is the moment when the transport vehicle changes from a moving state to a stopped state.

[0082] For example, Figure 5A schematic diagram of the operating state of a transport vehicle provided in an embodiment of the present application, referring to Figure 5 As shown, assuming that the electronic device obtains the driving speed information of the transport vehicle between time 0 and the fourth moment, it can be determined that the transport vehicle is in a running state at the first moment and the second moment, and in a parked state at the third moment and the fourth moment. At this time, the first moment can be taken as the first current moment, and based on the running state of each moment before the first moment, it can be determined that there is no parking state before the first moment, and the second moment can be taken as the first current moment, and based on the running state of each moment before the second moment, it can be determined that there is no parking state before the second moment, and the third moment can be taken as the first current moment, then it can be determined that the running state change moment of the transport vehicle before the third moment is moment T1, and on this basis, if the interval between moment T1 and the third moment exceeds 2 minutes, it can be determined that moment T1 is the parking moment.

[0083] S402: Determine whether the transport vehicle performs a reverse action before the stop time according to the position information and speed information of the transport vehicle at each time before the stop time.

[0084] It is understandable that when determining whether the transport vehicle and the excavator are performing loading actions, if the judgment is made only based on the relative position of the transport vehicle and the excavator, there will be certain judgment errors. For example, when the transport vehicle simply parks the vehicle next to an excavator, if the judgment is made only based on the relative position of the transport vehicle and the excavator, this erroneous scenario will be identified as the excavator loading the transport vehicle. Therefore, after determining the parking time of the transport vehicle, that is, after determining that the transport vehicle has stopped, it is also necessary to determine whether the transport vehicle has reversed before stopping, so as to accurately identify whether the excavator and the transport vehicle are performing loading actions, that is, accurately identify the starting time of loading.

[0085] Optionally, after determining the parking time of the transport vehicle, the position information and speed information of the transport vehicle at each moment before the parking time can be judged based on the position information and speed information of the transport vehicle at each moment before the parking time, combined with preset reversing position conditions and reversing speed conditions, so as to determine whether the transport vehicle has performed a reversing action before the parking time.

[0086] The preset reversing position condition may include the geometric relationship that the position of the transport vehicle at each moment before the stop should satisfy, for example: the geometric relationship of the position of the transport vehicle at each moment before the stop can form an acute triangle, or the geometric relationship of the position of the transport vehicle at each moment before the stop can form a specific pattern. The preset reversing speed condition may include the maximum value of the speed of the transport vehicle at each moment before the stop.

[0087] S403: If yes, determine whether the position relationship between the transport vehicle and the excavator at the parking time satisfies the preset loading position relationship based on the position information of the transport vehicle at the parking time and the position information of the excavator at the parking time.

[0088] It can be understood that after determining that the transport vehicle has a parking moment and has performed a reversing action before the parking moment, the position relationship between the transport vehicle and the excavator can be judged to determine whether the position relationship between the transport vehicle and the excavator at the parking moment meets the preset loading position relationship, so as to accurately identify whether the excavator and the transport vehicle are performing loading actions, that is, accurately identify the starting time of loading.

[0089] Optionally, after determining that the transport vehicle has a parking moment and has performed a reversing action before the parking moment, it can be determined whether the position relationship between the transport vehicle and the excavator at the parking moment satisfies a preset loading position relationship based on the position information of the transport vehicle at the parking moment and the position information of the excavator at the parking moment. The preset loading position relationship can be the maximum value that the straight-line distance or relative distance between the transport vehicle and the excavator should satisfy.

[0090] S404: If yes, determine whether the excavator performs a preset rotation action based on the position information of the excavator at each time before the parking moment.

[0091] It can be understood that after determining that the transport vehicle has stopped at a certain time and has performed a reversing action before the stopping time, and the position relationship between the transport vehicle and the excavator satisfies the preset loading position relationship, it is still necessary to judge whether the excavator is working, so as to avoid workload determination errors caused by the failure of the excavator to work normally.

[0092] Optionally, it is possible to determine whether the excavator is working at each moment before the parking moment based on the position information of the excavator at each moment before the parking moment, that is, to determine whether the excavator performs a preset rotation action to work.

[0093] S405: If yes, the parking time is used as the loading start time.

