Excavator gear recommendation method and device

Abstract

The invention provides an excavator gear recommendation method and device. The method comprises a classification model training process and a classification model recommendation process. The classification model training process comprises the steps that operation parameters of an excavator during excavation work are obtained; parameters such as engine oil consumption and engine running time corresponding to each single excavation under each gear under each working condition are calculated respectively; determining a recommended gear; training a classification model by using the feature values; the classification model recommendation process comprises the following steps that whether an excavator is in an excavation state or not is judged; respectively calculating corresponding characteristic values, and inputting each characteristic value into the trained classification model; and taking the gear corresponding to the minimum value of the recommendation factor wi of the gear as the currently recommended gear. The recommended gear is obtained by counting the average value of the engine oil consumption corresponding to multiple single excavation under each gear under each working condition and the average value of the engine operation time, and the recommended gear can enable the engine oil consumption and the working efficiency of the excavator to be relatively optimal.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a method and device for recommending gear positions of excavators. Background Art

[0002] Excavators are important mechanical equipment used in infrastructure construction and mineral excavation. Figure 1 As shown, the excavator includes a bucket 1, a bucket arm 2, a boom 3 and a slewing table 4. The bucket 1, the bucket arm 2 and the boom 3 can be used for excavation; the slewing table 4 can rotate left or right. The excavator has many working objects and varies greatly. The working objects, i.e., geological conditions, include hard soil, soft soil, gravel, stone and other working conditions. Different excavator gears, i.e., engine gears, are required for different working conditions to achieve the best fuel consumption and time consumption.

[0003] However, currently, operators mainly choose the gear position of the excavator corresponding to different working conditions based on experience. However, for novices or in rainy and snowy weather, operators cannot accurately judge the geological conditions and the gear position of the excavator corresponding to the conditions, resulting in excessive fuel consumption and time consumption, increasing operating costs. Summary of the invention

[0004] The present invention provides a method and device for recommending gear positions of an excavator, so as to solve the technical problem that operators cannot accurately judge geological conditions and the gear positions of the excavator corresponding to the conditions.

[0005] In order to solve the above technical problems, the present invention provides a method for recommending gear positions of an excavator, including a classification model training process and a classification model recommendation process;

[0006] The classification model training process includes the following steps:

[0007] Under various working conditions, the excavator is made to perform excavation operations in various gears, and operating parameters of the excavator during the excavation operations are obtained;

[0008] Determine whether the excavator is in the excavation state according to the preset frequency. If yes, calculate the engine fuel consumption and engine running time corresponding to each single excavation under each working condition and each gear, the average value of the engine fuel consumption and the average value of the engine running time corresponding to multiple single excavations, and the characteristic values ​​corresponding to the operating parameters of each single excavation under each working condition and each gear;

[0009] According to the formula Determine the recommended gear, where wi represents the recommended factor of gear i, and the gear corresponding to the minimum value of wi is the recommended gear; δ is a preset coefficient, and the value range of δ is [0,1]; represents the average fuel consumption of the engine corresponding to multiple single excavations in the i-th gear of the k-th working condition; represents the average starting running time corresponding to multiple single excavations in the i-th gear of the k-th working condition;

[0010] The classification model is trained using the characteristic values, so that the classification model can distinguish the characteristic values ​​corresponding to each gear position under each working condition according to the characteristic values;

[0011] The classification model recommendation process includes the following steps:

[0012] Obtain the operating parameters of the excavator, and determine whether the excavator is in the excavation state according to the preset frequency. If yes, obtain the operating parameters corresponding to each single excavation of the excavator; if not, end this recommendation process;

[0013] Calculating the characteristic values ​​corresponding to the operating parameters respectively, and inputting the characteristic values ​​into the trained classification model, so that the classification model determines the current operating condition according to the input characteristic values;

[0014] Determine the minimum value of wi corresponding to the current working condition, and use the gear corresponding to the minimum value of wi as the currently recommended gear.

[0015] Optionally, after the step of taking the gear corresponding to the minimum value of wi as the currently recommended gear, the following step is also included: displaying the currently recommended gear.

