Early warning system and method for position and posture of excavator

Abstract

The invention provides an excavator pose early warning system and method.The method comprises the following steps that S1, early warning parameters are set for an excavator through an instrument monitoring unit, and the early warning parameters comprise an early warning height parameter, an early warning length parameter and an early warning width parameter; and S2, calibrating the excavator in the calibration attitude state through an instrument monitoring unit to determine a reference value of the angle data. S3, angle data of the excavator detection unit in the working state are obtained, and the angle data are preprocessed to obtain pose parameters of the excavator; s4, actual position parameters of the excavator are calculated according to the pose parameters of the excavator and the structure parameters of the excavator, wherein the actual position parameters comprise actual height parameters, actual length parameters and actual width parameters; and S5, whether the actual position parameter of the excavator is larger than or equal to the set early warning parameter or not is judged, and if yes, control limitation is conducted on an executing mechanism, and an early warning result is sent to an instrument monitoring unit to be displayed.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and in particular to an excavator posture warning system and method. Background Art

[0002] The posture parameters of the excavator mainly include the body tilt angle, rotation angle, driving direction, boom angle, dipper arm angle, and bucket angle. During the work process, the driver mainly performs reasonable excavation, rotation, unloading, walking and other operations based on the experience of the excavator posture and the surrounding environment. However, with the continuous advancement of excavator technology, the overall structure of the excavator is getting larger and larger, and the driver's blind spots are also increasing. Especially in complex and changeable working scenarios such as municipal construction, open-pit mining, and emergency rescue, excavators often face challenges such as limited rotation range, limited height or extension length of the working device, and obstructed travel direction, which poses a great safety hazard.

[0003] Therefore, how to improve the intelligence and digitalization level of the excavator and improve the safety of the excavator's operability through the excavator's posture information and early warning information is a technical problem faced by technical personnel in this field. Summary of the invention

[0004] In order to solve the technical problems existing in the prior art, the first aspect of the present application provides an excavator posture warning method, which includes the following steps: S1. Setting warning parameters for the excavator through the instrument monitoring unit, wherein the warning parameters include a warning height parameter, a warning length parameter and a warning width parameter; S2. Calibrate the excavator in the calibration posture state through the instrument monitoring unit to determine the reference value of the angle data; S3, obtaining angle data of the excavator detection unit in the working state, and preprocessing the angle data to obtain the posture parameters of the excavator; S4. Calculating actual position parameters of the excavator according to the posture parameters of the excavator and the structural parameters of the excavator, wherein the actual position parameters include actual height parameters, actual length parameters and actual width parameters; S5. Determine whether the actual position parameter of the excavator is greater than or equal to the set warning parameter. If so, control and limit the actuator and send the warning result to the instrument monitoring unit for display.

[0005] Furthermore, the step S3 of obtaining the angle data of the excavator detection unit in the working state includes establishing an absolute angle coordinate system of the excavator posture warning system, and the absolute angle coordinate system includes a working device angle coordinate system, a vehicle body inclination coordinate system and a rotation angle coordinate system; wherein, the working device angle coordinate system uses the hinge point between the boom and the vehicle as the coordinate system origin O, the direction of the gravitational acceleration G is absolute zero, and the angle increases in the clockwise direction around point O; the vehicle body inclination coordinate system uses the hinge point between the boom and the vehicle as the coordinate system origin O, and the horizontal plane as the absolute zero of pitch and roll, the vehicle body leaning forward and right is a positive value, and the vehicle body leaning backward and left is a negative value; the rotation angle coordinate system uses the hinge point between the boom and the vehicle as the coordinate system origin O, the driving wheel at the rear and the working device at the front as the absolute zero, and the angle increases in the clockwise direction.

[0006] Further, the preprocessing of the angle data to obtain the posture parameters of the excavator in step S3 includes preprocessing the angle data according to a filtering formula to reduce the error of the angle data, wherein the filtering formula is as follows: V1= V1+(2*(1-R o )*V in -V1)*T r / T f ; V2=V2+(V1-V2)*T r / T f ; V max =Max(V2,V1-V in ); V out =V in +V max -V1; Among them, V out Indicates the output value, V in Indicates input value, V1, V2, V max Represents the calculation variable of the filtering process, R o Indicates the set filter damping ratio, T r Indicates the program running cycle, T f Indicates the filtering period.

