Excavator lifting threshold acquisition method and lifting alarm method

Abstract

The application provides a method for obtaining a lifting threshold of an excavator and a lifting alarm method. The method comprises: obtaining attitude data of a current attitude of the excavator; obtaining a tipping load of the excavator according to the attitude data and weight data of a plurality of components of the excavator; obtaining a hydraulic lifting value of a boom cylinder according to the attitude data, the weight data and cylinder parameters of the boom cylinder; and obtaining the lifting threshold of the excavator according to the tipping load and the hydraulic lifting value. The application can obtain the lifting threshold in combination with the attitude of each part of the excavator according to the actual application scenario, improve the flexibility of obtaining the lifting threshold, and improve the lifting capacity of the excavator.

Description

TECHNICAL FIELD

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

[0002] An excavator is a large construction machine, which can lift and move materials. However, if the weight of the material is too heavy, it may cause damage to the excavator or even cause the excavator to tip over. In order to improve the safe use of the excavator, the prior art adopts a table lookup method to obtain the lifting threshold value of the excavator under various conditions. However, the lifting threshold value obtained by table lookup ignores the influence of the posture of each part of the excavator on the lifting threshold value, that is, the lifting threshold value acquisition method of the prior art has poor flexibility for actual application scenarios, which limits the exertion of the lifting capacity of the excavator. SUMMARY

[0003] The present application aims to overcome the shortcomings and deficiencies in the prior art, and provides an excavator lifting threshold value acquisition method and a lifting alarm method, which can obtain the lifting threshold value in combination with the postures of each part of the excavator for actual application scenarios, improve the flexibility of obtaining the lifting threshold value, and improve the exertion of the lifting capacity of the excavator.

[0004] A first aspect of the embodiments of the present application provides an excavator lifting threshold value acquisition method, comprising:

[0005] Obtaining posture data of a current posture of the excavator;

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

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

[0008] Obtaining an excavator lifting threshold value according to the tipping load and the hydraulic lifting value.

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

[0010] Obtaining an excavator lifting threshold value according to the excavator lifting threshold value acquisition method described above;

[0011] Obtaining work parameters of a current lifting work of the excavator;

[0012] Determining a work state of the excavator according to the work parameters and the excavator lifting threshold value;

[0013] If the work state is an abnormal state, issuing an alarm reminder.

[0014] Compared with the related art, the excavator load threshold is obtained according to the attitude data of the current attitude of the excavator and the plurality of weight data of the excavator, according to the attitude data, the weight data and the cylinder parameter of the boom cylinder, the hydraulic lifting value of the boom cylinder is obtained, and according to the overturning load and the hydraulic lifting value, the load threshold of the excavator is obtained. Since the overturning load of the excavator and the hydraulic lifting value of the boom cylinder are obtained according to the attitude data and the weight data of the excavator, the obtained load threshold of the excavator also corresponds to the attitude data of the excavator, which improves the flexibility of obtaining the load threshold of the excavator, and is beneficial to make the excavator play higher lifting capacity under the safe working condition of not exceeding the load threshold of the excavator.

[0015] In order to enable a clearer understanding of the present application, the specific embodiments of the present application will be described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 Flow chart of the excavator load threshold acquisition method of an embodiment of the present application.

[0017] Figure 2 Coordinate system diagram of the excavator load threshold acquisition method of an embodiment of the present application.

[0018] Figure 3 Schematic diagram of the boom cylinder of the excavator load threshold acquisition method of an embodiment of the present application.

[0019] Figure 4 Flow chart of the excavator load alarm method of an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0021] It should be clear that the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0022] The following description refers to the accompanying drawings. Unless otherwise indicated, same numbers in different drawings indicate same or similar elements. The following description, given together with the accompanying drawings, is intended in all respects to be illustrative only. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. There is no intention to limit the application other than as by the appended claims. For the purposes of the present application, the terms "first", "second", "third", etc. merely identify different stages in the process and do not require or imply a specific sequential or chronological order, unless otherwise indicated by the context. The terms "comprises", "comprising", "includes", "including", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional elements of the same or similar type. The terms "if' and "when" can be interpreted to mean "upon" or "in response to determining" in the context of the present application.

[0023] In addition, in the description of the present application, "a plurality of" means two or more, unless otherwise specified. The association relationship of the associated objects described by "and / or" indicates that there can be three relationships, for example, A and / or B can represent the three cases of A existing alone, A and B existing together, and B existing alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship.

