Excavator hoisting threshold acquisition method and hoisting alarm method

Abstract

The invention provides an excavator hoisting threshold acquisition method and a hoisting alarm method. The method comprises the following steps: acquiring attitude data of a current attitude of an excavator; according to the posture data and the weight data of the multiple parts of the excavator, the tipping load of the excavator is obtained; according to the posture data, the weight data and oil cylinder parameters of the movable arm oil cylinder, the hydraulic lifting value of the movable arm oil cylinder is obtained; and according to the tipping load and the hydraulic lifting value, the lifting threshold value of the excavator is obtained. According to the method, the lifting threshold value can be obtained by combining the postures of all the parts of the excavator according to the actual application scene, the flexibility of obtaining the lifting threshold value is improved, and the lifting capacity of the excavator is improved.

Description

Technical Field

[0001] The present application relates to the technical field of excavator lifting data monitoring, and in particular to an excavator lifting threshold acquisition method and a lifting alarm method. Background Art

[0002] An excavator is a large-scale construction machine, which can be used to lift and move materials. However, if the weight of the materials is too heavy, there is a risk of damage to the components of the excavator or tipping over. In order to improve the safe use of excavators, the prior art uses a table lookup method to obtain the lifting threshold of the excavator in various situations. However, the lifting threshold obtained by the table lookup ignores the influence of the posture of each part of the excavator on the lifting threshold, that is, the lifting threshold acquisition method of the prior art has poor flexibility for actual application scenarios, which limits the lifting capacity of the excavator. Summary of the invention

[0003] The purpose of this application is to overcome the shortcomings and deficiencies in the prior art and to provide a method for obtaining an excavator lifting threshold and a lifting alarm method, which can obtain the lifting threshold in combination with the postures of various parts of the excavator for actual application scenarios, thereby improving the flexibility of obtaining the lifting threshold and enhancing the lifting capacity of the excavator.

[0004] A first aspect of an embodiment of the present application provides a method for obtaining a lifting threshold value of an excavator, comprising:

[0005] Get the posture data of the excavator's current posture;

[0006] acquiring a tipping load of the excavator according to the posture data and weight data of a plurality of components of the excavator;

[0007] Acquire the hydraulic lifting value of the boom cylinder according to the posture data, the weight data and the cylinder parameters of the boom cylinder;

[0008] The excavator lifting threshold is acquired according to the tipping load and the hydraulic lifting value.

[0009] A second aspect of an embodiment of the present application provides an excavator lifting alarm method, comprising the following steps:

[0010] According to the excavator lifting threshold acquisition method as described above, the excavator lifting threshold is acquired;

[0011] Get the working parameters of the current lifting work of the excavator;

[0012] Determining the working state of the excavator according to the working parameters and the lifting threshold of the excavator;

[0013] If the working state is abnormal, an alarm is issued.

[0014] Compared with the related art, the present application obtains the tipping load of the excavator based on the posture data of the current posture of the excavator and multiple weight data of the excavator, obtains the hydraulic lifting value of the boom cylinder based on the posture data, the weight data and the cylinder parameters of the boom cylinder, and then obtains the lifting threshold of the excavator based on the tipping load and the hydraulic lifting value. Since the tipping load of the excavator and the hydraulic lifting value of the boom cylinder are obtained based on the posture data and weight data of the excavator, the obtained lifting threshold of the excavator also corresponds to the posture data of the excavator, which improves the flexibility of obtaining the lifting threshold of the excavator, and is conducive to enabling the excavator to exert a higher lifting capacity under safe working conditions that do not exceed the lifting threshold of the excavator.

[0015] In order to more clearly understand the present application, the specific implementation of the present application will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of a method for obtaining an excavator lifting threshold value according to an embodiment of the present application.

[0017] Figure 2 A schematic diagram of a coordinate system for a method for obtaining a lifting threshold value of an excavator according to an embodiment of the present application.

[0018] Figure 3 A schematic diagram of a boom cylinder of a method for obtaining a lifting threshold value of an excavator according to an embodiment of the present application.

[0019] Figure 4 This is a flow chart of an excavator lifting alarm method according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0021] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present application.

[0022] When the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. The singular forms of "a", "said" and "the" used in the present application and the appended claims are also intended to include the majority form, unless the context clearly indicates other meanings. The words "if" / "if" used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0023] In addition, in the description of this application, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0024] See also Figure 1 , which is a flow chart of a method for obtaining a lifting threshold value of an excavator according to an embodiment of the present application, comprising:

[0025] S1: Get the posture data of the excavator's current posture.