[0007] Furthermore, the step S3 of preprocessing the angle data to obtain the excavator's posture parameters includes preprocessing the angle data according to the same coordinate system formula so that each angle data is in the same coordinate system, wherein the same coordinate system formula is as follows: out =(360-A in )+P x ; Among them A out Indicates the output of the same coordinate system value, A in Represents the original value, P xIndicates the pitch angle value of the vehicle body inclination sensor.

[0008] Furthermore, the preprocessing of the angle data to obtain the excavator's posture parameters in step S3 includes preprocessing the angle data according to a relative angle algorithm formula, wherein the relative angle algorithm formula is as follows: When A t1 -A t0 ≤A h When B=1, A x =A in +360; When A t1 -A t0 >A h When B=0, A x =A in ; A s =A x1 -A x2 ; Among them, A t1 represents the angle at time t1, A t0 Indicates the angle at the previous moment t1, A h Indicates the value of the maximum change angle of the device program running in one cycle, which increases by 10. x Indicates the intermediate value of relative angle calculation, A in Indicates the input angle, A s Represents the relative angle output value, A x1 Represents the relative angle calculation process value of component I, A x2 Indicates the relative angle calculation process value of component II.

[0009] Further, the step S3 of preprocessing the angle data to obtain the excavator's posture parameters includes preprocessing the angle data according to a multi-sensor fusion algorithm formula, wherein the multi-sensor fusion algorithm formula is as follows: muti =W1*S1+W2*S2+…+W n *S n ; Among them, S muti Represents the output value of multi-sensor fusion, W1…W n Represents the weight value of each sensor, S1…S n Indicates the collected values ​​of each sensor.

[0010] Further, the step S4 of calculating the actual position parameters of the excavator according to the posture parameters of the excavator and the structural parameters of the excavator includes calculating the actual position parameters of the excavator according to the posture warning algorithm mapping formula, wherein the posture warning algorithm mapping formula is as follows: ; Among them, a1, a2...a6 respectively represent the angle between the boom and the vehicle body, the relative angle between the arm and the boom, the relative angle between the bucket and the arm, the rotation angle, the vehicle body pitch angle, and the vehicle body roll angle; bom represents the boom structure size data; arm represents the arm structure size data; bkt represents the bucket structure size data; r1, r2, r3 are the actual height parameters, actual length parameters, and actual width parameters of the excavator, respectively.

[0011] The second aspect of the present application provides an excavator posture warning system for implementing the excavator posture warning method as described in any of the above items, the system at least comprising: a detection unit, a control unit and an instrument monitoring unit, the detection unit and the control unit are connected via a CAN communication bus, for obtaining the excavator's posture information, and transmitting the excavator's posture information to the control unit, the control unit is used for signal processing, logical algorithms and result output of the entire system, and the excavator instrument monitoring unit is used for visualization of warning information, parameter setting and human-computer interaction.

[0012] Furthermore, the detection unit includes at least: a boom angle sensor fixed on the side of the boom, a boom angle sensor fixed on the side of the boom, a bucket angle sensor fixed on the side of the rocker connecting the bucket and the boom, a body inclination sensor fixed on the excavator upper platform, and a body slew angle sensor fixed on the slew motor bearing.

[0013] Furthermore, the boom angle sensor, the arm angle sensor, the bucket angle sensor and the vehicle body inclination sensor are all gravity sensors, and the vehicle body rotation angle sensor is a rotary encoder.

[0014] Compared with the prior art, the beneficial effects of this application are: From the perspective of excavator technology development, this application improves the intelligence and digitalization level of excavators, and provides basic technologies in environmental perception and posture detection for subsequent excavator unmanned driving, precision control and other technical fields. From the driver's perspective, the overall posture and early warning information of the excavator improves the safety of the excavator's controllability, ensuring the safety of equipment and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a topological diagram of the composition of the excavator posture warning system of the present application; Figure 2 It is a structural schematic diagram of the excavator posture warning system of the present application; Figure 3 It is a schematic diagram of the absolute angle coordinate system of the excavator posture warning system of the present application; Figure 4 It is an algorithm flow chart of the excavator posture warning method of the present application; Figure 5 It is a diagram of an excavator model of the posture warning algorithm of the present application; Description of reference numerals: 1. Boom angle sensor; 2. Arm angle sensor; 3. Bucket angle sensor; 4. Vehicle inclination sensor; 5. Vehicle rotation angle sensor; 6. Control unit; 7. Instrument monitoring unit; 8. Working device angle coordinate system; 9. Vehicle inclination coordinate system; 10. Rotation angle coordinate system. DETAILED DESCRIPTION

[0016] In order to facilitate the understanding of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, 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 this application.

