Warning method and device applied to low-speed starting of electric excavator

Abstract

The invention discloses a warning method and device applied to low-speed starting of an electric excavator, and the method comprises the steps: detecting whether at least one corresponding target object meeting a preset warning condition exists or not through sensing equipment and radar equipment when the electric excavator works at a low speed, when it is detected that at least one corresponding target object meeting the preset alarm condition exists, current working state information of the electric excavator is obtained, and simulation sound matched with the current working state information is output to the target object according to the working state information, the simulated sound is used for warning the target object away from the working range of the electric excavator. It can be seen that the warning effect of the electric excavator in the working state and the warning flexibility in different working scenes can be improved, misoperation of a driver is effectively avoided, objects such as pedestrians and vehicles can be reminded to pay attention to avoidance, and therefore the use safety of the electric excavator can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a warning method and device for low-speed starting of an electric excavator. Background Art

[0002] In the prior art, the warning system of electric excavators only detects the current working condition signal of the excavator to control the sound unit, and does not combine whether there are pedestrian images around to jointly control the activation of the sound mechanism, which increases unnecessary environmental noise and reduces driving comfort. At the same time, it does not consider multi-scenario applications, and basically only considers the driving environment of urban roads. Electric excavators can be used in urban areas and outdoor mines. In different application scenarios, the driver is not provided with a choice of warning system activation modes, and the intelligent interactivity is poor.

[0003] Therefore, a warning method and device for low-speed starting of an electric excavator are currently provided, which can improve the warning effect when the electric excavator is in an operating state and the warning flexibility in different operating scenarios, effectively remind the driver that the vehicle has entered the starting mode, avoid misoperation of commands, and remind pedestrians, vehicles and other objects to pay attention to avoid, thereby helping to improve the safety of electric excavator use. Summary of the invention

[0004] The present invention provides a method and device for warning when an electric excavator is started at a low speed, which can effectively avoid the driver's misoperation and remind pedestrians, vehicles and other objects to avoid them, thereby improving the warning flexibility and use safety of the electric excavator.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a warning method for low-speed starting of an electric excavator, the method comprising:

[0006] When the electric excavator is working at a low speed, the electric excavator detects whether there is at least one target object that meets the preset alarm condition through the sensor device and the radar device;

[0007] When it is detected that there is at least one target object that meets the preset alarm conditions, the electric excavator obtains the current working status information of the electric excavator and outputs a simulated sound matching the current working status information to the target object, and the simulated sound is used to warn the target object to stay away from the working range of the electric excavator.

[0008] As an optional implementation, in the first aspect of the present invention, the sensing device includes: a camera device and a distance measuring device, wherein the camera device is used to identify the image of the target object, and the distance measuring device is used to measure the distance between the target object and the electric excavator;

[0009] The target object corresponding to the preset alarm condition includes:

[0010] A person whose distance to the electric excavator is less than a preset distance threshold, a motor vehicle and / or non-motor vehicle whose distance to the electric excavator is less than a preset distance threshold, and an animal whose distance to the electric excavator is less than a preset distance threshold.

[0011] As an optional implementation, in the first aspect of the present invention, after outputting the simulated sound matching the current working state information to the target object, the method further includes:

[0012] Determine the number of the target objects, and judge whether the number of the target objects is greater than or equal to a preset number threshold;

[0013] When it is determined that the number of the target objects is greater than or equal to a preset first number threshold, the volume corresponding to the simulated sound is increased to a preset first volume threshold according to the first number threshold; or,

[0014] Determining whether the number of the target objects is less than or equal to a preset number threshold;

[0015] When it is determined that the number of the target objects is less than or equal to a preset second number threshold, the volume corresponding to the simulated sound is reduced to a preset second volume threshold according to the second number threshold.

[0016] As an optional implementation, in the first aspect of the present invention, the working state information includes: at least one of the current travel speed and working gear of the electric excavator;

[0017] The step of outputting a simulated sound matching the current working state information to the target object according to the working state information comprises:

[0018] Determining whether the driving speed is within a preset first speed threshold range;

[0019] When it is determined that the travel speed is within a preset first speed threshold range, determining that the electric excavator is in an idle start state, and outputting an engine start sound matching the current idle start state to the target object;

[0020] Determining whether the driving speed is within a preset second speed threshold range;

[0021] When it is determined that the driving speed is within a preset second speed threshold range, the electric excavator is determined to be in a road driving state, and an engine operation sound corresponding to the current road driving state is output to the target object; or

[0022] When the working gear is determined to be the preset first gear, determining that the electric excavator is in an excavation working state, and outputting an excavation working sound matching the current excavation working state to the target object;

[0023] When the working gear is determined to be the preset second gear, it is determined that the electric excavator is in a crushing working state, and an excavation operation sound matching the current road driving state is output to the target object.

[0024] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0025] When the electric excavator is in the idle start state, detecting whether there is a driver in the operating room inside the electric excavator by means of a camera device;

[0026] When it is detected that there is a driver in the cab of the electric excavator, the current working state information of the electric excavator is obtained, and it is determined whether the working state information has changed:

[0027] When it is determined that the working state information has changed, an engine starting sound matching the idle start state is output to the driver to remind the driver that the electric excavator has started working;

[0028] When it is detected that there is no driver in the cab of the electric excavator, determining whether the control panel in the cab has been locked;

[0029] When it is determined that the control panel in the cab is not locked, a warning voice is output to the outside of the electric excavator that the electric excavator has been started and the control panel is not locked, so as to remind the driver to return to the electric excavator as soon as possible to operate.