[0026] Excavator is a large-scale construction equipment, including but not limited to the lower body, upper body, boom, boom cylinder, dipper stick and dipper stick cylinder. Among them, the excavator's posture data can be obtained by detecting with sensors installed on multiple parts of the excavator, for example, sensors are installed on multiple parts of the excavator such as the boom cylinder, boom, dipper stick cylinder, dipper stick, etc.; the excavator's posture data can also be obtained by taking an image of the excavator and then analyzing the image. The excavator's posture data includes the coordinates of the center of gravity of each part of the excavator relative to the upper body or lower body.

[0027] S2: Obtaining the tipping load of the excavator according to the posture data and weight data of a plurality of components of the excavator.

[0028] The weight data includes the weight of the lower body, upper body, boom, boom cylinder and counterweight of the excavator, which are weight parameters of each component when generating the excavator. The tipping load of the excavator is a threshold parameter indicating whether the excavator will tip over due to hoisting materials, that is, when the weight of the hoisted materials exceeds the tipping load, the excavator will tip over.

[0029] In a feasible embodiment, the posture data includes the lifting point coordinates of the excavator and the center of gravity coordinates of other lifting components; the lifting point coordinates include the first coordinate parameters of the lifting point in the first coordinate direction with the lower body of the excavator as the origin of the coordinate system and the second coordinate parameters of the lifting point in the second coordinate direction.

[0030] See also Figure 2 , the first coordinate direction and the second coordinate direction are perpendicular to each other, and the first coordinate direction and the second coordinate direction are both horizontal coordinate directions, such as Figure 2 As shown, the first coordinate direction is the x-axis direction, and the second coordinate direction is the y-axis direction. The O1x1y1z1 coordinate system and the Oxyz coordinate system are constructed with the upper and lower bodies of the excavator as the origins of the coordinate systems. In the two coordinate systems, the center of gravity coordinates of each component are shown in Table 1 below:

[0031]

[0032] Table 1 Coordinate values

[0033] Among them, Table 1 omits the coordinate parameters in the vertical direction (z-axis), the O1x1y1z1 coordinate system is a coordinate system constructed with the upper vehicle body as the origin, and the Oxyz coordinate system is a coordinate system constructed with the lower vehicle body as the origin. It is the angular difference between the O1x1y1z1 coordinate system and the Oxyz coordinate system.

[0034] The steps of S2 include:

[0035] S21: When the absolute value of the first coordinate parameter of the lifting point is greater than the absolute value of the preset first coordinate threshold, the first tipping load of the excavator in the first coordinate direction is obtained according to the first coordinate parameter of the lifting point, the center of gravity coordinates of the other lifting components and the weight data; when the absolute value of the first coordinate parameter of the lifting point is less than or equal to the absolute value of the first coordinate threshold, stop obtaining the first tipping load.

[0036] The first coordinate parameter of the lifting point indicates the distance of the lifting point from the upper or lower body of the excavator in the first coordinate direction. Since the torque of the weight of the material to be hoisted is related to the distance, the farther the lifting point is from the upper or lower body of the excavator, the easier it is for the weight of the material to cause the excavator to tip over. Therefore, when the absolute value indicated by the first coordinate parameter of the lifting point is greater than the absolute value of the preset first coordinate threshold, it means that the lifting point is far away from the upper or lower body of the excavator. At this time, when the excavator is hoisting materials, there is a corresponding tipping trend. Therefore, it is necessary to obtain the first tipping load of the excavator in the first coordinate direction according to the first coordinate parameter of the lifting point, the center of gravity coordinates of the other lifting components and the weight data, so as to measure whether the weight of the material will cause the excavator to tip over in the current posture. The first coordinate threshold is a fixed value set by the manufacturer according to the size parameters of the excavator.

[0037] For example, the x-axis direction is used as the first coordinate direction, which represents the front and rear direction of the excavator. The preset first coordinate threshold can be expressed as 前 、x 后 Indicates that, where x 前 >0,x 后 <0; the first coordinate parameter of the lifting point is x LP , if x LP >x 前 , indicating that the excavator has a tendency to tip forward, it is necessary to obtain the forward tipping load of the excavator as the first tipping load according to the first coordinate parameter of the lifting point, the center of gravity coordinates of the other lifting components and the weight data; if x LP <x 后 It indicates that the excavator has a tendency to tip over backwards, and it is necessary to obtain the first tipping load of the excavator when tipping over backwards based on the first coordinate parameter of the lifting point, the center of gravity coordinates of the other lifting components and the weight data.