[0017] refer to Figure 1-2 As shown, this embodiment provides an excavator posture warning system, the system at least includes: Detection unit, control unit 6 and instrument monitoring unit 7. The detection unit and control unit 6 are connected via a CAN communication bus, and are used to obtain the excavator's posture information and transmit the excavator's posture information to the control unit 6. The control unit 6 is arranged in the cab electrical box, and is used for signal processing, logic algorithm and result output of the entire system. The control unit 6 and instrument monitoring unit 7 are connected via a CAN communication bus. The instrument monitoring unit 7 is arranged on the front side of the cab control panel, and is used for visualization of posture warning, parameter setting and human-computer interaction.

[0018] Specifically, the control unit 6 is used to collect the angle information of the detection unit and the calibration and warning parameter setting information of the instrument monitoring unit 7 through the CAN communication bus, and obtain the warning information of the whole vehicle through the data preprocessing algorithm, calibration algorithm, storage algorithm, and posture warning algorithm inside the control unit 6. The instrument monitoring unit 7 is used to display the warning information according to the warning information, and the actuator current output algorithm of the control unit 6 is further used to control the output of the actuator current of the control unit 6.

[0019] The detection unit at least includes: a boom angle sensor 1 fixed on the side of the boom, an arm angle sensor 2 fixed on the side of the boom, a bucket angle sensor 3 fixed on the side of the rocker connecting the bucket and the boom, a body inclination sensor 4 fixed on the excavator's upper platform, and a body rotation angle sensor 5 fixed on the bearing of the rotary motor. Among them, the bucket angle sensor 3 is fixed on the side of the rocker connecting the bucket and the boom, which can reduce the damage to it during the excavation operation. In addition, due to the harsh working environment of the excavator and the large impact force during the excavation process, the reliability of ordinary angle sensors is poor. Therefore, the boom angle sensor 1, the boom angle sensor 2, the bucket angle sensor 3 and the body inclination sensor 4 are all gravity sensors, and the body rotation angle sensor 5 is a rotary encoder.

[0020] This application also provides an excavator posture warning method, refer to Figure 4 As shown, the method comprises the following steps: Step S1, setting warning parameters for the excavator through the instrument monitoring unit 7, wherein the warning parameters include a warning height parameter, a warning length parameter and a warning width parameter; Step S2: Calibrate the excavator in the calibration posture state through the instrument monitoring unit 7 to determine the reference value of the angle data.

[0021] Step S3, obtaining angle data of the excavator detection unit in the working state, and preprocessing the angle data to obtain the posture parameters of the excavator; Step S4, calculating the actual position parameters of the excavator according to the posture parameters of the excavator and the structural parameters of the excavator, wherein the actual position parameters include an actual height parameter, an actual length parameter and an actual width parameter; Step S5, determine whether the actual position parameter of the excavator is greater than or equal to the set warning parameter. If so, control and limit the actuator and send the warning result to the instrument monitoring unit 7 for display.

[0022] In some embodiments, step S2 includes placing the excavator in a calibrated posture, i.e., raising the excavator to the highest point, using the excavator instrument monitoring unit 7 to perform calibrated human-computer interaction, and the excavator control unit 6 uses the absolute angles received from each angle sensor as the reference value of the angle data.

[0023] In some embodiments, reference Figure 3As shown, obtaining the angle data of the excavator detection unit in the working state in step S3 includes establishing an absolute angle coordinate system of the excavator posture warning system, and the absolute angle coordinate system includes a working device angle coordinate system 8, a vehicle body inclination coordinate system 9 and a rotation angle coordinate system 10; wherein, the working device angle coordinate system 8 takes the hinge point between the boom and the vehicle as the coordinate system origin O, the direction of the gravity acceleration G is the angle as absolute zero, and the angle increases in the clockwise direction around the point O; the vehicle body inclination coordinate system 9 takes the hinge point between the boom and the vehicle as the coordinate system origin O, the horizontal plane as the absolute zero of pitch and roll, and the angle increases in the clockwise direction; the rotation angle coordinate system 10 takes the hinge point between the boom and the vehicle as the coordinate system origin O, the driving wheel at the rear and the working device at the front as absolute zero, and the angle increases in the clockwise direction.