[0016] Optionally, the step of calculating the characteristic value corresponding to the operating parameter corresponding to each single excavation under each working condition and each gear position specifically includes the following steps:

[0017] Based on the time series, each operating parameter is spliced ​​to obtain the time series data corresponding to each operating parameter;

[0018] Determine the target time period corresponding to a single excavation;

[0019] The average value, maximum value, median or sum corresponding to each time series data in the target time period is taken as the corresponding feature value.

[0020] Optionally, the step of splicing the operating parameters based on the timing specifically includes the following steps: splicing the operating parameters based on the timing and using linear interpolation.

[0021] Optionally, the step of determining whether the excavator is in the excavation state specifically includes the following steps: determining whether the following two conditions are met:

[0022] Condition 1: bucket excavation solenoid valve current> bucket unloading solenoid valve current, arm excavation solenoid valve current> arm unloading solenoid valve current, bucket excavation solenoid valve current> first threshold value, and arm excavation solenoid valve current> second threshold value;

[0023] Condition 2: Condition 1 is not satisfied during a continuous time period shorter than a preset time period, but Condition 1 is satisfied at both the previous and next moments adjacent to the continuous time period;

[0024] If at least one of the condition 1 and the condition 2 is satisfied, it is determined that the excavator is in the excavation state; if neither the condition 1 nor the condition 2 is satisfied, it is determined that the excavator is not in the excavation state.

[0025] The present invention also provides an excavator gear recommendation device, comprising a classification model training process module and a classification model recommendation process module;

[0026] The classification model training process module is used to perform the following steps:

[0027] Under various working conditions, the excavator is made to perform excavation operations in various gears, and operating parameters of the excavator during the excavation operations are obtained;

[0028] Determine whether the excavator is in the excavation state according to the preset frequency. If yes, calculate the engine fuel consumption and engine running time corresponding to each single excavation under each working condition and each gear, the average value of the engine fuel consumption and the average value of the engine running time corresponding to multiple single excavations, and the characteristic value corresponding to the operating parameter of each single excavation under each working condition and each gear;

[0029] According to the formula Determine the recommended gear, where wi represents the recommended factor of gear i, and the gear corresponding to the minimum value of wi is the recommended gear; δ is a preset coefficient, and the value range of δ is [0,1]; represents the average fuel consumption of the engine corresponding to multiple single excavations in the i-th gear of the k-th working condition; represents the average starting running time corresponding to multiple single excavations in the i-th gear of the k-th working condition;

[0030] The classification model is trained using the characteristic values, so that the classification model can distinguish the characteristic values ​​corresponding to each gear position under each working condition according to the characteristic values;

[0031] The classification model recommendation process module is used to perform the following steps:

[0032] Obtain the operating parameters of the excavator, and determine whether the excavator is in an excavation state according to a preset frequency. If so, obtain the operating parameters corresponding to each single excavation of the excavator;

[0033] Calculating the characteristic values ​​corresponding to the operating parameters respectively, and inputting the characteristic values ​​into the trained classification model, so that the classification model determines the current operating condition according to the input characteristic values;

[0034] Determine the minimum value of wi corresponding to the current working condition, and use the gear corresponding to the minimum value of wi as the currently recommended gear.

[0035] Optionally, the device further comprises a display module, and the display module is used to display the currently recommended gear position.

[0036] Optionally, the classification model training process module is further used to perform the following steps:

[0037] Based on the time series, each operating parameter is spliced ​​to obtain the time series data corresponding to each operating parameter;

[0038] Determine the target time period corresponding to a single excavation;

[0039] The average value, maximum value, median or sum corresponding to each time series data in the target time period is taken as the corresponding feature value.

[0040] The optional sequence and the use of linear interpolation to splice each operating parameter separately.

[0041] Optionally, the step of determining whether the excavator is in the excavation state specifically includes the following steps: determining whether the following two conditions are met:

[0042] Condition 1: bucket excavation solenoid valve current> bucket unloading solenoid valve current, arm excavation solenoid valve current> arm unloading solenoid valve current, bucket excavation solenoid valve current> first threshold value, and arm excavation solenoid valve current> second threshold value;

[0043] Condition 2: Condition 1 is not satisfied during a continuous time period shorter than a preset time period, but Condition 1 is satisfied at both the previous and next moments adjacent to the continuous time period;

[0044] If at least one of the condition 1 and the condition 2 is satisfied, it is determined that the excavator is in the excavation state; if neither the condition 1 nor the condition 2 is satisfied, it is determined that the excavator is not in the excavation state.