[0024] Please refer to Figure 1 which is a flowchart of the excavator lifting threshold acquisition method of an embodiment of the present application, comprising:

[0025] S1: Obtain attitude data of the current attitude of the excavator.

[0026] The excavator is a large construction machine, including but not limited to a lower vehicle body, an upper vehicle body, a boom, a boom cylinder, a stick, a stick cylinder and other components. Among them, the attitude data of the excavator can be obtained by detecting through sensors arranged on multiple components of the excavator, such as arranging sensors on multiple components of the excavator, such as the boom cylinder, the boom, the stick cylinder, the stick, etc. The attitude data of the excavator can also be obtained by analyzing the image of the excavator, and the attitude data of the excavator includes the gravity coordinates of each component of the excavator relative to the upper vehicle body or the lower vehicle body.

[0027] S2: According to the attitude data and the weight data of the multiple components of the excavator, obtain the tipping load of the excavator.

[0028] The weight data includes the weight of the lower vehicle body, the upper vehicle body, the boom, the boom cylinder, and the counterweight of the excavator, which is used to generate the weight parameters of each component of the excavator. The tipping load of the excavator is a threshold parameter indicating whether the excavator will tip over due to lifting materials, i.e. when the weight of the lifted materials exceeds the tipping load, the excavator will tip over.

[0029] In an embodiment, the attitude data includes coordinates of a lifting point of the excavator and coordinates of the gravity centers of the other hoisting components; the coordinates of the lifting point include a first coordinate parameter of the lifting point in a first coordinate direction and a second coordinate parameter of the lifting point in a second coordinate direction, with the first coordinate direction being a coordinate direction of a lower vehicle body of the excavator as a coordinate system origin.

[0030] Referring to Figure 2 , the first coordinate direction and the second coordinate direction are perpendicular to each other, and both the first coordinate direction and the second coordinate direction are coordinate directions in a horizontal direction, as shown in Figure 2 , the first coordinate direction is an x-axis direction, and the second coordinate direction is a y-axis direction. In the O1x1y1z1 coordinate system and the Oxyz coordinate system, the coordinates of the gravity centers of the components are shown in Table 1 below:

[0031]

[0032] Table 1: Coordinate values

[0033] In Table 1, the coordinate parameter in the vertical direction (z-axis) is omitted, the O1x1y1z1 coordinate system is a coordinate system with the upper vehicle body as the origin, and the Oxyz coordinate system is a coordinate system with the lower vehicle body as the origin. is the angle difference between the O1x1y1z1 coordinate system and the Oxyz coordinate system.

[0034] S2 includes the following steps:

[0035] S21: When the absolute value of the first coordinate parameter of the lifting point is greater than the absolute value of a preset first coordinate threshold, a 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 gravity centers of the other hoisting 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.

[0036] The first coordinate parameter of the lifting point represents 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 material to be lifted is related to distance, the farther the lifting point is from the upper or lower body of the excavator, the more likely the material weight will cause the excavator to tip over. Therefore, when the absolute value of the first coordinate parameter of the lifting point is greater than the absolute value of a preset first coordinate threshold, it indicates that the lifting point is far from the upper or lower body of the excavator. In this case, the excavator has a corresponding tendency to tip over when lifting material. Therefore, it is necessary to obtain the first tipping load of the excavator in the first coordinate direction based on the first coordinate parameter of the lifting point, the center of gravity coordinates of the other lifting components, and the weight data, 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 based on the size parameters of the excavator.

[0037] For example, taking the x-axis as the first coordinate direction to represent the excavator's forward and backward direction, the preset first coordinate threshold can be used as x 前 x 后 It means that, where x 前 >0, x 后 <0; The first coordinate parameter of the lifting point is x LP If x LP >x 前 This indicates that the excavator has a tendency to tip forward. Based on the first coordinate parameters of the lifting point, the center-of-gravity coordinates of the other lifting components, and the weight data, the forward tipping load of the excavator needs to be obtained as the first tipping load; if x LP <x 后 This indicates that the excavator has a tendency to tip backward. It is necessary to obtain the first tipping load of the excavator based on the first coordinate parameters 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 a preset second coordinate threshold, the second tilting load of the excavator in the second coordinate direction is obtained based on the second 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 second coordinate parameter of the lifting point is less than or equal to the absolute value of the second coordinate threshold, the acquisition of the second tilting load is stopped. The second coordinate threshold is a fixed value set by the manufacturer based on the size parameters of the excavator.