[0038] S22: When the absolute value of the second coordinate parameter of the lifting point is greater than the absolute value of the preset second coordinate threshold, the second tipping load of the excavator in the second coordinate direction is obtained according to the second coordinate parameter of the lifting point, the coordinates of the center of gravity of the other lifting components and the weight data; when the absolute value of the second coordinate parameter of the lifting point is less than or equal to the absolute value of the second coordinate threshold, the second tipping load is stopped. The second coordinate threshold is a fixed value set by the manufacturer according to the size parameters of the excavator.

[0039] Among them, the second coordinate parameter of the lifting point indicates the distance of the lifting point from the upper body or lower body of the excavator in the second coordinate direction. Since the torque of the weight of the material to be hoisted is related to the distance, the farther the lifting point is from the upper body or lower body of the excavator, the easier it is for the weight of the material to cause the excavator to tip over. Therefore, when the absolute value represented by the second coordinate parameter of the lifting point is greater than the absolute value of the preset second coordinate threshold, it means that the lifting point is far away from the upper body or lower body of the excavator. At this time, when the excavator is hoisting materials, there is a corresponding tipping trend. Therefore, it is necessary to obtain the second tipping load of the excavator in the second coordinate direction according to the second coordinate parameter of the lifting point, the center of gravity coordinates of the other lifting components and the weight data, so as to measure whether the weight of the material will cause the excavator to tip over in the current posture.

[0040] For example, the y-axis direction is used as the second coordinate direction, indicating the left and right direction of the excavator. The preset second coordinate threshold can be expressed as 左 ,y 右 Indicates that, y 左 >0,y 右 <0; the second coordinate parameter of the lifting point is y LP , if y LP >y 左 , indicating that the excavator has a tendency to tip over to the left, it is necessary to obtain the load of the excavator tipping over to the left as the second tipping load according to the second coordinate parameter of the lifting point, the coordinates of the center of gravity of the other lifting components and the weight data; if y LP <y 右 It indicates that the excavator has a tendency to tip over to the right, and it is necessary to obtain the load of the excavator tipping over to the right as the second tipping load based on the second coordinate parameter of the lifting point, the center of gravity coordinates of the other lifting components and the weight data.

[0041] S23: Obtain the tipping load according to the first tipping load and / or the second tipping load.

[0042] Wherein, step S23 comprises:

[0043] S231: If only the first tipping load is obtained, determine that the first tipping load is the tipping load.

[0044] When only the first tipping load is obtained, it means that the excavator has a tipping tendency corresponding to the first coordinate direction, but does not have a tipping tendency corresponding to the second coordinate direction. Therefore, the first tipping load can be determined as the tipping load of the excavator.

[0045] S232: If only the second tipping load is obtained, determine that the second tipping load is the tipping load.

[0046] When only the second tipping load is obtained, it means that the excavator has a tipping tendency corresponding to the second coordinate direction, but the excavator does not have a tipping tendency corresponding to the first coordinate direction. Therefore, the second tipping load can be determined as the tipping load of the excavator.

[0047] S233: If the first tipping load and the second tipping load are obtained, determine the tipping load with a smaller value from among the first tipping load and the second tipping load as the tipping load.

[0048] When the first tipping load and the second tipping load are obtained at the same time, it means that the excavator has a tipping tendency corresponding to the first coordinate direction and the second coordinate direction respectively. Therefore, the absolute value of the first tipping load is compared with the absolute value of the second tipping load to determine that the smaller value is the effective tipping load in the current posture of the excavator to prevent the excavator from tipping over due to excessive weight of the material hoisted by the excavator in the current posture.

[0049] S3: Acquire the hydraulic lifting value of the boom cylinder according to the posture data, the weight data and the cylinder parameters of the boom cylinder.

[0050] Among them, since the hydraulic lifting value of the boom cylinder is obtained based on the posture data, the weight data and the cylinder parameters of the boom cylinder, the hydraulic lifting value is the upper limit of the force exerted by the boom cylinder to drive the boom and dipper arm to lift materials under the current posture of the excavator.

[0051] S4: Obtaining an excavator lifting threshold value according to the tipping load and the hydraulic lifting value.

[0052] In a feasible embodiment, step S4 includes:

[0053] S41: Obtaining a tipping load threshold according to the tipping load and a preset load coefficient.

[0054] S42: Obtaining a hydraulic lifting threshold value according to the hydraulic lifting value and a preset lifting coefficient.

[0055] S43: If the tipping load threshold is less than or equal to the hydraulic lifting threshold, the tipping load threshold is determined to be the excavator lifting threshold; if the tipping load threshold is greater than the hydraulic lifting threshold, the hydraulic lifting threshold is determined to be the excavator lifting threshold.