[0030] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0031] Detecting the intensity of ambient noise outside the electric excavator by the sensing device;

[0032] Determining whether the ambient noise intensity is greater than or equal to a preset first noise intensity threshold;

[0033] When it is determined that the ambient noise intensity is greater than or equal to a preset first noise intensity threshold, increasing the volume corresponding to the simulated sound to a preset first volume threshold according to the first noise intensity threshold; or,

[0034] Determining whether the ambient noise intensity is less than or equal to a preset second noise intensity threshold;

[0035] When it is determined that the environmental noise intensity is less than or equal to a preset second noise intensity threshold, the volume corresponding to the simulated sound is reduced to a preset second volume threshold according to the second noise intensity threshold.

[0036] As an optional implementation, in the first aspect of the present invention, the sensor device detects whether the external environment of the electric excavator matches a preset environmental scene;

[0037] When it is detected that the external environment of the electric excavator matches the preset environmental scene, adjusting the current warning mode of the electric excavator according to the type and volume corresponding to the simulated sound matching the preset environmental scene;

[0038] The warning information of the warning mode includes the type and volume of the simulated sound used to warn the target object.

[0039] The second aspect of the present invention discloses a warning device for low-speed starting of an electric excavator, the device comprising:

[0040] A detection module, used for detecting whether there is at least one target object that meets a preset alarm condition through a sensor device and a radar device when the electric excavator is working at a low speed;

[0041] An acquisition module, configured to acquire current working state information of the electric excavator when the detection module detects that there is at least one target object corresponding to a preset alarm condition;

[0042] The output module is used to output a simulated sound matching the current working status information to the target object according to the working status information acquired by the acquisition module, wherein the simulated sound is used to warn the target object to stay away from the working range of the electric excavator.

[0043] As an optional implementation, in the second aspect of the present invention, the sensing device at least includes: a camera device and a distance measuring device, wherein the camera device is used to identify the image of the target object, and the distance measuring device is used to measure the distance between the target object and the electric excavator;

[0044] The target object corresponding to the preset alarm condition includes:

[0045] A person whose distance to the electric excavator is less than a preset distance threshold, a motor vehicle and / or non-motor vehicle whose distance to the electric excavator is less than a preset distance threshold, and an animal whose distance to the electric excavator is less than a preset distance threshold.

[0046] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0047] The detection module is further configured to determine the number of the target objects after the output module outputs a simulated sound matching the current working state information to the target objects;

[0048] A judgment module, used to judge whether the number of the target objects determined by the detection module is greater than or equal to a preset number threshold, or to judge whether the number of the target objects is less than or equal to a preset number threshold;

[0049] The volume adjustment module increases the volume corresponding to the simulated sound to a preset first volume threshold value according to the first volume threshold value when the judgment module judges that the number of target objects is greater than or equal to a preset first volume threshold value, or reduces the volume corresponding to the simulated sound to a preset second volume threshold value according to the second volume threshold value when the judgment module judges that the number of target objects is less than or equal to a preset second volume threshold value.

[0050] As an optional implementation, in the second aspect of the present invention, the working state information includes: at least one of the current travel speed and working gear of the electric excavator;

[0051] The specific manner in which the output module outputs the simulated sound matching the current working state information to the target object according to the working state information is:

[0052] Determining whether the driving speed is within a preset first speed threshold range;

[0053] When it is determined that the travel speed is within a preset first speed threshold range, determining that the electric excavator is in an idle start state, and outputting an engine start sound matching the current idle start state to the target object;

[0054] Determining whether the driving speed is within a preset second speed threshold range;

[0055] When it is determined that the driving speed is within a preset second speed threshold range, the electric excavator is determined to be in a road driving state, and an engine operation sound corresponding to the current road driving state is output to the target object; or

[0056] When the working gear is determined to be the preset first gear, determining that the electric excavator is in an excavation working state, and outputting an excavation working sound matching the current excavation working state to the target object;

[0057] When the working gear is determined to be the preset second gear, it is determined that the electric excavator is in a crushing working state, and an excavation operation sound matching the current road driving state is output to the target object.

[0058] As an optional implementation, in the second aspect of the present invention, the detection module is further used to detect whether there is a driver in the operating room inside the electric excavator through a camera device when the electric excavator is in the idle start state;

[0059] The acquisition module is further configured to acquire current working status information of the electric excavator when the detection module detects that there is a driver in the cab of the electric excavator;

[0060] The judging module is further configured to judge whether the working status information acquired by the acquiring module has changed, and / or, when the detecting module detects that there is no driver in the cab of the electric excavator, to judge whether the control panel in the cab has been locked;

[0061] The output module is also used to output an engine start sound matching the idle start state to the driver when the judgment module determines that the working status information has changed, so as to remind the driver that the electric excavator has started working, and / or, when it is determined that the control panel in the cab is not locked, output a warning voice to the outside of the electric excavator that the electric excavator has started and the control panel is not locked, so as to remind the driver to return to the electric excavator as soon as possible for operation.