[0094] It can be understood that when it is determined that the transport vehicle has a parking moment, and the transport vehicle has performed a reversing action before the parking moment, and the position relationship between the transport vehicle and the excavator at the parking moment satisfies the preset loading position relationship, and the excavator is still performing a preset rotation action before the parking moment, then the parking moment can be determined as the starting time of loading.

[0095] By determining the stopping time of the transport vehicle before the first current moment through the operating state of the transport vehicle at each moment before the first current moment, it is possible to determine whether the transport vehicle performs a reversing action before the stopping moment based on the position information and speed information of the transport vehicle at each moment before the stopping moment, and determine whether the position relationship between the transport vehicle and the excavator at the stopping moment satisfies a preset loading position relationship based on the position information of the transport vehicle at the stopping moment and whether the excavator performs a preset rotation action based on the position information of the excavator at each moment before the stopping moment, thereby avoiding workload determination errors caused by judging whether to perform a loading action only based on the relative positions of the transport vehicle and the excavator, and workload determination errors caused by abnormal operation of the excavator, thereby accurately identifying whether the excavator and the transport vehicle are performing a loading action, that is, ensuring the accuracy of the obtained loading start time, thereby ensuring the accuracy of the workload determination method provided in the embodiment of the present application.

[0096] Figure 6 A schematic diagram of a flow chart for determining whether a transport vehicle performs a reversing action before stopping in a workload determination method provided in an embodiment of the present application.

[0097] In one possible implementation, referring to Figure 6 As shown, in the above step S402, when determining whether the transport vehicle performs a reverse action before the parking moment according to the position information and speed information of the transport vehicle at each moment before the parking moment, it includes:

[0098] S601. Determine a plurality of target times according to the speed information of the transport vehicle at each time before the stop time.

[0099] Optionally, a plurality of target moments at which the speed information meets a preset minimum speed condition may be determined based on the speed information of the transport vehicle at each moment before the stop moment.

[0100] For example, after determining the parking time, three moments before the parking time when the speed exceeds 1 km / h can be selected as multiple target moments. After determining the parking time, four moments before the parking time when the speed exceeds 1 km / h can be selected as multiple target moments.

[0101] S602: Determine whether the transport vehicle performs a reverse action before the parking moment according to the position information of the transport vehicle at each target moment.

[0102] Optionally, a judgment may be made based on the position information of the transport vehicle at each target time in combination with a preset reversing position condition, thereby determining whether the transport vehicle performs a reversing action before the parking moment.

[0103] Among them, the preset reversing position conditions may include the geometric relationship that the position of the transport vehicle at each moment before the parking moment should satisfy, for example: the position of the transport vehicle at each moment before the parking moment can form an acute triangle in the geometric relationship, or the position of the transport vehicle at each moment before the parking moment can be connected in the geometric relationship to form a specific pattern, such as an arc.

[0104] By using the speed information of the transport vehicle at each moment before the parking moment, multiple target moments are determined, and by using the position information of the transport vehicle at each target moment, it is determined whether the transport vehicle performs a reversing action before the parking moment. This enables accurate recognition of the reversing action of the transport vehicle and improves the reliability of the recognized reversing action.

[0105] Figure 7 Another flowchart diagram for determining whether a transport vehicle performs a reversing action before stopping in the workload determination method provided in an embodiment of the present application.

[0106] In a possible implementation, the multiple target moments include: a first target moment, a second target moment, and a third target moment. Figure 7 As shown, in the above step S602, when determining whether the transport vehicle performs a reverse action before the parking moment according to the position information of the transport vehicle at each target moment, it includes:

[0107] S701. Determine a first line segment according to position information of a transport vehicle at a first target time and a second target time.

[0108] Optionally, Figure 8 A schematic diagram of location information in the workload determination method provided in an embodiment of the present application, referring to Figure 8 As shown, the obtained multiple target moments can be sorted in chronological order, and the position information A of the first target moment, the position information B of the second target moment, and the position information C of the third target moment can be obtained.

[0109] Optionally, continue to refer to Figure 8 As shown, the first line segment AB can be determined according to the position information A of the transport vehicle at the first target time and the position information B of the transport vehicle at the second target time.

[0110] S702: Determine a second line segment according to the position information of the transport vehicle at the second target time and the third target time.

[0111] Optionally, continue to refer to Figure 8 As shown, the second line segment BC can be determined according to the position information B of the transport vehicle at the second target time and the position information C of the transport vehicle at the third target time.