[0056] Specifically, the excavator lifting threshold may be determined by comparing the absolute value of the tipping load threshold with the absolute value of the hydraulic lifting threshold.

[0057] Among them, steps S41-S43 can be implemented by the following formula:

[0058] G LPE=min(G LPT ×75%,G LPH ×87%)

[0059] G LPE is the lifting threshold of the excavator, G LPT is the tipping load, G LPH is the hydraulic lifting value, 75% is the preset load factor, 87% is the preset lifting factor, and min(·) is the minimum value.

[0060] Compared with the related art, the present application obtains the tipping load of the excavator based on the posture data of the current posture of the excavator and multiple weight data of the excavator, obtains the hydraulic lifting value of the boom cylinder based on the posture data, the weight data and the cylinder parameters of the boom cylinder, and then obtains the lifting threshold of the excavator based on the tipping load and the hydraulic lifting value. Since the tipping load of the excavator and the hydraulic lifting value of the boom cylinder are obtained based on the posture data and weight data of the excavator, the obtained lifting threshold of the excavator also corresponds to the posture data of the excavator, which improves the flexibility of obtaining the lifting threshold of the excavator, and is conducive to enabling the excavator to exert a higher lifting capacity under safe working conditions that do not exceed the lifting threshold of the excavator.

[0061] In a feasible embodiment, the center-of-gravity coordinates of the other lifting components include a first coordinate parameter of the center-of-gravity of the boom, a first coordinate parameter of the center-of-gravity of the arm, a first coordinate parameter of the center-of-gravity of the counterweight, a first coordinate parameter of the center-of-gravity of the upper vehicle body, and a first coordinate parameter of the center-of-gravity of the lower vehicle body in the first coordinate direction; the weight data includes the weight of the boom, the weight of the arm, the weight of the counterweight, the weight of the upper vehicle body, and the weight of the lower vehicle body;

[0062] S21: The step of obtaining a first tipping load of the excavator in a first coordinate direction according to the first coordinate parameter of the lifting point, the coordinates of the center of gravity of the other lifting components and the weight data comprises:

[0063] S211: Obtain a first coordinate distance according to the first coordinate parameter of the lifting point and the first coordinate threshold.

[0064] S212: Obtain a first weight moment according to the first coordinate parameter of the boom center of gravity, the first coordinate parameter of the arm center of gravity, the first coordinate parameter of the counterweight center of gravity, the first coordinate parameter of the upper vehicle body center of gravity, the first coordinate parameter of the lower vehicle body center of gravity, and the boom weight, the arm weight, the counterweight weight, the upper vehicle body weight and the lower vehicle body weight.

[0065] S213: Obtain the first tipping load according to the first weight moment and the first coordinate distance.

[0066] Among them, steps S211-S213 can be implemented by the following formula:

[0067] If x LP >x 前 ,

[0068]

[0069] If x LP <x 后 ,

[0070]

[0071] In the above formula, G LPT is the first tipping load, G B is the boom weight, x B is the first coordinate parameter of the boom center of gravity, G A is the weight of the arm, x A is the first coordinate parameter of the center of gravity of the boom, G C is the weight of the counterweight, x C is the first coordinate parameter of the center of gravity of the counterweight, G U is the upper vehicle weight, x U is the first coordinate parameter of the center of gravity of the upper body, G L is the weight of the lower vehicle body, x L is the first coordinate parameter of the center of gravity of the lower vehicle body, x LP is the first coordinate parameter of the lifting point, xfront and x 后 is the preset first coordinate threshold.

[0072] In this example, based on the first coordinate parameter of the lifting point, the first coordinate threshold, the first coordinate parameter of the boom center of gravity, the first coordinate parameter of the arm center of gravity, the first coordinate parameter of the counterweight center of gravity, the first coordinate parameter of the upper vehicle body center of gravity, the first coordinate parameter of the lower vehicle body center of gravity, as well as the boom weight, arm weight, counterweight weight, upper vehicle body weight and lower vehicle body weight, the first tipping load in the current posture can be accurately obtained.