[0062] As an optional implementation, in the second aspect of the present invention, the detection module is further used to detect the intensity of environmental noise outside the electric excavator through the sensor device;

[0063] The judgment module is further used to judge whether the environmental noise intensity detected by the detection module is greater than or equal to a preset first noise intensity threshold, or to judge whether the environmental noise intensity is less than or equal to a preset second noise intensity threshold;

[0064] The volume adjustment module is also used to increase the volume corresponding to the simulated sound to a preset first volume threshold according to the first noise intensity threshold when the judgment module determines that the ambient noise intensity is greater than or equal to a preset first noise intensity threshold, or to reduce the volume corresponding to the simulated sound to a preset second volume threshold according to the second noise intensity threshold when the judgment module determines that the ambient noise intensity is greater than or equal to a preset second noise intensity threshold.

[0065] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0066] The detection module is further used to detect whether the external environment of the electric excavator matches the preset environmental scene through the sensor device;

[0067] An adjustment module, configured to adjust the current warning mode of the electric excavator according to the type and volume of the simulated sound matching the preset environmental scene when the detection module detects that the external environment of the electric excavator matches the preset environmental scene;

[0068] The warning information of the warning mode includes the type and volume of the simulated sound used to warn the target object.

[0069] The third aspect of the present invention discloses another warning device for low-speed starting of an electric excavator, the device comprising:

[0070] A memory storing executable program code;

[0071] a processor coupled to the memory;

[0072] The processor calls the executable program code stored in the memory to execute the warning method for low-speed starting of an electric excavator disclosed in the first aspect of the present invention.

[0073] The fourth aspect of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the warning method for low-speed starting of an electric excavator disclosed in the first aspect of the present invention.

[0074] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0075] The present invention provides a warning method and device for low-speed start-up of an electric excavator, the method comprising: when the electric excavator is working at a low speed, detecting whether there is at least one target object that satisfies a preset warning condition by means of a sensor device and a radar device, which is beneficial to improving the accuracy of the warning; when it is detected that there is at least one target object that satisfies a preset warning condition, obtaining the current working state information of the electric excavator, and outputting a simulated sound that matches the current working state information to the target object according to the working state information, the simulated sound is used to warn the target object to stay away from the working range of the electric excavator, which can improve the warning effect when the electric excavator is in the working state and the flexibility of the warning in different working scenarios. It can be seen that the implementation of the present invention can effectively avoid the driver's misoperation, and can remind pedestrians, vehicles and other objects to pay attention to avoidance, thereby helping to improve the warning flexibility and use safety of the electric excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0077] Figure 1 It is a flow chart of a warning method for low-speed starting of an electric excavator disclosed in an embodiment of the present invention;

[0078] Figure 2 It is a flow chart of another warning method for low-speed starting of an electric excavator disclosed in an embodiment of the present invention;

[0079] Figure 3 It is a structural schematic diagram of a warning device for low-speed starting of an electric excavator disclosed in an embodiment of the present invention;

[0080] Figure 4 It is a structural schematic diagram of another warning device for low-speed starting of an electric excavator disclosed in an embodiment of the present invention;

[0081] Figure 5 It is a structural schematic diagram of another warning device for low-speed starting of an electric excavator disclosed in an embodiment of the present invention;

[0082] Figure 6 The invention discloses a structural diagram of a warning system for low-speed starting of an electric excavator. DETAILED DESCRIPTION

[0083] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0084] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0085] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0086] The present invention discloses a warning method and device for low-speed start of an electric excavator. When the electric excavator is working at a low speed, the sensor device and the radar device can detect whether there is at least one target object that meets the preset warning condition, which is beneficial to improving the accuracy of the warning. When at least one target object that meets the preset warning condition is detected, the current working state information of the electric excavator is obtained, and a simulated sound matching the current working state information is output to the target object according to the working state information. The simulated sound is used to warn the target object to stay away from the working range of the electric excavator, which can improve the warning effect when the electric excavator is in the working state and the warning flexibility in different working scenes, effectively avoid the driver's misoperation, and can remind pedestrians, vehicles and other objects to avoid, thereby helping to improve the warning flexibility and use safety of the electric excavator. The following are detailed descriptions.

[0087] Embodiment 1

[0088] See also Figure 1 , Figure 1 1 is a flow chart of a warning method for low-speed starting of an electric excavator disclosed in an embodiment of the present invention. Figure 1 The described warning method for low-speed start of an electric excavator can be applied to a warning device for low-speed start of an electric excavator, and the device can be applied to a warning system for low-speed start of an electric excavator, which is not limited in the embodiments of the present invention. Figure 6 As shown, the system may at least include: a display screen for displaying control signals, a control module (warning device) of the warning system, a generating unit for emitting simulated sounds, and a sensor device (camera device, radar device, etc.), which is not limited in the embodiment of the present invention. Figure 1 As shown, the warning method applied to the low-speed start of the electric excavator may include the following operations:

[0089] 101. When the electric excavator is operating at a low speed, a sensor device is used to detect whether there is at least one target object that meets a preset alarm condition.

[0090] In an embodiment of the present invention, optionally, the sensing device may at least include: a camera device (surveillance camera), a distance measuring device (laser radar, ultrasonic radar, infrared rangefinder, etc.), a sound receiving device, etc. The camera device is used to identify the image of the target object through a deep neural network algorithm, the distance measuring device is used to measure the distance between the target object and the electric excavator, and the target objects corresponding to the preset alarm conditions may include: a person whose distance to the electric excavator is less than a preset distance threshold (for example, 10 meters), a motor vehicle and / or non-motor vehicle (passenger car, truck, engineering vehicle, special vehicle, bicycle, tricycle, etc.) whose distance to the electric excavator is less than a preset distance threshold (for example, 20 meters), an animal (for example, livestock, pets, birds, etc.) whose distance to the electric excavator is less than a preset distance threshold (for example, 10 meters), etc., and the embodiment of the present invention does not limit this.