[0045] The present invention provides a method and device for recommending gears for an excavator, which can identify the working condition of the excavator through the operating parameters and classification model of the excavator during excavation, and the identification result is accurate. The recommended gear is obtained by counting the average value of engine fuel consumption and the average value of engine running time corresponding to multiple single excavations under each gear in each working condition, and the recommended gear can make the engine fuel consumption and excavator working efficiency reach a relatively optimal level. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The invention is a structural schematic diagram of an excavator in the prior art.

[0047] Figure 2It is a schematic diagram of segmenting certain time series data under a stone working condition provided by an embodiment of the present invention.

[0048] Figure 3 The present invention is a flowchart of a method for recommending gear positions for an excavator provided in one embodiment of the present invention.

[0049] Figure 4 It is the recommended gear position for four working conditions of hard soil, soft soil, stone and gravel provided by an embodiment of the present invention.

[0050] [Description of reference numerals is as follows]:

[0051] Bucket-1, arm-2, boom-3, turntable-4. DETAILED DESCRIPTION

[0052] In order to make the purpose, advantages and features of the present invention clearer, the following is a further detailed description of an excavator gear recommendation method and device proposed by the present invention in conjunction with the accompanying drawings. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0053] In the description of the present invention, the terms "first", "second", etc. are added for the convenience of description and reference, and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined by the terms "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0054] like Figure 3 As shown, this embodiment provides a method for recommending gear positions for an excavator. The method can be converted into C language or other languages, and then compiled and written into an industrial computer. The method is implemented by the industrial computer. The method includes a classification model training process S10 and a classification model recommendation process S20.

[0055] The classification model training process S10 includes the following steps:

[0056] S101. Under various working conditions, the excavator is made to perform excavation operations in various gears, and the operating parameters of the excavator during the excavation operations are obtained; when the method is used specifically, the operating parameters may include engine fuel consumption and engine operating time, as well as bucket excavation solenoid valve current, bucket unloading solenoid valve current, dipper arm excavation solenoid valve current, dipper arm unloading solenoid valve current, boom lifting solenoid valve current, boom lowering solenoid valve current, engine torque, engine fuel consumption, engine speed and engine gear; theoretically, the more types of data included in the operating parameters, the more accurate the final recommended gear, but the amount of calculation is increased; the operating parameters during the excavation operation can be obtained from the CAN (Controller Area Network) bus;

[0057] S102. Determine whether the excavator is in the excavation state according to the preset frequency. If yes, calculate the engine fuel consumption and engine running time corresponding to each single excavation under each working condition and each gear, the average value of the engine fuel consumption and the average value of the engine running time corresponding to multiple single excavations, and the characteristic value corresponding to the operating parameter of each single excavation under each working condition and each gear. Single excavation refers to the action of completing an excavation. Single excavation can be the process from the bucket descending to digging up the material, or the process from the bucket and the dipper arm descending at the same time to the simultaneous lifting;

[0058] S103, according to the formula Determine the recommended gear, where wi represents the recommended factor of gear i, and the gear corresponding to the minimum value of wi is the recommended gear; δ is a preset coefficient, and the value range of δ is [0,1]; represents the average fuel consumption of the engine corresponding to multiple single excavations in the i-th gear of the k-th working condition; represents the average starting running time corresponding to multiple single excavations in the i-th gear of the k-th working condition; when using this method, δ can take a specific value, such as 0.5; Figure 4 As shown, Figure 4 It is the recommended gear position for four working conditions: hard soil, soft soil, stone and gravel when δ=0.5. Figure 4 The horizontal axes of the four figures are all gear positions, the vertical axes on the left are all engine running time, i.e. time consumption, and the vertical axes on the right are all engine fuel consumption, i.e. fuel consumption. The recommended gear positions for hard soil and soft soil are all 7 gears, and the recommended gear positions for rocks and gravels are all 8 gears. The recommended gear positions indicate that the engine running time and fuel consumption of the excavator are both small when digging;