[0073] In a feasible embodiment, the center-of-gravity coordinates of the other lifting components also include a second coordinate parameter of the center-of-gravity of the boom, a second coordinate parameter of the center-of-gravity of the arm, a second coordinate parameter of the center-of-gravity of the counterweight, a second coordinate parameter of the center-of-gravity of the upper vehicle body, and a second coordinate parameter of the center-of-gravity of the lower vehicle body in the second coordinate direction; the weight data includes the weight of the boom, the weight of the arm, the weight of the counterweight, the weight of the upper vehicle body, and the weight of the lower vehicle body;

[0074] S22: The step of obtaining a second tipping load of the excavator in a second coordinate direction according to the second coordinate parameter of the lifting point, the coordinates of the center of gravity of the other lifting components and the weight data comprises:

[0075] S221: Obtaining a second coordinate distance according to the second coordinate parameter of the lifting point and the second coordinate threshold;

[0076] S222: Obtain a second weight moment according to the second coordinate parameter of the boom gravity center, the second coordinate parameter of the arm gravity center, the second coordinate parameter of the counterweight gravity center, the second coordinate parameter of the upper vehicle body gravity center, the second coordinate parameter of the lower vehicle body gravity center, and the boom weight, the arm weight, the counterweight weight, the upper vehicle body weight, and the lower vehicle body weight;

[0077] S223: Obtain the second tipping load according to the second weight moment and the second coordinate distance.

[0078] Among them, steps S221-S223 can be implemented by the following formula:

[0079] If y LP >y 左 ,

[0080]

[0081] If y LP <y 右 ,

[0082]

[0083] In the above formula, G LPT is the second tipping load, G B is the boom weight, y B is the second coordinate parameter of the boom center of gravity, G A is the weight of the arm, y A is the second coordinate parameter of the center of gravity of the boom, G C is the weight of the counterweight, y C is the second coordinate parameter of the center of gravity of the counterweight, G U is the upper vehicle weight, y U is the second coordinate parameter of the center of gravity of the upper body, G L is the weight of the lower vehicle body, y L is the second coordinate parameter of the center of gravity of the lower vehicle body, y LP is the second coordinate parameter of the lifting point, y 左 and 右 The preset second coordinate threshold

[0084] In this example, according to the second coordinate parameter of the lifting point, the second coordinate threshold, the second coordinate parameter of the center of gravity of the boom, the second coordinate parameter of the center of gravity of the arm, the second coordinate parameter of the center of gravity of the counterweight, the second coordinate parameter of the center of gravity of the upper vehicle body, the second coordinate parameter of the center of gravity of the lower vehicle body, and the weight of the boom, the weight of the arm, the weight of the counterweight, the weight of the upper vehicle body and the weight of the lower vehicle body, the second tipping load in the current posture can be accurately obtained.

[0085] See also Figure 3 In a feasible embodiment, the posture data includes the coordinates of the boom hinge point, the coordinates of the cylinder hinge point, the coordinates of the cylinder arm hinge point, and the third coordinate parameter of the lifting point, the third coordinate parameter of the boom center of gravity and the third coordinate parameter of the bucket arm center of gravity; wherein the boom hinge point is the hinge position between the boom of the excavator and the upper body, the cylinder hinge point is the hinge position between the boom cylinder of the excavator and the upper body, the cylinder arm hinge point is the hinge position between the boom cylinder of the excavator and the boom, and the third coordinate parameter of the lifting point, the third coordinate parameter of the boom center of gravity and the third coordinate parameter of the bucket arm center of gravity are coordinate parameters with the upper body of the excavator as the origin of the coordinate system.

[0086] The weight data includes boom weight and arm weight;

[0087] The cylinder parameters include an upper limit of the force applied by the boom cylinder to the boom;

[0088] S3: The step of obtaining the hydraulic lifting value of the boom cylinder according to the posture data, the weight data and the cylinder parameters of the boom cylinder comprises:

[0089] S31: acquiring a vertical distance from the boom hinge point to the boom cylinder according to the coordinates of the boom hinge point, the coordinates of the cylinder hinge point and the coordinates of the cylinder arm hinge point;

[0090] Specifically, the vertical distance can be obtained by the following formula:

[0091]

[0092] In the above formula, h is the vertical distance, c is the distance between the cylinder hinge point and the cylinder arm hinge point, which can be calculated based on the coordinates of the cylinder hinge point and the cylinder arm hinge point, and S is the area of ​​a triangle with the coordinates of the boom hinge point, the coordinates of the cylinder hinge point and the cylinder arm hinge point as vertices, where S can be obtained by the following formula:

[0093]

[0094] In the above formula, p is the semi-perimeter of the triangle with the coordinates of the boom hinge point, the coordinates of the cylinder hinge point and the cylinder arm hinge point as vertices, that is, half of the perimeter of the triangle, a is the distance between the cylinder hinge point and the boom hinge point, and b is the distance between the boom hinge point and the cylinder arm hinge point.