[0039] The second coordinate parameter of the lifting point indicates the distance of the lifting point from the upper body or the lower body of the excavator in the second coordinate direction. Since the moment 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 the lower body of the excavator, the more likely the weight of the material is to cause the excavator to tip over. Therefore, 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, it indicates that the lifting point is far away from the upper body or the lower body of the excavator, and when the excavator hoists the material, there is a corresponding tipping trend. Therefore, the second tipping load of the excavator in the second coordinate direction needs to be obtained according to the second coordinate parameter of the lifting point, the gravity center coordinates of the other hoisting components, and the weight data, so as to measure whether the weight of the material will cause the excavator in the current posture to tip over.

[0040] For example, the y-axis direction is the second coordinate direction, which represents the left-right direction of the excavator, and the preset second coordinate threshold can be y 左 , y 右 , wherein y 左 > 0, y 右 < 0; the second coordinate parameter of the lifting point is y LP , if y LP > y 左 , it indicates that the excavator has a tendency to tip to the left, and the second tipping load of the excavator in the left tipping load needs to be obtained according to the second coordinate parameter of the lifting point, the gravity center coordinates of the other hoisting components, and the weight data; if y LP < y 右 , it indicates that the excavator has a tendency to tip to the right, and the second tipping load of the excavator in the right tipping load needs to be obtained according to the second coordinate parameter of the lifting point, the gravity center coordinates of the other hoisting components, and the weight data.

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

[0042] The step S23 includes:

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

[0044] When only the first tipping load is obtained, it indicates that the excavator has a tipping trend corresponding to the first coordinate direction, but the excavator does not have a tipping trend 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 the second tipping load as the tipping load.

[0046] When only the second tipping load is obtained, it indicates that the excavator has a tipping trend in the second coordinate direction, but does not have a tipping trend in the first coordinate direction, so 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, the smaller one of the first tipping load and the second tipping load is determined as the tipping load.

[0048] When the first tipping load and the second tipping load are obtained at the same time, it indicates that the excavator has a tipping trend in both the first coordinate direction and the second coordinate direction, so the absolute value of the first tipping load and the absolute value of the second tipping load are compared to determine the smaller one as the effective tipping load of the excavator in the current posture, so as to prevent the excavator from tipping due to the excessive weight of the material being lifted in the current posture.

[0049] S3: Obtain 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] Since the hydraulic lifting value of the boom cylinder is obtained according to the posture data, the weight data, and the cylinder parameters of the boom cylinder, the hydraulic lifting value is the upper limit value of the force exerted by the boom cylinder to drive the boom and the stick to lift the material in the current posture of the excavator.

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

[0052] In an available embodiment, step S4 includes:

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

[0054] S42: Obtain a hydraulic lifting threshold 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, determine the tipping load threshold as the lifting threshold of the excavator, and if the tipping load threshold is greater than the hydraulic lifting threshold, determine the hydraulic lifting threshold as the lifting threshold of the excavator.

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

[0057] Wherein, steps S41-S43 can be realized by the following formula:

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

[0059] G LPE is a digging machine lifting threshold, G LPT is a tipping load, G LPH is a hydraulic lifting value, 75% is a preset load coefficient, 87% is a preset lifting coefficient, and min(·) is a minimum value.

[0060] Compared with the related art, the present application obtains the tipping load of the excavator according to the attitude data of the current attitude of the excavator and the plurality of weight data of the excavator, obtains the hydraulic lifting value of the boom cylinder according to the attitude data, the weight data, and the cylinder parameter of the boom cylinder, and then obtains the lifting threshold of the excavator according to 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 both obtained according to the attitude data and the weight data of the excavator, the obtained lifting threshold of the excavator also corresponds to the attitude data of the excavator, thereby improving the flexibility of obtaining the lifting threshold of the excavator and being conducive to making the excavator exert higher lifting capacity under the safe working condition of not exceeding the lifting threshold of the excavator.