[0024] Specifically, in the working device angle coordinate system 8, the hinge point between the boom and the arm is L, the hinge point between the arm and the bucket is M, and the tooth tip of the bucket tooth is N. In this embodiment, the absolute angle of the boom is agreed to be the angle of vector OL, the absolute angle of the arm is agreed to be the angle of vector LM, the absolute angle of the bucket is agreed to be the angle of vector MN, the relative angle between the arm and the boom is the angle between vector LM and vector LO, and the relative angle between the bucket and the arm is the angle between vector MN and vector ML. The vehicle body inclination coordinate system 9 takes the hinge point between the boom and the lower vehicle as the coordinate system origin O, takes the horizontal plane as the absolute zero of pitch and roll, and the angle increases in the clockwise direction; in the vehicle body inclination coordinate system 9, the vehicle body inclination takes the horizontal plane as the absolute zero of pitch and roll, and the angle agreement rule of the vehicle body inclination sensor is the angle between the vehicle body and the horizontal plane, the vehicle body is tilted forward and rightward as positive values, and the vehicle body is tilted backward and leftward as negative values.

[0025] In some embodiments, preprocessing the angle data to obtain the posture parameters of the excavator in step S3 includes preprocessing the angle data of the detection unit so that each angle data of the detection unit is in the same coordinate system and reduces errors.

[0026] First, the control unit 6 performs filtering on the collected raw angle data of the detection unit, and changes the coordinates according to the installation position of each sensor. This step reduces the error of each sensor data and obtains the absolute angle of each sensor. The filtering formula is as follows: V1=V1+(2*(1-R o )*V in -V1)*T r / T f ; V2=V2+(V1-V2)*T r / T f ; V max =Max(V2,V1-V in ); Vout =V in +V max -V1; Among them, V out Indicates the output value, V in Indicates input value, V1, V2, V max Represents the calculation variable of the filtering process, R o Indicates the set filter damping ratio, T r Indicates the program running cycle, T f Indicates the filtering period.

[0027] Secondly, the angle data is preprocessed according to the same coordinate system formula so that the angle data of the detection unit are in the same coordinate system; the same coordinate system formula is as follows: A out =(360-A in )+P x , where A out Indicates the output of the same coordinate system value, A in Represents the original value, P x Indicates the pitch angle value of the vehicle body inclination sensor.

[0028] Thirdly, the angle data is preprocessed according to the relative angle algorithm formula, and the absolute angle data obtained by each gravity sensor is converted into a relative angle; the relative angle algorithm formula is as follows: When A t1 -A t0 ≤A h When B=1, A x =A in +360; When A t1 -A t0 >A h When B=0, A x =A in ; A s =A x1 -A x2 ; Among them, A t1 represents the angle at time t1, A t0 Indicates the angle at the previous moment t1, A h Indicates the value of the maximum change angle of the device program running in one cycle, which increases by 10. x Indicates the intermediate value of relative angle calculation, A in Indicates the input angle, A s Represents the relative angle output value, A x1 Represents the relative angle calculation process value of component I, A x2 Indicates the relative angle calculation process value of component II.

[0029] Finally, when the number of sensors is multiple, the angle data is preprocessed according to the multi-sensor fusion algorithm formula, where the multi-sensor fusion algorithm formula is as follows: S muti =W1*S1+W2*S2+…+W n *S n ; Among them, S muti Represents the output value of multi-sensor fusion, W1…W n Represents the weight value of each sensor, S1…S n Indicates the collected values ​​of each sensor.