[0112] S703: If the angle between the first line segment and the second line segment is smaller than the preset angle threshold, it is determined that the transport vehicle performs a reverse action before the parking moment.

[0113] Optionally, the angle ∠ABC between the first line segment AB and the second line segment BC is judged, and if the angle ∠ABC between the first line segment AB and the second line segment BC is less than a preset angle threshold, it is determined that the transport vehicle performs a reverse action before the parking moment. The preset angle threshold may be 30 degrees.

[0114] The first line segment is determined by the position information of the transport vehicle at the first target moment and the second target moment, and the second line segment is determined by the position information of the transport vehicle at the second target moment and the third target moment. When the angle between the first line segment and the second line segment is less than a preset angle threshold, it is determined that the transport vehicle performs a reversing action before the parking moment, which can achieve accurate recognition of the reversing action of the transport vehicle and improve the reliability of the recognized reversing action.

[0115] Fig. 9 A flowchart of determining whether the position relationship between the transport vehicle and the excavator at the parking moment satisfies a preset loading position relationship in the workload determination method provided in an embodiment of the present application.

[0116] In one possible implementation, referring to Fig. 9 As shown, in the above step S403, according to the position information of the transport vehicle at the parking time and the position information of the excavator at the parking time, determining whether the position relationship between the transport vehicle and the excavator at the parking time satisfies the preset loading position relationship includes:

[0117] S901. Determine the distance between the transport vehicle and the excavator at the parking time according to the position information of the transport vehicle at the parking time and the position information of the excavator at the parking time.

[0118] Optionally, the distance between the transport vehicle and the excavator at the time of parking can be calculated based on the position information of the transport vehicle at the time of parking and the position information of the excavator at the time of parking.

[0119] S902: If the distance between the transport vehicle and the excavator at the parking moment is less than a preset distance threshold, determine that the position relationship between the transport vehicle and the excavator at the parking moment satisfies a preset loading position relationship.

[0120] Optionally, the distance between the transport vehicle and the excavator at the parking moment is determined, and if the distance between the transport vehicle and the excavator at the parking moment is less than a preset distance threshold, it is determined that the position relationship between the transport vehicle and the excavator at the parking moment satisfies a preset loading position relationship. The preset distance threshold may be 25 m.

[0121] The distance between the transport vehicle and the excavator at the parking moment is determined by the position information of the transport vehicle at the parking moment and the position information of the excavator at the parking moment. If the distance between the transport vehicle and the excavator at the parking moment is less than the preset distance threshold, it is determined that the position relationship between the transport vehicle and the excavator at the parking moment satisfies the preset loading position relationship, which can realize accurate identification of the position relationship between the transport vehicle and the excavator at the parking moment, thereby improving the reliability of the identified position relationship between the transport vehicle and the excavator at the parking moment.

[0122] Fig.10 A schematic diagram of a flow chart for determining whether an excavator performs a preset rotation action in the workload determination method provided in an embodiment of the present application.

[0123] In one possible implementation, referring to Fig.10 As shown, the above step S404 determines whether the excavator performs a preset rotation action according to the position information of the excavator at each time before the parking moment, and can be performed according to the following steps, including:

[0124] S1001. Filter the position information of the excavator at each time before the parking time to obtain a plurality of position information to be analyzed.

[0125] It can be understood that when determining whether the excavator performs the preset rotation action, the position information of the excavator at each moment before the parking moment can be analyzed according to a pre-constructed feature analysis algorithm to determine whether the excavator performs the preset rotation action.

[0126] Optionally, after performing peak filtering on the position information of the excavator at each time before the parking time, the position information with relatively deviated position information can be filtered out to obtain a plurality of position information to be analyzed.

[0127] S1002: Based on a pre-built feature analysis algorithm, feature analysis is performed on a plurality of position information to be analyzed to determine whether the excavator performs a preset rotation action.

[0128] Optionally, after obtaining a plurality of position information to be analyzed, feature analysis can be performed on the plurality of position information to be analyzed based on a pre-built feature analysis algorithm to determine whether the plurality of position information to be analyzed meets a preset rotation action condition, and if so, the excavator is determined to perform a preset rotation action. The preset rotation action condition is that the feature state corresponding to the plurality of position information to be analyzed is a repeated reciprocating motion.