[0061] In a feasible embodiment, the gravity center coordinate of the other lifting component includes a boom gravity center first coordinate parameter, a stick gravity center first coordinate parameter, a counterweight gravity center first coordinate parameter, an upper vehicle body gravity center first coordinate parameter, and a lower vehicle body gravity center first coordinate parameter in the first coordinate direction; and the weight data includes a boom weight, a stick weight, a counterweight weight, an upper vehicle body weight, and a lower vehicle body weight.

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

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

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

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

[0066] Wherein, steps S211-S213 can be realized 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 gravity center, G A is the arm weight, x A is the first coordinate parameter of the arm gravity center, G C is the counterweight weight, x C is the first coordinate parameter of the counterweight gravity center, G U is the upper body weight, x U is the first coordinate parameter of the upper body gravity center, G L is the lower body weight, x L is the first coordinate parameter of the lower body gravity center, x LP is the first coordinate parameter of the lifting point, x 后 is the preset first coordinate threshold value.

[0072] In the present fact example, according to the first coordinate parameter of the lifting point, the first coordinate threshold value, 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 body gravity center, the first coordinate parameter of the lower body gravity center, and the boom weight, the arm weight, the counterweight weight, the upper body weight and the lower body weight, the first tipping load under the current posture can be accurately obtained.

[0073] In a feasible embodiment, the gravity center coordinates of the other hoisting components further include second coordinate parameters of the boom gravity center, the arm gravity center, the counterweight gravity center, the upper body gravity center and the lower body gravity center in a second coordinate direction; and the weight data includes the boom weight, the arm weight, the counterweight weight, the upper body weight and the lower body weight.

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

[0075] S221: Obtain a second coordinate distance according to the second coordinate parameter of the hoisting point and the second coordinate threshold value;

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

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

[0078] The steps S221-S223 can be implemented by the following formulas:

[0079] If y LP >y 左 ,

[0080]

[0081] If y LP <y 右 ,

[0082]

[0083] In the above formulas, G LPT is the second rollover load, G B is the boom weight, y B is the second coordinate parameter of the boom gravity center, G A is the stick weight, y A is the second coordinate parameter of the stick gravity center, G C is the counterweight weight, y C is the second coordinate parameter of the counterweight gravity center, G U is the upper vehicle body weight, y U is the second coordinate parameter of the upper vehicle body gravity center, G L is the lower vehicle body weight, y L is the second coordinate parameter of the lower vehicle body gravity center, y LP is the second coordinate parameter of the hoisting point, y 左 and y 右 are preset second coordinate threshold values

[0084] In the present fact example, the second tipping load in the current posture can be accurately obtained 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 stick, 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 boom weight, the stick weight, the counterweight weight, the upper vehicle body weight and the lower vehicle body weight

[0085] Please refer to Figure 3 In an embodiment, the posture data includes a coordinate of a boom hinge point, a coordinate of a cylinder hinge point, a coordinate of a cylinder-arm hinge point, a third coordinate parameter of a lifting point, a third coordinate parameter of a center of gravity of the boom and a third coordinate parameter of a center of gravity of the stick; the boom hinge point is a hinge position of the boom of the excavator and the upper vehicle body, the cylinder hinge point is a hinge position of the boom cylinder of the excavator and the upper vehicle body, the cylinder-arm hinge point is a hinge position of the boom cylinder of the excavator and the boom, and the third coordinate parameter of the lifting point, the third coordinate parameter of the center of gravity of the boom and the third coordinate parameter of the center of gravity of the stick are coordinate parameters with the upper vehicle body of the excavator as the coordinate system origin.

[0086] The weight data includes a boom weight and a stick weight.

[0087] The cylinder parameter includes an upper limit value of the force of the boom cylinder on the boom.

[0088] S3: obtaining the hydraulic lifting value of the boom cylinder according to the posture data, the weight data and the cylinder parameter of the boom cylinder, including:

[0089] S31: obtaining a vertical distance from the boom hinge point to the boom cylinder according to the coordinate of the boom hinge point, the coordinate of the cylinder hinge point and the coordinate 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 according to the coordinate of the cylinder hinge point and the coordinate of the cylinder-arm hinge point, and S is the area of a triangle with the coordinate of the boom hinge point, the coordinate of the cylinder hinge point and the coordinate of the cylinder-arm hinge point as the vertices, wherein S can be obtained by the following formula:

[0093]

[0094] In the above formula, p is a half of the perimeter 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, that is, a half of the value 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: obtaining the hydraulic lifting value of the boom cylinder according to the upper limit value of the force of the boom cylinder on the boom, the vertical distance, the boom weight, the arm weight, the third coordinate parameter of the boom gravity center, the third coordinate parameter of the arm gravity center, 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 formulae:

[0097]

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

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

[0100] Referring to Figure 4 , the second embodiment of the present application provides a lifting alarm method for an excavator, comprising the following steps:

[0101] S5: obtaining the lifting threshold value of the excavator according to the lifting threshold value acquisition method for the excavator.