[0095] S32: Obtain the hydraulic lifting value of the boom cylinder according to the upper limit of the force exerted by the boom cylinder on the boom, the vertical distance, the boom weight, the arm weight, the third coordinate parameter of the boom center of gravity, the third coordinate parameter of the arm center of gravity, the third coordinate parameter of the lifting point and the coordinates of the boom hinge point.

[0096] Steps S31-S32 can be implemented by the following formula:

[0097]

[0098] In the above formula, G LPH is the hydraulic lifting value, F LPH is the upper limit of the force exerted by the boom cylinder on the boom, x1 LP is the third coordinate parameter of the lifting point, x1 J is the coordinate of the boom hinge point with the upper body of the excavator as the origin of the coordinate system, G A Is the weight of the arm, x1 A is the third coordinate parameter of the center of gravity of the boom, G B is the boom weight, x1 B is the third coordinate parameter of the boom’s center of gravity, and h is the vertical distance.

[0099] In this embodiment, the hydraulic lifting value of the boom cylinder can be accurately obtained according to the posture data, the weight data and the cylinder parameters of the boom cylinder.

[0100] See also Figure 4 The second embodiment of the present application provides an excavator lifting alarm method, comprising the following steps:

[0101] S5: Acquire the excavator lifting threshold according to the excavator lifting threshold acquisition method as described above.

[0102] S6: Obtain the working parameters of the current lifting work of the excavator.

[0103] The working parameters may be the actual lifting value of the excavator when performing the current lifting work, the actual cylinder pressure of the excavator when performing the current lifting work, etc. The actual lifting value or the actual cylinder pressure can be detected by sensors, for example, the actual lifting value is detected by a weight sensor set on the boom, and the actual cylinder pressure is detected by a sensor set in the boom cylinder.

[0104] S7: Determine the working state of the excavator according to the working parameters and the excavator lifting threshold.

[0105] In a feasible embodiment, the working parameters include the actual lifting value of the excavator performing the current lifting work;

[0106] The steps of S6 include:

[0107] S61: If the actual lifting value is greater than the excavator lifting threshold, it is determined that the working state of the excavator is an abnormal state.

[0108] The abnormal state refers to a situation where, under the current posture of the excavator, the actual lifting value will cause the excavator to tip over or the cylinder force is insufficient to lift the material.

[0109] In a feasible embodiment, the working parameters include the actual cylinder pressure of the excavator performing the current lifting work;

[0110] The working state includes a normal state and an abnormal state. The normal state indicates that the excavator can safely complete the lifting of the current material in the current posture, and the abnormal state indicates that the excavator cannot safely complete the lifting of the current material in the current posture.

[0111] The steps of S7 include:

[0112] S72: Obtaining a cylinder pressure threshold of the boom cylinder according to the excavator lifting threshold and the inner cavity area of ​​the boom cylinder.

[0113] Among them, the boom cylinder force corresponding to the excavator lifting threshold can be obtained according to the excavator lifting threshold, the vertical distance, the boom weight, the arm weight, the boom center of gravity third coordinate parameter, the arm center of gravity third coordinate parameter, the lifting point third coordinate parameter and the coordinate of the boom hinge point: as shown in the following formula:

[0114]

[0115] Among them, F LPE is the boom cylinder force corresponding to the lifting threshold of the excavator, G LPE is the lifting threshold of the excavator, x1 LP is the third coordinate parameter of the lifting point, x1 J is the coordinate of the boom hinge point with the upper body of the excavator as the origin of the coordinate system, G A Is the weight of the arm, x1 A is the third coordinate parameter of the center of gravity of the boom, G B is the boom weight, x1 B is the third coordinate parameter of the boom’s center of gravity, and h is the vertical distance.

[0116] Then, the boom cylinder force corresponding to the excavator lifting threshold is divided by the inner cavity area of ​​the boom cylinder to obtain the cylinder pressure threshold. The boom cylinder force refers to the maximum force that can act on the boom when the boom cylinder corresponds to the excavator lifting threshold, and the cylinder pressure threshold refers to the maximum cylinder pressure that can be reached in the cavity of the boom cylinder when the boom cylinder corresponds to the excavator lifting threshold.

[0117] S73: If the actual cylinder pressure is greater than the cylinder pressure threshold, it is determined that the working state of the excavator is an abnormal state.

[0118] S8: If the working state is abnormal, an alarm is issued.

[0119] When the working state is abnormal, an alarm is issued to prevent the excavator from tipping over or parts from being damaged due to excessive working pressure when the excavator is hoisting the current material in the current posture. The alarm can be issued through a buzzer and / or display screen set on the upper body of the excavator. Specifically, the buzzer and display screen can be set in the cab of the upper body of the excavator.