[0091] In this way, by using sensor equipment to detect whether there are multiple types of target objects that meet the preset alarm conditions, it is beneficial to improve the accuracy of the warning, thereby improving the warning effect when the electric excavator is in operation and the flexibility of warning in different operating scenarios, reminding pedestrians, vehicles and other objects to avoid them, and improving the safety of the electric excavator.

[0092] 102. When it is detected that there is at least one target object that satisfies a preset alarm condition, the current working state information of the electric excavator is obtained.

[0093] In the embodiment of the present invention, optionally, Figure 6 As shown, the warning device can obtain the working status signal output by the electric excavator through the electric excavator, and obtain the working status information through the working status signal. The working status information may include: at least one of the current driving speed, working gear, etc. of the electric excavator, which is not limited in the embodiment of the present invention.

[0094] In this way, by obtaining the current working status information of the electric excavator, it is helpful to improve the accuracy of the warning, thereby helping to improve the warning effect when the electric excavator is in an operating state and the flexibility of the warning in different operating scenarios.

[0095] 103. Output a simulated sound matching the current working status information to the target object according to the working status information.

[0096] In the embodiment of the present invention, optionally, the simulated sound is used to warn the target object to stay away from the working range of the electric excavator.

[0097] In the embodiment of the present invention, outputting a simulated sound matching the current working state information to the target object according to the working state information may include:

[0098] Determine whether the driving speed is within a preset first speed threshold range, for example: the speed range is between (0km / h, 15km / h].

[0099] When it is determined that the travel speed is within the preset first speed threshold range, it is determined that the electric excavator is in an idle start state, and an engine start sound matching the current idle start state is output to the target object.

[0100] Determine whether the driving speed is within a preset second speed threshold range, for example: the speed range is greater than or equal to 20 km / h.

[0101] When it is determined that the driving speed is within the preset second speed threshold range, it is determined that the electric excavator is in a road driving state, and the engine operation sound corresponding to the current road driving state is output to the target object. Or,

[0102] When the working gear is determined to be the preset first gear, it is determined that the electric excavator is in an excavation working state, and an excavation working sound matching the current excavation working state is output to the target object.

[0103] When the working gear is determined to be the preset second gear, it is determined that the electric excavator is in a crushing working state, and an excavation operation sound matching the current road driving state is output to the target object.

[0104] In this way, by outputting a variety of simulated sounds matching the current working status information to the target object according to the different working status information of the electric excavator, the accuracy of the warning can be improved, which is beneficial to improving the warning effect when the electric excavator is in an operating state and the flexibility of warnings in different working scenarios, reminding pedestrians, vehicles and other objects to pay attention to avoid, and improving the safety of the electric excavator.

[0105] In the embodiment of the present invention, optionally, when the electric excavator is in an idle start state, the method may further include the following operations:

[0106] The camera equipment is used to detect whether there is a driver in the operating room inside the electric excavator.

[0107] When it is detected that there is a driver in the cab of the electric excavator, the current working state information of the electric excavator is obtained, and it is determined whether the working state information has changed.

[0108] When it is determined that the working state information has changed, an engine starting sound matching the idle start state is output to the driver to remind the driver that the electric excavator has started working.

[0109] When it is detected that there is no driver in the cab of the electric excavator, it is determined whether the control panel in the cab has been locked.

[0110] When it is determined that the control panel in the cab is not locked, a warning voice is output to the outside of the electric excavator that the electric excavator has been started and the control panel is not locked, so as to remind the driver to return to the electric excavator as soon as possible to operate.

[0111] In this way, the camera equipment can detect whether there is a driver in the operating room inside the electric excavator, so as to remind the driver that the electric excavator has started working, or remind the driver who has left the cab that the electric excavator has not been locked. This can improve the warning effect when the electric excavator is in operation and the flexibility of warning in different operating scenarios, effectively avoid the driver's misoperation, and thus help improve the safety of electric excavator use.

[0112] In an optional embodiment, after executing step 104, the method further includes the following operations:

[0113] Determine the number of target objects and judge whether the number of target objects is greater than or equal to a preset number threshold.

[0114] In this optional embodiment, optionally, the preset quantity threshold can be intelligently adjusted according to the type and volume size of the target object. When the target object is a pedestrian, the preset quantity threshold can be 10; when the target object is a small motor vehicle and / or non-motor vehicle, the preset quantity threshold can be 10; when the target object is a medium-sized motor vehicle, the preset quantity threshold can be 5; when the target object is a medium-sized motor vehicle, the preset quantity threshold can be 20, and when the target object is a large motor vehicle, the preset quantity threshold can be 1; when the target object is livestock, the preset quantity threshold can be 10, and when the target object is a bird, the preset quantity threshold can be 20, which is not limited by the present invention.

[0115] When it is determined that the number of target objects is greater than or equal to a preset first number threshold, the volume corresponding to the simulated sound is increased to a preset first volume threshold (eg, 60 decibels) according to the first number threshold. Or,

[0116] Determine whether the number of target objects is less than or equal to a preset number threshold.

[0117] When it is determined that the number of target objects is less than or equal to a preset second number threshold, the volume corresponding to the simulated sound is reduced to a preset second volume threshold (eg, 40 decibels) according to the second number threshold.