[0129] By filtering the position information of the excavator at each moment before the parking moment, a plurality of position information to be analyzed is obtained, and based on a pre-constructed feature analysis algorithm, feature analysis is performed on the plurality of position information to be analyzed to determine whether the excavator performs the preset rotation action. This can accurately identify whether the excavator performs the preset rotation action, thereby ensuring the accuracy of the workload determination method provided in the embodiment of the present application.

[0130] Fig.11 A flow chart of determining the end time of transportation in the workload determination method provided in an embodiment of the present application.

[0131] In one possible implementation, referring to Fig.11 As shown, the above step S303 determines the transport end time according to the bucket pressure information of the transport vehicle at each time after the loading end time, including:

[0132] S1101. Obtain the bucket pressure information of the transport vehicle at the second current moment.

[0133] It can be understood that when determining the end time of transportation, it is possible to determine whether the transportation of the transportation vehicle has ended, that is, whether to unload the vehicle, based on the bucket pressure information of the transportation vehicle at each time.

[0134] Optionally, the second current moment can be determined at each moment after the loading of the transport vehicle is completed, and the bucket pressure information at the second current moment can be obtained. The second current moment is any moment after the loading is completed.

[0135] S1102. Obtain the bucket pressure information of the transport vehicle at at least one subsequent moment after the second current moment.

[0136] Optionally, after obtaining the bucket pressure information at the second current moment, the bucket pressure information of the transport vehicle at at least one subsequent moment after the second current moment may be obtained.

[0137] S1103. Determine the average pressure value corresponding to the second current moment according to the bucket pressure information of the transport vehicle at the second current moment and the bucket pressure information of the transport vehicle at each subsequent moment.

[0138] Optionally, the pressure average value corresponding to the second current moment may be calculated based on the bucket pressure information of the transport vehicle at the second current moment and the bucket pressure information of the transport vehicle at each subsequent moment.

[0139] S1104: If the average pressure value is greater than the preset pressure threshold, the second current moment is used as the transportation end moment.

[0140] Optionally, the calculated pressure average value is compared with a preset pressure threshold value, and if the pressure average value is greater than the preset pressure threshold value, the second current moment is taken as the transportation end moment.

[0141] For example, Fig.12 A schematic diagram of the pressure information of the bucket of a transport vehicle provided in an embodiment of the present application, referring to Fig.12 As shown, it is assumed that the electronic device obtains the bucket pressure information of the transport vehicle between 0 and T6 as shown in Fig.12 As shown, the transport vehicle transports during the period 0-T3, the bucket pressure information of the transport vehicle during the period 0-T3 is P1, the vehicle is unloaded during the period T3-T5, and the unloading is completed during the period T5-T6. Then the electronic device can first take T2 as the second current moment, and execute the above steps S1101-S1104 to determine that T2 is not the end time of the transport.

[0142] For example, continue to refer to Fig.12 As shown, the electronic device can take the time T3 as the second current time, obtain the bucket pressure information at the time T3, and obtain the bucket pressure information of the transport vehicle within 5 seconds after the time T3, and calculate the pressure average value P2 corresponding to the time T3 according to the bucket pressure information of the transport vehicle at the time T3 and the bucket pressure information of the transport vehicle within 5 seconds after the time T3, and calculate the product of the pressure average value P2 and the cross-sectional area S of the oil cylinder of the transport vehicle to obtain the lifting force F, and compare the lifting force F with the lifting force threshold. If the lifting force F is greater than the lifting force threshold, the time T3 is determined to be the second current time. Among them, the lifting force threshold can be obtained by the standard bucket capacity V of the transport vehicle, the material density ρ and the gravity coefficient g.

[0143] By using the bucket pressure information of the transport vehicle at the second current moment and the bucket pressure information of the transport vehicle at at least one subsequent moment after the second current moment, the pressure average value corresponding to the second current moment is determined, and based on the pressure average value and the preset pressure threshold, the transport end time is determined. The transport end time can be accurately identified, thereby ensuring the accuracy of the workload determination method provided in the embodiment of the present application.

[0144] In a possible implementation, in the above step S304, determining the loading workload of the excavator according to the duration of the first time period and the position information of the excavator in the first time period includes:

[0145] The duration of the first period is used as the loading time, and the loading fuel consumption is determined based on the loading time and the preset unit time fuel consumption.

[0146] Optionally, after obtaining the first time period, the duration of the first time period is used as the loading time, and the loading fuel consumption of the excavator is calculated based on the loading time and the preset unit time fuel consumption of the excavator.