[0059] S104, training a classification model using the characteristic values, so that the classification model can distinguish the characteristic values ​​corresponding to each gear position under each working condition according to the characteristic values;

[0060] The classification model recommendation process S20 includes the following steps:

[0061] S201, obtaining the operating parameters of the excavator, and determining whether the excavator is in an excavation state according to a preset frequency, and if so, obtaining the operating parameters corresponding to each single excavation of the excavator;

[0062] S202, respectively calculating the characteristic values ​​corresponding to the operating parameters, and inputting the characteristic values ​​into the trained classification model, so that the classification model determines the current operating condition according to the input characteristic values;

[0063] S203: Determine the minimum value of wi corresponding to the current working condition, and use the gear corresponding to the minimum value of wi as the currently recommended gear.

[0064] The present embodiment provides a method for recommending gears for an excavator, which identifies the working condition of the excavator through the operating parameters and classification model of the excavator during the excavation operation, and the identification result is accurate. The recommended gear is obtained by counting the average engine fuel consumption and the average engine running time corresponding to multiple single excavations under each gear in each working condition. The recommended gear can make the engine fuel consumption and the working efficiency of the excavator reach a relatively optimal level.

[0065] Optionally, after step S203, that is, after the step of taking the gear corresponding to the minimum value of wi as the currently recommended gear, the following step is further included: displaying the currently recommended gear. After the currently recommended gear is displayed, the operator can switch the gear to the gear displayed on the display. In other embodiments, the currently recommended gear can be broadcasted by voice.

[0066] Optionally, the step of calculating the characteristic values ​​corresponding to the operating parameters corresponding to each single excavation under each working condition and each gear in step S102 specifically includes the following steps: splicing each operating parameter based on the time series to obtain the time series data corresponding to each operating parameter; determining the target time period corresponding to the single excavation; and taking the average value, maximum value, median or sum corresponding to each time series data in the target time period as the corresponding characteristic value.

[0067] As shown in Table 1 below, when the CAN bus collects data, the data collected at the same time usually only includes part of the excavator's operating parameters. At some times, some data is not collected and forms gaps. As shown in Table 2 below, linear interpolation or nearest neighbor interpolation can be used to fill in the missing data to make the data at each sampling moment as complete as possible. The incomplete data can be discarded in the following steps. Figure 2 The time period spanned by the vertical rectangle in represents the target time period corresponding to a single mining, and it is necessary to extract feature values ​​from the time series data within the target time period.

[0068] Table 1 Data collected through CAN bus

[0069] time Parameter 1 Parameter 2 … Parameter n t1 a1 … t2 b1 … n1 t3 a2 … … b2 … n2 … … t6 a3 b3 … n3 … … … … …

[0070] Table 2 Time series data obtained by splicing the data in Table 1

[0071] time Parameter 1 Parameter 2 … Parameter n t1 a1 … t2 (a1+a2) / 2 b1 … n1 t3 a2 (b1+b2) / 2 … (n1+n2) / / 2 … (a2+a3) / 3 b2 … n2 … (a2+a3) / 3 (b2+b3) / 2 … (n2+n3) / / 2 tm a3 b3 … n3 … … … … …

[0072] Optionally, the step of splicing the operating parameters based on the time sequence specifically includes the following steps: splicing the operating parameters based on the time sequence and using linear interpolation. Splicing the data using linear interpolation can simplify the splicing process. In other embodiments, the acquired data can be spliced ​​using nearest neighbor interpolation or other methods.