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

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

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

[0105] In an embodiment, the working parameter comprises an actual lifting value of the excavator performing the current lifting work.

[0106] S6 comprises the following steps:

[0107] S61: if the actual lifting value is greater than the excavator lifting threshold, determining the working state of the excavator as an abnormal state.

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

[0109] In an embodiment, the working parameter comprises an actual cylinder pressure of the excavator performing the current lifting work.

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

[0111] S7 comprises the following steps:

[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] 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 third coordinate parameter of the boom gravity center, the third coordinate parameter of the arm gravity center, the third coordinate parameter of the lifting point, and the coordinates of the boom hinge point, as shown in the following formula:

[0114]

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

[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 the boom cylinder 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 the inner cavity of the boom cylinder can reach 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 an abnormal state, an alarm is issued.

[0119] When the working state is an abnormal state, an alarm is issued, which can prevent the excavator from tipping over or the components from being damaged due to excessive working pressure when the excavator is lifting the current material in the current posture. The alarm can be reminded by a buzzer and / or a display screen arranged on the upper body of the excavator, and specifically, the buzzer and the display screen can be arranged in the cab of the upper body of the excavator.

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

[0121] The device embodiments described above are only schematic, and the components illustrated as separate components can or can not be physically separate, and the components illustrated as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present application. Those skilled in the art can understand and implement it without creative labor.

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

[0123] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0124] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

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

[0126] The memory can include non-persistent memory and / or persistent memory, for example, read only memory (ROM), random access memory (RAM), and / or flash memory. The memory is an example of computer readable media.

[0127] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0128] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0129] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method of obtaining a threshold value for a shovel crane, characterized by, The method comprises the following steps: Obtaining attitude data of the current attitude of the excavator, the attitude data comprising coordinates of a lifting point of the excavator and coordinates of the gravity centers of other hoisting components; the coordinates of the lifting point comprising a first coordinate parameter of the lifting point in a first coordinate direction and a second coordinate parameter of the lifting point in a second coordinate direction, with the lower vehicle body of the excavator as the coordinate system origin; Obtaining the tipping load of the excavator according to the attitude data and weight data of the components of the excavator, comprising: when the absolute value of the first coordinate parameter of the lifting point is greater than the absolute value of a preset first coordinate threshold, obtaining a first tipping load of the excavator in the first coordinate direction according to the first coordinate parameter of the lifting point, the coordinates of the gravity centers of the other hoisting 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, stopping obtaining the first tipping load; when the absolute value of the second coordinate parameter of the lifting point is greater than the absolute value of a preset second coordinate threshold, obtaining a second tipping load of the excavator in the second coordinate direction according to the second coordinate parameter of the lifting point, the coordinates of the gravity centers of the other hoisting 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, stopping obtaining the second tipping load; obtaining the tipping load according to the first tipping load and / or the second tipping load; Obtaining a hydraulic lifting value of the boom cylinder according to the attitude data, the weight data and a cylinder parameter of the boom cylinder; Obtaining an excavator lifting threshold according to the tipping load and the hydraulic lifting value.

2. The excavator threshold acquisition method according to claim 1, characterized by, 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 both the first tipping load and the second tipping load are obtained, determining the smaller one as the tipping load from the first tipping load and the second tipping load.

3. The excavator threshold acquisition method according to claim 1, characterized by, The coordinates of the gravity centers of the other hoisting components comprise a first coordinate parameter of the boom gravity center, a first coordinate parameter of the stick gravity center, a first coordinate parameter of the counterweight gravity center, a first coordinate parameter of the upper vehicle body gravity center and a first coordinate parameter of the lower vehicle body gravity center; the weight data comprises the boom weight, the stick weight, the counterweight weight, the upper vehicle body weight and the lower vehicle body weight; The step of obtaining the first tipping load of the excavator in the first coordinate direction according to the first coordinate parameter of the lifting point, the coordinates of the gravity centers of the other hoisting 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; Obtaining a first weight moment according to the first coordinate parameter of the boom gravity center, the first coordinate parameter of the stick 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, the boom weight, the stick weight, the counterweight weight, the upper vehicle body weight and the lower vehicle body weight. According to the first weight moment and the first coordinate distance, the first overturning load is obtained.