[0147] The number of round trips of the excavator is determined based on the position information of the excavator in the first period of time; and the number of loading buckets is determined based on the number of round trips.

[0148] Optionally, the position information of the excavator in the first period can be used to obtain the number of round trips of the excavator in the first period based on a pre-built feature analysis algorithm, and the number of loading buckets can be calculated based on the number of round trips of the excavator in the first period.

[0149] In a possible implementation, when the above step S305 determines the transport workload of the transport vehicle according to the duration of the second time period and the position information of the transport vehicle in the second time period, it includes:

[0150] The duration of the second period is taken as the transportation duration; and the transportation fuel consumption is determined according to the transportation duration and the preset unit time fuel consumption.

[0151] Optionally, after obtaining the second time period, the duration of the second time period is used as the transportation duration, and the transportation fuel consumption of the transportation vehicle is calculated based on the transportation duration and the preset unit time fuel consumption of the transportation vehicle.

[0152] The transport distance and transport height of the transport vehicle are determined according to the position information of the transport vehicle in the second period.

[0153] Optionally, the transport distance and transport height of the transport vehicle may be calculated based on the position information of the transport vehicle in the second time period.

[0154] In a possible implementation, the workload determination method provided in the embodiment of the present application further includes:

[0155] The work evaluation result of the person operating the excavator is determined based on the loading workload of the excavator, and the work evaluation result of the person operating the transport vehicle is determined based on the transport workload of the transport vehicle.

[0156] Optionally, the work efficiency result of the person operating the excavator can be determined based on the obtained loading workload of the excavator and the loading time and number of loading buckets of the same model of excavator into a transport vehicle with the same bucket capacity, and the work efficiency difference of different excavators can be determined based on the obtained loading workload of the excavator and the loading time, number of loading buckets and loading fuel consumption of different models of excavators into a transport vehicle with the same bucket capacity, and the work efficiency results and work efficiency differences are used as job evaluation results.

[0157] Optionally, the work efficiency of the personnel operating the transport vehicle can be determined based on the transport workload of the transport vehicle, and the work efficiency can be used as the work evaluation result.

[0158] Based on the same inventive concept, an embodiment of the present application also provides a workload determination device corresponding to the workload determination method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned workload determination method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0159] Fig.13 A schematic diagram of a workload determination device provided in an embodiment of the present application, referring to Fig.13 As shown, the device includes: a first determination module 1301 , a second determination module 1302 , a third determination module 1303 , a fourth determination module 1304 and a fifth determination module 1305 .

[0160] The first determination module 1301 is used to determine the loading start time according to the position information of the excavator at multiple times and the position information, operation status and speed information of the transport vehicle at multiple times;

[0161] The second determination module 1302 is used to determine the loading end time according to the position information of the transport vehicle at multiple times after the loading start time;

[0162] The third determination module 1303 is used to determine the transportation end time according to the bucket pressure information of the transportation vehicle at each time after the loading end time;

[0163] The fourth determination module 1304 is used to determine the loading workload of the excavator according to the duration of the first time period and the position information of the excavator in the first time period, and the loading workload includes: loading time, number of loading buckets and loading fuel consumption;

[0164] The fifth determination module 1305 is used to take the time period between the end of loading and the end of transportation as the second time period, and determine the transportation workload of the transportation vehicle according to the length of the second time period and the position information of the transportation vehicle in the second time period. The transportation workload includes: transportation time, transportation distance, transportation height and transportation fuel consumption.

[0165] In a possible implementation, the first determining module 1301 is specifically configured to:

[0166] Determine the parking time of the transport vehicle before the first current time according to the running state of the transport vehicle at each time before the first current time, the parking time being the time when the transport vehicle changes from the moving state to the stopped state;

[0167] Determine whether the transport vehicle performs a reverse action before the stop time according to the position information and speed information of the transport vehicle at each time before the stop time;

[0168] If yes, then determine whether the position relationship between the transport vehicle and the excavator at the parking time satisfies the preset loading position relationship based on the position information of the transport vehicle at the parking time and the position information of the excavator at the parking time;

[0169] If yes, determine whether the excavator performs the preset rotation action based on the position information of the excavator at each time before the parking time; if yes, take the parking time as the loading start time.