[0073] Optionally, the step of judging whether the excavator is in the excavation state specifically includes the following steps: judging whether the following two conditions are met: condition one, bucket excavation solenoid valve current> bucket unloading solenoid valve current, arm excavation solenoid valve current> arm unloading solenoid valve current, bucket excavation solenoid valve current> first threshold, and arm excavation solenoid valve current> second threshold; condition two, condition one is not met in a continuous time period less than a preset time length, but condition one is met at the previous moment and the next moment adjacent to the continuous time period; if at least one of condition one and condition two is met, it is judged that the excavator is in the excavation state; if both condition one and condition two are not met, it is judged that the excavator is not in the excavation state. The bucket excavation solenoid valve current, bucket unloading solenoid valve current, arm excavation solenoid valve current and arm unloading solenoid valve current are all parameters directly related to the excavation action, and the judgment result of whether the excavator is in the excavation state by using these parameters is more accurate. When using this method specifically, the first threshold and the second threshold can be 1000mA, and the preset time length can be 2 seconds. Figure 2 As shown, the second half of the area selected by the vertical rectangle meets condition 1, which indicates that the excavator is in a continuous excavation state; the first half of the area selected by the vertical rectangle meets condition 2, and there is a short period of time in the first half when the current of the bucket excavation solenoid valve drops and rises suddenly. The sudden drop and rise of the current of the bucket excavation solenoid valve indicates that the excavation process may encounter hard objects. In other embodiments, parameters such as the boom excavation solenoid valve current and the boom lowering solenoid valve current can be added as judgment factors for determining whether the excavator is in an excavation state.

[0074] Based on the same technical concept as the above-mentioned excavator gear recommendation method, this embodiment provides an excavator gear recommendation device, including a classification model training process module and a classification model recommendation process module;

[0075] The classification model training process module is used to perform the following steps:

[0076] Under various working conditions, the excavator is made to perform excavation operations in various gears, and operating parameters of the excavator during the excavation operations are obtained;

[0077] Determine whether the excavator is in the excavation state according to the preset frequency. If yes, calculate the engine fuel consumption and engine running time corresponding to each single excavation under each working condition and each gear, the average value of the engine fuel consumption and the average value of the engine running time corresponding to multiple single excavations, and the characteristic value corresponding to the operating parameter corresponding to each single excavation under each working condition and each gear;

[0078] According to the formula Determine the recommended gear, where wi represents the recommended factor of gear i, and the gear corresponding to the minimum value of wi is the recommended gear; δ is a preset coefficient, and the value range of δ is [0,1]; represents the average fuel consumption of the engine corresponding to multiple single excavations in the i-th gear of the k-th working condition; represents the average starting running time corresponding to multiple single excavations in the i-th gear of the k-th working condition;

[0079] The classification model is trained using the characteristic values, so that the classification model can distinguish the characteristic values ​​corresponding to each gear position under each working condition according to the characteristic values;

[0080] The classification model recommendation process module is used to perform the following steps:

[0081] Obtain the operating parameters of the excavator, and determine whether the excavator is in an excavation state according to a preset frequency. If so, obtain the operating parameters corresponding to each single excavation of the excavator;

[0082] Calculating the characteristic values ​​corresponding to the operating parameters respectively, and inputting the characteristic values ​​into the trained classification model, so that the classification model determines the current operating condition according to the input characteristic values;

[0083] Determine the minimum value of wi corresponding to the current working condition, and use the gear corresponding to the minimum value of wi as the currently recommended gear.

[0084] The present embodiment provides an excavator gear recommendation device, which identifies the excavator working condition through the operating parameters and classification model of the excavator during the excavation operation, and the identification result is accurate. The recommended gear is obtained by counting the average engine fuel consumption and the average engine running time corresponding to multiple single excavations under each working condition and each gear. The recommended gear can make the engine fuel consumption and excavator working efficiency reach a relatively optimal level.

[0085] Optionally, the device further comprises a display module, wherein the display module is used to display the currently recommended gear position. After the currently recommended gear position is displayed, the operator can switch the gear position to the gear position displayed on the display.

[0086] Optionally, the classification model training process module is also used to perform the following steps: splicing each operating parameter based on the time series to obtain the time series data corresponding to each operating parameter; determining the target time period corresponding to a single excavation; and taking the average value, maximum value, median or sum corresponding to each time series data in the target time period as the corresponding feature value. When the CAN bus collects data, the data collected at the same time usually only includes part of the data in the operating parameters of the excavator. At some times, some data is not collected and forms vacancies. Linear interpolation or nearest neighbor interpolation and other methods can be used to fill in the missing data to make the data at each sampling moment as complete as possible, and the incomplete data can be discarded in the following steps.