[0030] In some embodiments, step S4 includes calculating the actual position parameters of the excavator according to the posture parameters of the excavator and the structural parameters of the excavator, wherein the actual position parameters include an actual height parameter, an actual length parameter, and an actual width parameter; in this embodiment, the actual position parameters of the excavator are calculated according to the posture warning algorithm mapping formula, wherein the posture warning algorithm mapping formula is as follows: ; Among them, a1, a2...a6 represent the angle between the boom and the vehicle body, the relative angle between the arm and the boom, the relative angle between the bucket and the arm, the rotation angle, the vehicle body pitch angle, and the vehicle body roll angle respectively; bom represents the boom structure size data; arm represents the arm structure size data; bkt represents the bucket structure size data; r1...r3 represent the actual height parameter, actual length parameter, and actual width parameter of the excavator respectively.

[0031] When the actual height parameter r1 is greater than or equal to the warning height parameter, or the actual length parameter r2 is greater than or equal to the warning length parameter, or the actual width parameter r3 is greater than or equal to the warning width parameter, the control unit 6 controls the instrument monitoring unit 7 to display the warning information, and controls the output of the actuator current of the control unit 6 through the actuator current output algorithm of the control unit 6.

[0032] Specifically, Figure 5 As shown, an excavator model of the r4 posture warning algorithm is established, where quadrilateral R1R2P3P2 is the vehicle body, quadrilateral ABPQ is the boom, quadrilateral BCKN is the dipper stick, pentagon CDEFH is the bucket, and quadrilateral CHMJ is the four-bar linkage that controls the bucket. The posture warning is the area restriction algorithm, which solves the length of the x-axis and the height of the axis of each point on the periphery of the working device, namely A, B, C, D, E, F, H, J, K, N, P, Q relative to point O. The angles known by the above multi-angle sensor fusion algorithm are absolute angles, namely line segment L AB、 L BC、 L CD The angle with the gravity acceleration direction and OG direction is ∠L AB OG 、 ∠L BC OG、 ∠L CD OG indicates that the inclination angle of the vehicle body relative to the horizontal plane is ∠P1OP2, the relative angle is the relative angle of the boom body ∠BAR1, the relative angle of the boom arm ∠CBA, and the relative angle of the bucket arm ∠DCB. According to the structural dimensions of the vehicle body and the working device, the boom line segment L AB、 L BP、 L PQ、 L QA , the boom structure angles ∠ABP, ∠BPQ, ∠PQA, and ∠QAB are fixed values. BC、 L CK、 L KN、 L NB , the arm structure angles ∠BCK, ∠CKN, ∠KNB, and ∠NBC are fixed values. Bucket line segment L CD、 L DE、 L EF、 L FH、 L HC , the bucket structure angles ∠CDE, ∠DEF, ∠EFH, ∠FHC, ∠HCD are fixed values. R1P2、 L P2P3、 L P3R2、 L R1R2 Is a constant. The four-bar linkage line segment L CH、 L HJ、 L JM、 L MC Is a fixed value.

[0033] According to the above known conditions, the x-axis distance and y-axis distance of each point relative to point O can be obtained. The calculation formula for each point is as follows: point Distance from x axis Distance from y axis A <![CDATA[Ax=L R1P2 *cos(∠P1OP2)]]> <![CDATA[Ay=L R1P2 *sin(∠P1OP2)]]> B <![CDATA[Bx=L AB *|sin(∠L AB AND)|+Ax]]> <![CDATA[By=L AB *|cos(∠L AB AND)|+Ay]]> C <![CDATA[Cx=Bx±L BC *|cos(∠L BC AND)|]]> <![CDATA[Cy=By±L BC *|sin(∠L BC AND)|]]> D <![CDATA[Dx=Cx±L CD *|cos(∠L CD AND)|]]> <![CDATA[Dy=Cy±L CD *|sin(∠L CD AND)|]]> E <![CDATA[Ex=Dx±L DE *|sin(∠L CD AND-∠CDE)|]]> <![CDATA[Ey=Dy±L DE *|cos(∠L CD AND-∠CDE)|]]> F <![CDATA[Fx=Ex±L EF *|sin(∠L CD AND-∠CDE+(π-∠DEF))|]]> <![CDATA[Fy=Ey±L EF *|cos(∠L CD AND-∠CDE+(π-∠DEF))|]]> H <![CDATA[Hx=Fx±L FH *|sin(∠L CD OG-∠CDE+(π-∠DEF)+(π-∠EFH))|]]> <![CDATA[Hy=Fy±L FH *|cos(∠L CD OG-∠CDE+(π-∠DEF)+(π-∠EFH))|]]> J <![CDATA[Jx=Hx±L HJ *|sin(∠L CD OG-∠CDE+(π-∠DEF)+(π-∠EFH)+(π-∠CHJ))]]> <![CDATA[Jy=Hy±L HJ *|cos(∠L CD OG-∠CDE+(π-∠DEF)+(π-∠EFH)+(π-∠CHJ))|]]> K <![CDATA[Kx=Cx±L CK *|cos(∠L BC AND-∠BCK)|]]> <![CDATA[Ky=Cy±L CK *|sin(∠L BC AND-∠BCK)|]]> N <![CDATA[Nx=Kx±L KN *|cos(∠L BC AND-∠BCK+(π-∠CKN))|]]> <![CDATA[Ny=Ky±L KN *|sin(∠L BC AND-∠BCK+(π-∠CKN))|]]> P <![CDATA[Px=Bx±L BC *|sin(∠L BC AND+(π-∠ABP))|]]> <![CDATA[Py=By±L BC *|sin(∠L BC AND+(π-∠ABP))|]]> Q <![CDATA[Qx=L QA *|sin(∠L AB AND+∠QAB)|+Ax]]> <![CDATA[Qy=L QA *|sin(∠L AB AND+∠QAB)|+Ay]]>