[0118] In this optional embodiment, preferably, the sensor device can also be used to identify whether the person is a hearing-impaired person or a visually impaired person. When identified as a hearing-impaired person, the warning light or warning electronic screen provided on the electric excavator flashes the light or provides a text warning to the hearing-impaired person; when identified as a visually impaired person, the volume corresponding to the simulated sound is increased to a preset third volume threshold (for example: 80 decibels).

[0119] It can be seen that this optional embodiment can intelligently adjust the output volume corresponding to the simulated sound according to the type and number of target objects, which can improve the warning effect when the electric excavator is in operation and the warning flexibility in different operation scenarios, and effectively remind pedestrians, vehicles and other objects to pay attention to avoid them, thereby helping to improve the safety of the use of the electric excavator and ensure the safety of others.

[0120] Embodiment 2

[0121] See also Figure 2 , Figure 2 1 is a flow chart of a warning method for low-speed starting of an electric excavator disclosed in an embodiment of the present invention. Figure 2 The described warning method for low-speed start of an electric excavator can be applied to a warning device for low-speed start of an electric excavator, and the device can be applied to a warning system for low-speed start of an electric excavator, which is not limited in the embodiments of the present invention. Optionally, the system may include at least: a display screen for displaying control signals, a control module (warning device) of the warning system, a generating unit for emitting simulated sounds, and a sensor device (camera device, radar device, etc.), which is not limited in the embodiments of the present invention. Figure 2 As shown, the warning method applied to the low-speed start of the electric excavator may include the following operations:

[0122] 201. When the electric excavator is operating at a low speed, a sensor device is used to detect whether there is at least one target object that meets a preset alarm condition.

[0123] 202. When it is detected that there is at least one target object that satisfies a preset alarm condition, obtain current working state information of the electric excavator.

[0124] 203. Output a simulated sound matching the current working status information to the target object according to the working status information.

[0125] 204. Detect whether the external environment of the electric excavator matches the preset environmental scene through the sensor equipment.

[0126] In an embodiment of the present invention, the preset environmental scene may include: an urban road construction area, a mining area, an earthwork area, a port area, an agricultural planting area, etc. For example, when the environmental scene is an urban road construction area or a mining area, due to the large external environmental noise, the volume and frequency of the simulated sound can be appropriately increased to improve the warning effect on the target object.

[0127] 205. When it is detected that the external environment of the electric excavator matches the preset environmental scene, the warning information in the current warning mode of the electric excavator is adjusted according to the type and volume corresponding to the simulated sound matching the preset environmental scene.

[0128] In the embodiment of the present invention, the warning information of the warning mode optionally includes the type and volume of the simulated sound used to warn the target object. Further optionally, the driver of the electric excavator can manually switch the warning mode according to different external environmental scenes through the control panel and display screen inside the electric excavator.

[0129] In an optional embodiment, after executing step 205, the method further includes the following operations:

[0130] The intensity of ambient noise outside the electric excavator is detected by sensing equipment.

[0131] Determine whether the ambient noise intensity is greater than or equal to a preset first noise intensity threshold (eg, greater than or equal to 80 decibels).

[0132] When it is determined that the ambient noise intensity is greater than or equal to a preset first noise intensity threshold, the volume corresponding to the simulated sound is increased to a preset first volume threshold according to the first noise intensity threshold. Or,

[0133] Determine whether the ambient noise intensity is less than or equal to a preset second noise intensity threshold (eg, less than or equal to 40 decibels).

[0134] When it is determined that the intensity of the ambient noise is less than or equal to a preset second noise intensity threshold, the volume corresponding to the simulated sound is reduced to a preset second volume threshold according to the second noise intensity threshold.

[0135] It can be seen that this optional embodiment can intelligently adjust the output type and volume corresponding to the simulated sound according to the intensity of the ambient noise outside the electric excavator, which can improve the warning effect when the electric excavator is in operation and the warning flexibility in different operation scenarios, and effectively remind pedestrians, vehicles and other objects to pay attention to avoid, thereby helping to improve the safety of the use of the electric excavator and ensure the safety of others.

[0136] In the embodiment of the present invention, for other descriptions of step 201 to step 203, please refer to the detailed description of step 101 to step 103 in the first embodiment, and the embodiment of the present invention will not be repeated.

[0137] It can be seen that the implementation of the embodiment of the present invention can intelligently adjust the output type and volume corresponding to the simulated sound according to the different external environments of the electric excavator, which can improve the warning effect when the electric excavator is in operation and the warning flexibility in different operation scenarios, and effectively remind pedestrians, vehicles and other objects to pay attention to avoid, thereby helping to improve the safety of the use of the electric excavator and ensure the safety of others.

[0138] It can be seen that the implementation Figure 2 The described warning method applied to the low-speed start-up of an electric excavator can detect whether there is at least one target object that meets the preset warning condition through a sensor device and a radar device when the electric excavator is working at a low speed, which is beneficial to improving the accuracy of the warning; when it is detected that there is at least one target object that meets the preset warning condition, the current working status information of the electric excavator is obtained, and a simulated sound matching the current working status information is output to the target object according to the working status information. The simulated sound can be used to warn the target object to stay away from the working range of the electric excavator, and the output type and volume corresponding to the simulated sound can be intelligently adjusted according to the different external environments of the electric excavator. This can improve the warning effect of the electric excavator when it is in an operating state and the flexibility of warning in different operating scenarios, effectively avoid the driver's misoperation, and can remind pedestrians, vehicles and other objects to pay attention to avoid, thereby helping to improve the safety of the electric excavator and use, and ensure the safety of others.