[0120] It should be noted that the excavator lifting alarm method provided in the second embodiment of the present application and the excavator lifting threshold acquisition method provided in the first embodiment of the present application belong to the same concept, and its implementation process is detailed in the method embodiment and will not be repeated here.

[0121] The device embodiments described above are merely illustrative, wherein the components described as separate parts may or may not be physically separated, and the parts displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application. Ordinary technicians in this field can understand and implement it without creative work.

[0122] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0123] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the function selected in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 function selected in a box or multiple boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 steps for the function selected in a box or multiple boxes.

[0125] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0126] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0127] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0128] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0129] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for obtaining a lifting threshold value of an excavator, characterized in that: include: Get the posture data of the excavator's current posture; acquiring a tipping load of the excavator according to the posture data and weight data of a plurality of components of the excavator; Acquire the hydraulic lifting value of the boom cylinder according to the posture data, the weight data and the cylinder parameters of the boom cylinder; The excavator lifting threshold is acquired according to the tipping load and the hydraulic lifting value.

2. The method for obtaining the lifting threshold of an excavator according to claim 1, characterized in that: The posture data includes the lifting point coordinates of the excavator and the center of gravity coordinates of other lifting components; the lifting point coordinates include the first coordinate parameters of the lifting point in the first coordinate direction with the lower body of the excavator as the origin of the coordinate system and the second coordinate parameters of the lifting point in the second coordinate direction; The step of obtaining the tipping load of the excavator according to the posture data and the weight data of the plurality of components of the excavator comprises: When the absolute value of the first coordinate parameter of the lifting point is greater than the absolute value of the preset first coordinate threshold, the first tipping load of the excavator in the first coordinate direction is obtained according to the first coordinate parameter of the lifting point, the coordinates of the center of gravity of the other lifting components and the weight data; when the absolute value of the first coordinate parameter of the lifting point is less than or equal to the absolute value of the first coordinate threshold, the first tipping load is stopped from being obtained; When the absolute value of the second coordinate parameter of the lifting point is greater than the absolute value of the preset second coordinate threshold, the second tipping load of the excavator in the second coordinate direction is obtained according to the second coordinate parameter of the lifting point, the coordinates of the center of gravity of the other lifting components and the weight data; when the absolute value of the second coordinate parameter of the lifting point is less than or equal to the absolute value of the second coordinate threshold, the second tipping load is stopped from being obtained; The tipping load is obtained based on the first tipping load and / or the second tipping load.

3. The method for obtaining the lifting threshold value of an excavator according to claim 2, characterized in that: The step of obtaining the tipping load according to the first tipping load and / or the second tipping load comprises: If only the first tipping load is obtained, determining the first tipping load as the tipping load; If only the second tipping load is obtained, determining the second tipping load as the tipping load; If the first tipping load and the second tipping load are obtained, the tipping load with a smaller value between the first tipping load and the second tipping load is determined as the tipping load.

4. The method for obtaining the lifting threshold of an excavator according to claim 2, characterized in that: The center-of-gravity coordinates of the other lifting components include the first coordinate parameters of the center-of-gravity of the boom, the first coordinate parameters of the center-of-gravity of the arm, the first coordinate parameters of the center-of-gravity of the counterweight, the first coordinate parameters of the center-of-gravity of the upper vehicle body, and the first coordinate parameters of the center-of-gravity of the lower vehicle body in the first coordinate direction; the weight data include the weight of the boom, the weight of the arm, the weight of the counterweight, the weight of the upper vehicle body, and the weight of the lower vehicle body; The step of obtaining a first tipping load of the excavator in a first coordinate direction according to the first coordinate parameter of the lifting point, the coordinates of the center of gravity of the other lifting components and the weight data comprises: Obtaining a first coordinate distance according to the first coordinate parameter of the lifting point and the first coordinate threshold; Obtain a first weight moment according to the first coordinate parameter of the boom gravity center, the first coordinate parameter of the arm gravity center, the first coordinate parameter of the counterweight gravity center, the first coordinate parameter of the upper vehicle body gravity center, the first coordinate parameter of the lower vehicle body gravity center, and the boom weight, the arm weight, the counterweight weight, the upper vehicle body weight, and the lower vehicle body weight; The first tipping load is obtained according to the first weight moment and the first coordinate distance.