4. The excavator threshold acquisition method according to claim 3, characterized by, The center of gravity coordinates of the other hoisting components further include a second coordinate parameter of a boom center of gravity, a second coordinate parameter of a stick center of gravity, a second coordinate parameter of a counterweight center of gravity, a second coordinate parameter of an upper vehicle body center of gravity, and a second coordinate parameter of a lower vehicle body center of gravity; and the weight data includes a boom weight, a stick weight, a counterweight weight, an upper vehicle body weight, and a lower vehicle body weight. According to the hoisting point second coordinate parameter, the center of gravity coordinates of the other hoisting components, and the weight data, the second overturning load of the excavator in the second coordinate direction is obtained, and the step includes: According to the hoisting point second coordinate parameter and the second coordinate threshold, a second coordinate distance is obtained. According to the second coordinate parameter of the boom center of gravity, the second coordinate parameter of the stick center of gravity, the second coordinate parameter of the counterweight center of gravity, the second coordinate parameter of the upper vehicle body center of gravity, the second coordinate parameter of the lower vehicle body center of gravity, the boom weight, the stick weight, the counterweight weight, the upper vehicle body weight, and the lower vehicle body weight, a second weight moment is obtained. According to the second weight moment and the second coordinate distance, the second overturning load is obtained.

5. The excavator threshold acquisition method of claim 1, wherein, The attitude data includes a coordinate of a boom hinge point, a coordinate of a cylinder hinge point, a coordinate of a cylinder boom hinge point, a third coordinate parameter of a hoisting point, a third coordinate parameter of a boom center of gravity, and a third coordinate parameter of a stick center of gravity; wherein the third coordinate parameter of the hoisting point, the third coordinate parameter of the boom center of gravity, and the third coordinate parameter of the stick center of gravity are coordinate parameters with the upper vehicle body of the excavator as a coordinate system origin; The boom hinge point is a hinge position of a boom of the excavator and the upper vehicle body, the cylinder hinge point is a hinge position of a boom cylinder of the excavator and the upper vehicle body, and the cylinder boom hinge point is a hinge position of the boom cylinder of the excavator and the boom; The weight data includes a boom weight and a stick weight; The cylinder parameter includes an upper limit value of an action force of the boom cylinder on the boom; According to the attitude data, the weight data, and the cylinder parameter of the boom cylinder, the hydraulic lifting value of the boom cylinder is obtained, and the step includes: According to the coordinate of the boom hinge point, the coordinate of the cylinder hinge point, and the coordinate of the cylinder boom hinge point, a vertical distance from the boom hinge point to the boom cylinder is obtained; According to the upper limit value of the action force of the boom cylinder on the boom, the vertical distance, the boom weight, the stick weight, the third coordinate parameter of the boom center of gravity, the third coordinate parameter of the stick center of gravity, the third coordinate parameter of the hoisting point, and the coordinate of the boom hinge point, the hydraulic lifting value of the boom cylinder is obtained.

6. The excavator threshold acquisition method of claim 1, wherein, According to the overturning load and the hydraulic lifting value, an excavator lifting threshold is obtained, and the step includes: According to the overturning load and a preset load coefficient, an overturning load threshold is obtained; According to the hydraulic lifting value and a preset lifting coefficient, a hydraulic lifting threshold is obtained; If the tipping load threshold is less than or equal to the hydraulic lifting threshold, the tipping load threshold is determined as the excavator lifting threshold, and if the tipping load threshold is greater than the hydraulic lifting threshold, the hydraulic lifting threshold is determined as the excavator lifting threshold.

7. A method of alerting for a shovel crane, characterized by, The method comprises the following steps: The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; 8. The method of claim 7, wherein, The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; 9. The method of claim 7, wherein, The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to any one of claims 1-6 acquires the excavator lifting threshold; The method for acquiring the excavator lifting threshold according to

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