[0139] Embodiment 3

[0140] See also Figure 3 , Figure 3 1 is a schematic diagram of a warning device for low-speed starting of an electric excavator disclosed in an embodiment of the present invention. Figure 3 The described warning device applied to the low-speed start of an electric excavator can be implemented in the above-mentioned warning device applied to the low-speed start of an electric excavator, and the device can be applied to the warning system for the low-speed start of an electric excavator, which is not limited in the embodiments of the present invention. Optionally, the system may include at least: a display screen for displaying control signals, a control module (warning device) of the warning system, a generating unit for emitting simulated sounds, and a sensor device (camera device, radar device, etc.), which is not limited in the embodiments of the present invention. Figure 3 As shown, the warning device applied to the low-speed start of the electric excavator may include a detection module 301, an acquisition module 302, and an output module 303, wherein:

[0141] The detection module 301 is used to detect whether there is at least one target object that meets the preset alarm condition through the sensor device and the radar device when the electric excavator is working at a low speed.

[0142] The acquisition module 302 is used to acquire the current working state information of the electric excavator when the detection module 301 detects that there is at least one target object that satisfies the preset alarm condition.

[0143] The output module 303 is used to output a simulated sound matching the current working status information to the target object according to the working status information acquired by the acquisition module 302, and the simulated sound is used to warn the target object to stay away from the working range of the electric excavator.

[0144] It can be seen that the implementation Figure 3 The described warning device for low-speed starting of an electric excavator can detect whether there is at least one target object that meets the preset warning condition through a sensor device and a radar device when the electric excavator is working at a low speed, which is beneficial to improving the accuracy of the warning; when it is detected that there is at least one target object that meets the preset warning condition, the current working status information of the electric excavator is obtained, and a simulated sound matching the current working status information is output to the target object based on the working status information. The simulated sound is used to warn the target object to stay away from the working range of the electric excavator, which can improve the warning effect when the electric excavator is in an operating state and the warning flexibility in different operating scenarios, effectively avoid the driver's misoperation, and can remind pedestrians, vehicles and other objects to avoid, thereby helping to improve the safety of the electric excavator and its use, and ensuring the safety of others.

[0145] In an optional embodiment, the sensing device includes at least: a camera device and a distance measuring device, wherein the camera device is used to identify an image of a target object, and the distance measuring device is used to measure a distance between the target object and the electric excavator.

[0146] The target objects that meet the preset alarm conditions include:

[0147] A person whose distance to the electric excavator is less than a preset distance threshold, a motor vehicle and / or non-motor vehicle whose distance to the electric excavator is less than a preset distance threshold, and an animal whose distance to the electric excavator is less than a preset distance threshold.

[0148] It can be seen that the implementation Figure 4The described warning device applied to the low-speed start-up of an electric excavator can detect through a sensor device whether there are multiple types of target objects corresponding to the preset warning conditions, which is beneficial to improving the accuracy of the warning, thereby improving the warning effect when the electric excavator is in an operating state and the flexibility of the warning in different operating scenarios, reminding pedestrians, vehicles and other objects to avoid them, and improving the safety of the electric excavator.

[0149] In another optional embodiment, Figure 4 As shown, the device also includes:

[0150] The detection module 301 is further used to determine the number of target objects after the output module 303 outputs a simulated sound matching the current working state information to the target objects.

[0151] The judgment module 304 is used to judge whether the number of target objects determined by the detection module 301 is greater than or equal to a preset number threshold, or to judge whether the number of target objects is less than or equal to a preset number threshold.

[0152] The volume adjustment module 305 increases the volume corresponding to the simulated sound to the preset first volume threshold according to the first volume threshold when the judgment module 304 judges that the number of target objects is greater than or equal to the preset first volume threshold, or reduces the volume corresponding to the simulated sound to the preset second volume threshold according to the second volume threshold when the judgment module 304 judges that the number of target objects is greater than or equal to the preset second volume threshold.

[0153] It can be seen that the implementation Figure 4 The described warning device applied to the low-speed start-up of an electric excavator can intelligently adjust the output volume corresponding to the simulated sound according to the type and number of target objects, which can improve the warning effect when the electric excavator is in operation and the warning flexibility in different operation scenarios, and effectively remind pedestrians, vehicles and other objects to pay attention to avoid, thereby helping to improve the safety of the use of the electric excavator and ensure the safety of others.

[0154] In yet another optional embodiment, Figure 4 As shown, the working status information includes: at least one of the current driving speed and working gear of the electric excavator.

[0155] As well as Figure 4 As shown, the specific manner in which the output module 303 outputs the simulated sound matching the current working state information to the target object according to the working state information is:

[0156] Determine whether the driving speed is within a preset first speed threshold range.

[0157] When it is determined that the travel speed is within the preset first speed threshold range, it is determined that the electric excavator is in an idle start state, and an engine start sound matching the current idle start state is output to the target object.

[0158] Determine whether the driving speed is within a preset second speed threshold range.

[0159] When it is determined that the driving speed is within the preset second speed threshold range, it is determined that the electric excavator is in a road driving state, and the engine operation sound corresponding to the current road driving state is output to the target object. Or,

[0160] When the working gear is determined to be the preset first gear, it is determined that the electric excavator is in an excavation working state, and an excavation working sound matching the current excavation working state is output to the target object.