5. The method for obtaining the lifting threshold value of an excavator according to claim 4, characterized in that: The center-of-gravity coordinates of the other lifting components also include the second coordinate parameters of the center-of-gravity of the boom, the second coordinate parameters of the center-of-gravity of the arm, the second coordinate parameters of the center-of-gravity of the counterweight, the second coordinate parameters of the center-of-gravity of the upper vehicle body, and the second coordinate parameters of the center-of-gravity of the lower vehicle body in the second coordinate direction; the weight data includes the weight of the boom, the weight of the arm, the weight of the counterweight, the weight of the upper vehicle body, and the weight of the lower vehicle body; The step of obtaining a second tipping load of the excavator in a second coordinate direction according to the second coordinate parameter of the lifting point, the coordinates of the center of gravity of the other lifting components and the weight data comprises: Obtaining a second coordinate distance according to the second coordinate parameter of the lifting point and the second coordinate threshold; Obtain a second weight moment according to the second coordinate parameter of the boom gravity center, the second coordinate parameter of the arm gravity center, the second coordinate parameter of the counterweight gravity center, the second coordinate parameter of the upper vehicle body gravity center, the second coordinate parameter of the lower vehicle body gravity center, and the boom weight, the arm weight, the counterweight weight, the upper vehicle body weight, and the lower vehicle body weight; The second tipping load is obtained according to the second weight moment and the second coordinate distance.

6. The method for obtaining the lifting threshold of an excavator according to claim 1, characterized in that: The posture data includes the coordinates of the boom hinge point, the coordinates of the cylinder hinge point, the coordinates of the cylinder arm hinge point, and the third coordinate parameters of the lifting point, the third coordinate parameters of the boom center of gravity, and the third coordinate parameters of the bucket arm center of gravity; wherein the third coordinate parameters of the lifting point, the third coordinate parameters of the boom center of gravity, and the third coordinate parameters of the bucket arm center of gravity are coordinate parameters with the upper body of the excavator as the origin of the coordinate system; The boom hinge point is the hinged position between the boom of the excavator and the upper body, the cylinder hinge point is the hinged position between the boom cylinder of the excavator and the upper body, and the cylinder arm hinge point is the hinged position between the boom cylinder of the excavator and the boom; The weight data includes boom weight and arm weight; The cylinder parameters include an upper limit of the force applied by the boom cylinder to the boom; The step of obtaining the hydraulic lifting value of the boom cylinder according to the posture data, the weight data and the cylinder parameters of the boom cylinder comprises: According to the coordinates of the boom hinge point, the coordinates of the cylinder hinge point and the coordinates of the cylinder arm hinge point, a vertical distance from the boom hinge point to the boom cylinder is obtained; The hydraulic lifting value of the boom cylinder is obtained based on the upper limit of the force applied to the boom by the boom cylinder, the vertical distance, the boom weight, the arm weight, the third coordinate parameter of the boom center of gravity, the third coordinate parameter of the arm center of gravity, the third coordinate parameter of the lifting point and the coordinates of the boom hinge point.

7. The method for obtaining the lifting threshold value of an excavator according to claim 1, characterized in that: The step of obtaining the excavator lifting threshold value according to the tipping load and the hydraulic lifting value comprises: Obtaining a tipping load threshold value according to the tipping load and a preset load coefficient; Obtaining a hydraulic lifting threshold value according to the hydraulic lifting value and a preset lifting coefficient; If the tipping load threshold is less than or equal to the hydraulic lifting threshold, the tipping load threshold is determined to be the excavator lifting threshold; if the tipping load threshold is greater than the hydraulic lifting threshold, the hydraulic lifting threshold is determined to be the excavator lifting threshold.

8. An excavator lifting alarm method, characterized in that: The steps include: According to the method for obtaining a lifting threshold value of an excavator according to any one of claims 1 to 7, obtaining a lifting threshold value of an excavator; Get the working parameters of the current lifting work of the excavator; Determining the working state of the excavator according to the working parameters and the lifting threshold of the excavator; If the working state is abnormal, an alarm is issued.

9. The excavator lifting alarm method according to claim 8, characterized in that: The working parameters include the actual lifting value of the excavator performing the current lifting work; The step of determining the working state of the excavator according to the working parameter and the lifting threshold of the excavator comprises: If the actual lifting value is greater than the excavator lifting threshold, it is determined that the working state of the excavator is an abnormal state.

10. The excavator lifting alarm method according to claim 8, characterized in that: The working parameters include the actual cylinder pressure of the excavator performing the current lifting work; The step of determining the working state of the excavator according to the working parameter and the lifting threshold of the excavator comprises: Obtaining a cylinder pressure threshold of the boom cylinder according to the lifting threshold of the excavator and the inner cavity area of ​​the boom cylinder; If the actual cylinder pressure is greater than the cylinder pressure threshold, it is determined that the working state of the excavator is an abnormal state.

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