[0087] Optionally, the step of splicing the operating parameters based on the time sequence specifically includes the following steps: splicing the operating parameters based on the time sequence and using linear interpolation. Splicing the data using linear interpolation can simplify the splicing process.

[0088] Optionally, the step of judging whether the excavator is in the excavation state specifically includes the following steps: judging whether the following two conditions are met: condition 1, bucket excavation solenoid valve current> bucket unloading solenoid valve current, arm excavation solenoid valve current> arm unloading solenoid valve current, bucket excavation solenoid valve current> first threshold, and arm excavation solenoid valve current> second threshold; condition 2, condition 1 is not met in a continuous time period less than a preset time length, but condition 1 is met at the previous moment and the next moment adjacent to the continuous time period; if at least one of condition 1 and condition 2 is met, it is judged that the excavator is in the excavation state; if condition 1 and condition 2 are not met, it is judged that the excavator is not in the excavation state. Bucket excavation solenoid valve current, bucket unloading solenoid valve current, arm excavation solenoid valve current and arm unloading solenoid valve current are all parameters directly related to the excavation action, and the judgment result of judging whether the excavator is in the excavation state by these parameters is more accurate.

[0089] In summary, the present invention provides a method and device for recommending gears for excavators, which can identify the working conditions of the excavator through the operating parameters and classification model of the excavator during excavation, and the identification result is accurate. The recommended gear is obtained by counting the average value of engine fuel consumption and the average value of engine running time corresponding to multiple single excavations under each gear in each working condition. The recommended gear can make the engine fuel consumption and excavator working efficiency reach the relative optimal level.

[0090] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A method for recommending gear positions for an excavator, characterized in that: Including classification model training process and classification model recommendation process; The classification model training process includes the following steps: Under various working conditions, the excavator is made to perform excavation operations in various gears, and operating parameters of the excavator during the excavation operations are obtained; Determine whether the excavator is in the excavation state according to the preset frequency. If yes, calculate the engine fuel consumption and engine running time corresponding to each single excavation under each working condition and each gear, the average value of the engine fuel consumption and the average value of the engine running time corresponding to multiple single excavations, and the characteristic value corresponding to the operating parameter of each single excavation under each working condition and each gear; According to the formula Determine the recommended gear, where wi represents the recommended factor of gear i, and the gear corresponding to the minimum value of wi is the recommended gear; δ is a preset coefficient, and the value range of δ is [0,1]; represents the average fuel consumption of the engine corresponding to multiple single excavations in the i-th gear of the k-th working condition; represents the average starting running time corresponding to multiple single excavations in the i-th gear of the k-th working condition; The classification model is trained using the characteristic values, so that the classification model can distinguish the characteristic values ​​corresponding to each gear position under each working condition according to the characteristic values; The classification model recommendation process includes the following steps: Obtain the operating parameters of the excavator, and determine whether the excavator is in the excavation state according to the preset frequency. If yes, obtain the operating parameters corresponding to each single excavation of the excavator; if not, end this recommendation process; Calculating the characteristic values ​​corresponding to the operating parameters respectively, and inputting the characteristic values ​​into the trained classification model, so that the classification model determines the current operating condition according to the input characteristic values; Determine the minimum value of wi corresponding to the current working condition, and use the gear corresponding to the minimum value of wi as the currently recommended gear.

2. The method for recommending gear position for an excavator according to claim 1, characterized in that: After the step of taking the gear corresponding to the minimum value of wi as the currently recommended gear, the method further includes the following steps: displaying the currently recommended gear.

3. The method for recommending gear position for an excavator according to claim 1, characterized in that: The step of calculating the characteristic value corresponding to the operating parameter corresponding to each single excavation under each working condition and each gear position specifically includes the following steps: Based on the time series, each operating parameter is spliced ​​to obtain the time series data corresponding to each operating parameter; Determine the target time period corresponding to a single excavation; The average value, maximum value, median or sum corresponding to each time series data in the target time period is taken as the corresponding feature value.