[0034] The actual position parameters of the excavator are obtained according to the distance calculation formula of the above points, that is, the distance from the x-axis is the height parameter of the working device, and the distance from the y-axis is the length of the working device. During the actual execution of the working device, the maximum height and maximum length are calculated every 10ms as the actual height parameter and actual length parameter of the excavator. Among them, the maximum height is the maximum value of the Y-axis distance of each point, and the maximum length is the maximum value of the x-axis distance of each point. The actual width parameter of the excavator can be calculated based on the height value, length value and the rotation angle of the excavator.

[0035] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present application. Without departing from the spirit and scope of the present application, the present application may have various changes and improvements, which fall within the scope of the present application to be protected. The scope of protection claimed in the present application is defined by the attached claims and their equivalents.

Claims

1. An excavator posture warning method, characterized in that: The method comprises the following steps: S1. Setting warning parameters for the excavator through the instrument monitoring unit, wherein the warning parameters include a warning height parameter, a warning length parameter and a warning width parameter; S2. Calibrate the excavator in the calibration posture state through the instrument monitoring unit to determine the reference value of the angle data; S3, obtaining angle data of the excavator detection unit in the working state, and preprocessing the angle data to obtain the posture parameters of the excavator; S4. Calculating actual position parameters of the excavator according to the posture parameters of the excavator and the structural parameters of the excavator, wherein the actual position parameters include actual height parameters, actual length parameters and actual width parameters; S5. Determine whether the actual position parameter of the excavator is greater than or equal to the set warning parameter. If so, control and limit the actuator and send the warning result to the instrument monitoring unit for display.

2. The excavator posture warning method according to claim 1 is characterized in that: The step S3 of obtaining the angle data of the excavator detection unit in the working state includes establishing an absolute angle coordinate system of the excavator posture warning system, and the absolute angle coordinate system includes a working device angle coordinate system, a vehicle body inclination coordinate system and a rotation angle coordinate system; wherein, the working device angle coordinate system uses the hinge point between the boom and the vehicle as the coordinate system origin O, the direction of the gravity acceleration G is absolute zero, and the angle increases in the clockwise direction around the point O; the vehicle body inclination coordinate system uses the hinge point between the boom and the vehicle as the coordinate system origin O, and the horizontal plane as the absolute zero of pitch and roll, the vehicle body tilts forward and right as positive values, and the vehicle body tilts backward and left as negative values; the rotation angle coordinate system uses the hinge point between the boom and the vehicle as the coordinate system origin O, the driving wheel at the rear and the working device at the front as absolute zero, and the angle increases in the clockwise direction.