[0170] In a possible implementation, the first determining module 1301 is specifically configured to:

[0171] Determine a plurality of target times according to the speed information of the transport vehicle at each time before the stop time;

[0172] According to the position information of the transport vehicle at each target time, it is determined whether the transport vehicle performs a reverse action before the parking time.

[0173] In a possible implementation, the multiple target moments include: a first target moment, a second target moment, and a third target moment; the first determining module 1301 is specifically configured to:

[0174] Determine a first line segment according to the position information of the transport vehicle at the first target time and the second target time;

[0175] Determine a second line segment according to the position information of the transport vehicle at the second target time and the third target time;

[0176] If the included angle between the first line segment and the second line segment is smaller than the preset angle threshold, it is determined that the transport vehicle performs a reverse action before the parking moment.

[0177] In a possible implementation, the first determining module 1301 is specifically configured to:

[0178] Determine the distance between the transport vehicle and the excavator at the parking time according to the position information of the transport vehicle at the parking time and the position information of the excavator at the parking time;

[0179] If the distance between the transport vehicle and the excavator at the parking moment is less than a preset distance threshold, it is determined that the position relationship between the transport vehicle and the excavator at the parking moment satisfies the preset loading position relationship.

[0180] In a possible implementation, the first determining module 1301 is specifically configured to:

[0181] Filtering the position information of the excavator at each time before the parking time to obtain a plurality of position information to be analyzed;

[0182] Based on the pre-built feature analysis algorithm, feature analysis is performed on multiple position information to be analyzed to determine whether the excavator performs the preset rotation action.

[0183] In a possible implementation, the third determining module 1303 is specifically configured to:

[0184] Obtaining the bucket pressure information of the transport vehicle at the second current moment, where the second current moment is any moment after the loading is completed;

[0185] Acquire the bucket pressure information of the transport vehicle at at least one subsequent time after the second current time;

[0186] Determine the pressure average value corresponding to the second current moment according to the bucket pressure information of the transport vehicle at the second subsequent moment and the bucket pressure information of the transport vehicle at each subsequent moment;

[0187] If the average pressure value is greater than the preset pressure threshold, the second current time is used as the transportation end time.

[0188] In a possible implementation, the fourth determining module 1304 is specifically configured to:

[0189] The duration of the first period is taken as the loading duration;

[0190] Determine the loading fuel consumption based on the loading time and the preset unit time fuel consumption;

[0191] Determine the number of round trips of the excavator according to the position information of the excavator in the first period;

[0192] Determine the number of loading buckets based on the number of round trips.

[0193] In a possible implementation, the fifth determining module 1305 is specifically configured to:

[0194] The duration of the second period is taken as the transportation duration;

[0195] Determine the transportation fuel consumption based on the transportation time and the preset unit time fuel consumption;

[0196] The transport distance and transport height of the transport vehicle are determined according to the position information of the transport vehicle in the second period.

[0197] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0198] The present application embodiment also provides an electronic device 1400, such as Fig.14 As shown, Fig.14 The structural diagram of the electronic device provided in the embodiment of the present application includes: a processor 1401, a memory 1402, and optionally, a bus 1403. The memory 1402 stores machine-readable instructions executable by the processor 1401 (for example, Fig.13 The execution instructions corresponding to the first determination module 1301, the second determination module 1302, the third determination module 1303, the fourth determination module 1304 and the fifth determination module 1305 in the device, etc.), when the electronic device 1400 is running, the processor 1401 communicates with the memory 1402 through the bus 1403, and the steps of the above-mentioned workload determination method are performed when the machine-readable instructions are executed by the processor 1401.

[0199] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned workload determination method are executed.

[0200] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0201] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or part of the technical solution that contributes to the prior art or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0202] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for determining workload, It is characterized in that include: Determine the loading start time according to the position information of the excavator at multiple times and the position information, operation status and speed information of the transport vehicle at multiple times; Determining the loading end time according to the position information of the transport vehicle at multiple time points after the loading start time; Determining the transport end time according to the bucket pressure information of the transport vehicle at each time after the loading end time; The time period between the loading start time and the loading end time is taken as a first time period, and the loading workload of the excavator is determined according to the length of the first time period and the position information of the excavator in the first time period, wherein the loading workload includes: loading time, number of loading buckets, and loading fuel consumption; The time period between the end of loading and the end of transportation is taken as the second time period. The transportation workload of the transportation vehicle is determined according to the length of the second time period and the position information of the transportation vehicle in the second time period. The transportation workload includes: transportation time, transportation distance, transportation height and transportation fuel consumption.