[0161] When the working gear is determined to be the preset second gear, it is determined that the electric excavator is in a crushing working state, and an excavation operation sound matching the current road driving state is output to the target object.

[0162] It can be seen that the implementation Figure 4 The described warning device applied to the low-speed start-up of an electric excavator can output a variety of simulated sounds matching the current working status information to the target object according to the different working status information of the electric excavator, which can improve the accuracy of the warning, thereby facilitating the improvement of the warning effect when the electric excavator is in the working state and the flexibility of the warning in different working scenarios, reminding pedestrians, vehicles and other objects to avoid them, and improving the safety of the use of the electric excavator.

[0163] In yet another optional embodiment, Figure 4 As shown, the detection module 301 is also used to detect whether there is a driver in the operating room inside the electric excavator through a camera device when the electric excavator is in an idle start state.

[0164] The acquisition module 302 is further used to acquire the current working state information of the electric excavator when the detection module 301 detects that there is a driver in the cab inside the electric excavator.

[0165] The judgment module 304 is further used to judge whether the working status information acquired by the acquisition module 302 has changed, and / or, when the detection module 301 detects that there is no driver in the cab of the electric excavator, to judge whether the control panel in the cab has been locked.

[0166] The output module 303 is also used to output an engine start sound matching the idle start state to the driver when the judgment module 304 determines that the working state information has changed, so as to remind the driver that the electric excavator has started working, and / or, when it is determined that the control panel in the cab is not locked, output a warning voice to the outside of the electric excavator that the electric excavator has started and the control panel is not locked, so as to remind the driver to return to the electric excavator as soon as possible for operation.

[0167] It can be seen that the implementation Figure 4 The described warning device for low-speed starting of an electric excavator can detect whether there is a driver in the operating room inside the electric excavator through a camera device, thereby reminding the driver that the electric excavator has started working, or reminding the driver who has left the cab that the electric excavator has not been locked. It can improve the warning effect when the electric excavator is in an operating state and the warning flexibility in different operating scenarios, effectively avoiding the driver's misoperation, thereby helping to improve the safety of the electric excavator.

[0168] In yet another optional embodiment, Figure 4 As shown, the detection module 301 is also used to detect the intensity of ambient noise outside the electric excavator through a sensor device.

[0169] The judgment module 304 is further used to judge whether the environmental noise intensity detected by the detection module 301 is greater than or equal to a preset first noise intensity threshold, or to judge whether the environmental noise intensity is less than or equal to a preset second noise intensity threshold.

[0170] The volume adjustment module 305 is also used to increase the volume corresponding to the simulated sound to a preset first volume threshold according to the first noise intensity threshold when the judgment module 304 judges that the ambient noise intensity is greater than or equal to the preset first noise intensity threshold, or to reduce the volume corresponding to the simulated sound to a preset second volume threshold according to the second noise intensity threshold when the ambient noise intensity is less than or equal to the preset second noise intensity threshold.

[0171] It can be seen that the implementation Figure 4 The described warning device applied to the low-speed start-up of an electric excavator can intelligently adjust the output type and volume corresponding to the simulated sound according to the intensity of the ambient noise outside the electric excavator, which can improve the warning effect when the electric excavator is in operation and the warning flexibility in different operation scenarios, and effectively remind pedestrians, vehicles and other objects to pay attention to avoid, thereby helping to improve the safety of the use of the electric excavator and ensure the safety of others.

[0172] In yet another optional embodiment, Figure 4As shown, the detection module 301 is also used to detect whether the external environment of the electric excavator matches the preset environmental scene through the sensor device.

[0173] The adjustment module 306 is used to adjust the current warning mode of the electric excavator according to the type and volume of the simulated sound matching the preset environmental scene when the detection module 301 detects that the external environment of the electric excavator matches the preset environmental scene.

[0174] The warning information of the warning mode includes the type and volume of the simulated sound used to warn the target object.

[0175] It can be seen that the implementation Figure 4 The described warning device applied to the low-speed start-up of an electric excavator can intelligently adjust the output type and volume of the simulated sound according to the different external environments of the electric excavator, thereby improving the warning effect when the electric excavator is in operation and the warning flexibility in different operation scenarios, and effectively reminding pedestrians, vehicles and other objects to pay attention and avoid them, thereby helping to improve the safety of the use of the electric excavator and ensure the safety of others.

[0176] Embodiment 4

[0177] See also Figure 5 , Figure 5 1 is a schematic diagram of another structure of a warning device for low-speed starting of an electric excavator disclosed in an embodiment of the present invention. Figure 5 As shown, the warning device applied to the low-speed start of the electric excavator may include:

[0178] A memory 401 storing executable program codes;

[0179] a processor 402 coupled to the memory 401;

[0180] The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the warning method for low-speed starting of an electric excavator described in the first embodiment of the present invention or the second embodiment of the present invention.

[0181] Embodiment 5

[0182] An embodiment of the present invention discloses a computer storage medium storing computer instructions. When the computer instructions are called, they are used to execute the steps of the warning method for low-speed starting of an electric excavator described in Embodiment 1 or Embodiment 2 of the present invention.

[0183] Embodiment 6

[0184] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps of the warning method for low-speed starting of an electric excavator described in Embodiment 1 or Embodiment 2.