3. The excavator posture warning method according to claim 2 is characterized in that: The step S3 of preprocessing the angle data to obtain the posture parameters of the excavator includes preprocessing the angle data according to a filtering formula to reduce the error of the angle data, wherein the filtering formula is as follows: V1= V1+(2×(1-R o )×V in -V1)×T r / T f ; <h2 style=";text-align:left;direction:ltr">V2=V2+(V1-V2)×T<h2 style=";text-align:left;direction:ltr"> r <h2 style=";text-align:left;direction:ltr"> / T<h2 style=";text-align:left;direction:ltr"> f <h2 style=";text-align:left;direction:ltr"> ; V max =Max(V2,V1-V in ); V out =V in +V max -V1; Among them, V out Indicates the output value, V in Indicates input value, V1, V2, V max Represents the calculation variable of the filtering process, R o Indicates the set filter damping ratio, T r Indicates the program running cycle, T f Indicates the filtering period.

4. The excavator posture warning method according to claim 2 is characterized in that: The step S3 of preprocessing the angle data to obtain the excavator's posture parameters includes preprocessing the angle data according to the same coordinate system formula so that each angle data is in the same coordinate system, wherein the same coordinate system formula is as follows: out =(360-A in )+P x , where A out Indicates the output of the same coordinate system value, A in Represents the original value, P x Indicates the pitch angle value of the vehicle body inclination sensor.

5. The excavator posture warning method according to claim 2, characterized in that: The step S3 of preprocessing the angle data to obtain the excavator's posture parameters includes preprocessing the angle data according to a relative angle algorithm formula, wherein the relative angle algorithm formula is as follows: This A t1 -A t0 ≤ A h time, B=1,A x =A in +360; This A t1 -A t0 >A h time, B=0,A x =A in ; A s =A x1 -A x2 ; Among them, A t1 represents the angle at time t1, A t0 Indicates the angle at the previous moment t1, A h Indicates the value of the maximum change angle of the device program running in one cycle, which increases by 10. x Indicates the intermediate value of relative angle calculation, A in Indicates the input angle, A s Represents the relative angle output value, A x1 Represents the relative angle calculation process value of component I, A x2 Indicates the relative angle calculation process value of component II.

6. The excavator posture warning method according to claim 2, characterized in that: The step S3 of preprocessing the angle data to obtain the excavator's posture parameters includes preprocessing the angle data according to a multi-sensor fusion algorithm formula, wherein the multi-sensor fusion algorithm formula is as follows: muti =W1*S1+W2*S2+…+W n *S n ; Among them, S muti Represents the output value of multi-sensor fusion, W1…W n Represents the weight value of each sensor, S1…S n Indicates the collected values ​​of each sensor.

7. The excavator posture warning method according to claim 2, characterized in that: Calculating the actual position parameters of the excavator according to the posture parameters of the excavator and the structural parameters of the excavator in step S4 includes calculating the actual position parameters of the excavator according to the posture warning algorithm mapping formula, wherein the posture warning algorithm mapping formula is as follows: ； Among them, a1, a2...a6 respectively represent the angle between the boom and the vehicle body, the relative angle between the arm and the boom, the relative angle between the bucket and the arm, the rotation angle, the vehicle body pitch angle, and the vehicle body roll angle; bom represents the boom structure size data; arm represents the arm structure size data; bkt represents the bucket structure size data; r1, r2, r3 are the actual height parameter, actual length parameter, and actual width parameter of the excavator, respectively.

8. An excavator posture warning system, used to implement the excavator posture warning method according to any one of claims 1 to 7, characterized in that: The system at least includes: a detection unit, a control unit and an instrument monitoring unit. The detection unit is connected to the control unit via a CAN communication bus, and is used to obtain the excavator's posture information and transmit the excavator's posture information to the control unit. The control unit is used for signal processing, logical algorithms and result output of the entire system. The excavator's instrument monitoring unit is used for visualization of warning information, parameter setting and human-computer interaction.

9. The excavator posture warning system according to claim 8, characterized in that: The detection unit includes at least: a boom angle sensor fixed on the side of the boom, a boom angle sensor fixed on the side of the boom, a bucket angle sensor fixed on the side of the rocker connecting the bucket and the boom, a body inclination sensor fixed on the excavator upper platform, and a body slew angle sensor fixed on the slew motor bearing.

10. The excavator posture warning system according to claim 9, characterized in that: The boom angle sensor, the arm angle sensor, the bucket angle sensor and the vehicle body inclination sensor are all gravity sensors, and the vehicle body rotation angle sensor is a rotary encoder.

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