2. The workload determination method according to claim 1, It is characterized in that Determining the loading start time according to the position information of the excavator at multiple times and the position information, operation status and speed information of the transport vehicle at multiple times includes: Determine the parking time of the transport vehicle before the first current time according to the running state of the transport vehicle at each time before the first current time, the parking time being the time when the transport vehicle changes from a moving state to a stopped state; Determining whether the transport vehicle performs a reverse action before the stop time according to the position information and speed information of the transport vehicle at each time before the stop time; If yes, determining whether the positional relationship between the transport vehicle and the excavator at the parking time satisfies a preset loading positional relationship based on the positional information of the transport vehicle at the parking time and the positional information of the excavator at the parking time; If so, determine whether the excavator performs a preset rotation action based on the position information of the excavator at each time before the parking time; if so, use the parking time as the loading start time.

3. The workload determination method according to claim 2, It is characterized in that The determining whether the transport vehicle performs a reverse action before the parking moment according to the position information and speed information of the transport vehicle at each moment before the parking moment comprises: Determining a plurality of target times according to speed information of the transport vehicle at each time before the stopping time; According to the position information of the transport vehicle at each target time, it is determined whether the transport vehicle performs a reversing action before the parking time.

4. The workload determination method according to claim 3, It is characterized in that The multiple target moments include: a first target moment, a second target moment, and a third target moment; The step of determining whether the transport vehicle performs a reverse action before the parking moment according to the position information of the transport vehicle at each target moment includes: Determining a first line segment according to the position information of the transport vehicle at the first target time and the second target time; Determining a second line segment according to the position information of the transport vehicle at the second target time and the third target time; If the included angle between the first line segment and the second line segment is smaller than a preset angle threshold, it is determined that the transport vehicle performs a reversing action before the parking moment.

5. The workload determination method according to claim 2, It is characterized in that The determining, based on the position information of the transport vehicle at the parking time and the position information of the excavator at the parking time, whether the position relationship between the transport vehicle and the excavator at the parking time satisfies a preset loading position relationship includes: Determine the distance between the transport vehicle and the excavator at the parking time according to the position information of the transport vehicle at the parking time and the position information of the excavator at the parking time; If the distance between the transport vehicle and the excavator at the parking moment is less than a preset distance threshold, it is determined that the positional relationship between the transport vehicle and the excavator at the parking moment satisfies a preset loading positional relationship.

6. The workload determination method according to claim 2, It is characterized in that The step of determining whether the excavator performs a preset rotation action according to the position information of the excavator at each time before the parking time includes: Filtering the position information of the excavator at each time before the parking time to obtain a plurality of position information to be analyzed; Based on a pre-built feature analysis algorithm, feature analysis is performed on the plurality of position information to be analyzed to determine whether the excavator performs a preset rotation action.

7. The workload determination method according to claim 1, It is characterized in that The step of determining the transport end time according to the bucket pressure information of the transport vehicle at each time after the loading end time comprises: Obtaining the bucket pressure information of the transport vehicle at a second current moment, where the second current moment is any moment after the loading completion moment; Acquire the bucket pressure information of the transport vehicle at at least one subsequent time after the second current time; Determine the pressure average value corresponding to the second current moment according to the bucket pressure information of the transport vehicle at the second current moment and the bucket pressure information of the transport vehicle at each of the subsequent moments; If the average pressure value is greater than a preset pressure threshold, the second current time is used as the transportation end time.

8. The workload determination method according to claim 1, It is characterized in that The determining the loading workload of the excavator according to the duration of the first time period and the position information of the excavator in the first time period includes: The duration of the first period is used as the loading duration; Determining the loading fuel consumption according to the loading time and the preset unit time fuel consumption; Determine the number of round trips of the excavator according to the position information of the excavator in the first period; The number of loading buckets is determined based on the number of round trips.

9. The workload determination method according to claim 1, It is characterized in that The determining the transport workload of the transport vehicle according to the duration of the second time period and the position information of the transport vehicle in the second time period includes: The duration of the second period is used as the transportation duration; Determining the transportation fuel consumption according to the transportation duration and the preset unit fuel consumption; The transport distance and transport height of the transport vehicle are determined according to the position information of the transport vehicle in the second time period.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the workload determination method as claimed in any one of claims 1 to 9 are executed.

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