[0185] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0186] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, a magnetic disk storage, a magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0187] Finally, it should be noted that the warning method and device for low-speed starting of an electric excavator disclosed in the embodiment of the present invention only discloses a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A warning method for low-speed starting of an electric excavator, characterized in that: The method comprises: When the electric excavator is working at a low speed, the sensor device detects whether there is at least one target object that meets the preset alarm condition; When it is detected that there is at least one target object that meets the preset alarm conditions, the current working status information of the electric excavator is obtained, and a simulated sound matching the current working status information is output to the target object based on the working status information. The simulated sound is used to warn the target object to stay away from the working range of the electric excavator.

2. The warning method for low-speed start of an electric excavator according to claim 1 is characterized in that: The sensing device at least includes: a camera device and a distance measuring device, wherein the camera device is used to identify the image of the target object, and the distance measuring device is used to measure the distance between the target object and the electric excavator; The target object corresponding to the preset alarm condition includes: A person whose distance to the electric excavator is less than a preset distance threshold, a motor vehicle and / or non-motor vehicle whose distance to the electric excavator is less than a preset distance threshold, and an animal whose distance to the electric excavator is less than a preset distance threshold.

3. The warning method for low-speed starting of an electric excavator according to claim 1 is characterized in that: After outputting the simulated sound matching the current working state information to the target object, the method further includes: Determine the number of the target objects, and judge whether the number of the target objects is greater than or equal to a preset number threshold; When it is determined that the number of the target objects is greater than or equal to a preset first number threshold, the volume corresponding to the simulated sound is increased to a preset first volume threshold according to the first number threshold; or, Determining whether the number of the target objects is less than or equal to a preset number threshold; When it is determined that the number of the target objects is less than or equal to a preset second number threshold, the volume corresponding to the simulated sound is reduced to a preset second volume threshold according to the second number threshold.

4. The warning method for low-speed starting of an electric excavator according to claim 1, characterized in that: The working state information includes: at least one of the current travel speed and working gear of the electric excavator; The step of outputting a simulated sound matching the current working state information to the target object according to the working state information comprises: Determining whether the driving speed is within a preset first speed threshold range; When it is determined that the travel speed is within a preset first speed threshold range, determining that the electric excavator is in an idle start state, and outputting an engine start sound matching the current idle start state to the target object; Determining whether the driving speed is within a preset second speed threshold range; When it is determined that the driving speed is within a preset second speed threshold range, the electric excavator is determined to be in a road driving state, and an engine operation sound corresponding to the current road driving state is output to the target object; or When the working gear is determined to be the preset first gear, determining that the electric excavator is in an excavation working state, and outputting an excavation working sound matching the current excavation working state to the target object; When the working gear is determined to be the preset second gear, it is determined that the electric excavator is in a crushing working state, and an excavation operation sound matching the current road driving state is output to the target object.

5. The warning method for low-speed starting of an electric excavator according to claim 3 is characterized in that: The method further comprises: When the electric excavator is in the idle start state, detecting whether there is a driver in the operating room inside the electric excavator by means of a camera device; When it is detected that there is a driver in the cab of the electric excavator, the current working state information of the electric excavator is obtained, and it is determined whether the working state information has changed: When it is determined that the working state information has changed, an engine starting sound matching the idle start state is output to the driver to remind the driver that the electric excavator has started working; When it is detected that there is no driver in the cab of the electric excavator, determining whether the control panel in the cab has been locked; When it is determined that the control panel in the cab is not locked, a warning voice is output to the outside of the electric excavator that the electric excavator has been started and the control panel is not locked, so as to remind the driver to return to the electric excavator as soon as possible to operate.

6. The warning method for low-speed starting of an electric excavator according to claim 3 is characterized in that: The method further comprises: Detecting the intensity of ambient noise outside the electric excavator by the sensing device; Determining whether the ambient noise intensity is greater than or equal to a preset first noise intensity threshold; When it is determined that the ambient noise intensity is greater than or equal to a preset first noise intensity threshold, increasing the volume corresponding to the simulated sound to a preset first volume threshold according to the first noise intensity threshold; or, Determining whether the ambient noise intensity is less than or equal to a preset second noise intensity threshold; When it is determined that the environmental noise intensity is less than or equal to a preset second noise intensity threshold, the volume corresponding to the simulated sound is reduced to a preset second volume threshold according to the second noise intensity threshold.

7. The warning method for low-speed starting of an electric excavator according to claim 1, characterized in that: The method further comprises: Detecting, by means of the sensing device, whether the external environment of the electric excavator matches a preset environmental scene; When it is detected that the external environment of the electric excavator matches the preset environmental scene, adjusting the current warning mode of the electric excavator according to the type and volume corresponding to the simulated sound matching the preset environmental scene; The warning information of the warning mode includes the type and volume of the simulated sound used to warn the target object.

8. A warning device for low-speed starting of an electric excavator, characterized in that: The device comprises: A detection module, used for detecting whether there is at least one target object that meets a preset alarm condition through a sensor device and a radar device when the electric excavator is working at a low speed; An acquisition module, configured to acquire current working state information of the electric excavator when the detection module detects that there is at least one target object corresponding to a preset alarm condition; The output module is used to output a simulated sound matching the current working status information to the target object according to the working status information acquired by the acquisition module, wherein the simulated sound is used to warn the target object to stay away from the working range of the electric excavator.

9. A warning device for low-speed starting of an electric excavator, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the warning method for low-speed starting of an electric excavator as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the warning method for low-speed starting of an electric excavator as described in any one of claims 1-7.

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