4. The method for recommending gear position for an excavator according to claim 3, characterized in that: The step of splicing the operating parameters based on the time sequence specifically includes the following steps: splicing the operating parameters based on the time sequence and using linear interpolation.

5. The method for recommending gear position for an excavator according to claim 1, characterized in that: The step of determining whether the excavator is in the excavation state specifically includes the following steps: determining whether the following two conditions are met: Condition 1: bucket excavation solenoid valve current> bucket unloading solenoid valve current, arm excavation solenoid valve current> arm unloading solenoid valve current, bucket excavation solenoid valve current> first threshold value, and arm excavation solenoid valve current> second threshold value; Condition 2: Condition 1 is not satisfied during a continuous time period shorter than a preset time period, but Condition 1 is satisfied at both the previous and next moments adjacent to the continuous time period; If at least one of the condition 1 and the condition 2 is satisfied, it is determined that the excavator is in the excavation state; if neither the condition 1 nor the condition 2 is satisfied, it is determined that the excavator is not in the excavation state.

6. A gear recommendation device for an excavator, characterized in that: It includes a classification model training process module and a classification model recommendation process module; The classification model training process module is used to perform the following steps: Under various working conditions, the excavator is made to perform excavation operations in various gears, and operating parameters of the excavator during the excavation operations are obtained; Determine whether the excavator is in the excavation state according to the preset frequency. If yes, calculate the engine fuel consumption and engine running time corresponding to each single excavation under each working condition and each gear, the average value of the engine fuel consumption and the average value of the engine running time corresponding to multiple single excavations, and the characteristic value corresponding to the operating parameter of each single excavation under each working condition and each gear; According to the formula Determine the recommended gear, where wi represents the recommended factor of gear i, and the gear corresponding to the minimum value of wi is the recommended gear; δ is a preset coefficient, and the value range of δ is [0,1]; represents the average fuel consumption of the engine corresponding to multiple single excavations in the i-th gear of the k-th working condition; represents the average starting running time corresponding to multiple single excavations in the i-th gear of the k-th working condition; The classification model is trained using the characteristic values, so that the classification model can distinguish the characteristic values ​​corresponding to each gear position under each working condition according to the characteristic values; The classification model recommendation process module is used to perform the following steps: Obtain the operating parameters of the excavator, and determine whether the excavator is in an excavation state according to a preset frequency. If so, obtain the operating parameters corresponding to each single excavation of the excavator; Calculating the characteristic values ​​corresponding to the operating parameters respectively, and inputting the characteristic values ​​into the trained classification model, so that the classification model determines the current operating condition according to the input characteristic values; Determine the minimum value of wi corresponding to the current working condition, and use the gear corresponding to the minimum value of wi as the currently recommended gear.

7. The excavator gear recommendation device according to claim 6, characterized in that: The device further comprises a display module, and the display module is used to display the currently recommended gear position.

8. The excavator gear recommendation device according to claim 6, characterized in that: The classification model training process module is also used to perform the following steps: Based on the time series, each operating parameter is spliced ​​to obtain the time series data corresponding to each operating parameter; Determine the target time period corresponding to a single excavation; The average value, maximum value, median or sum corresponding to each time series data in the target time period is taken as the corresponding feature value.

9. The excavator gear recommendation device according to claim 8, characterized in that: The step of splicing the operating parameters based on the time sequence specifically includes the following steps: splicing the operating parameters based on the time sequence and using linear interpolation.

10. The gear position recommendation device for an excavator according to claim 6, characterized in that: The step of determining whether the excavator is in the excavation state specifically includes the following steps: determining whether the following two conditions are met: Condition 1: bucket excavation solenoid valve current> bucket unloading solenoid valve current, arm excavation solenoid valve current> arm unloading solenoid valve current, bucket excavation solenoid valve current> first threshold value, and arm excavation solenoid valve current> second threshold value; Condition 2: Condition 1 is not satisfied during a continuous time period shorter than a preset time period, but Condition 1 is satisfied at both the previous and next moments adjacent to the continuous time period; If at least one of the condition 1 and the condition 2 is satisfied, it is determined that the excavator is in the excavation state; if neither the condition 1 nor the condition 2 is satisfied, it is determined that the excavator is not in the excavation state.

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