A pose early warning system and method for an excavator

Abstract

The application provides a kind of excavator pose early warning system and method, the method includes the following steps: S1, the parameter setting of early warning is carried out to excavator by instrument monitoring unit, wherein early warning parameter includes early warning height parameter, early warning length parameter and early warning width parameter;S2, the calibration is carried out to excavator in calibration pose state by instrument monitoring unit, to determine the reference value of angle data.S3, the angle data of the detection unit of excavator in working state is obtained, and the pose parameter of excavator is obtained by preprocessing angle data;S4, the actual position parameter of excavator is calculated according to the pose parameter of excavator and the structure parameter of excavator, wherein actual position parameter includes actual height parameter, actual length parameter and actual width parameter;S5, judge whether the actual position parameter of excavator is greater than or equal to the set early warning parameter, if yes, control limit is carried out to actuating mechanism and early warning result is sent to instrument monitoring unit for display.

Description

Technical Field

[0001] This application relates to the field of excavator technology, and in particular to an excavator posture early warning system and method. Background Technology

[0002] The main positional parameters of an excavator include body tilt angle, swing angle, travel direction, boom angle, stick angle, and bucket angle. During operation, the operator primarily relies on experience to judge the excavator's position and the surrounding environment to perform reasonable digging, swinging, unloading, and traveling operations. However, with the continuous advancement of excavator technology, the overall structure of excavators is becoming increasingly larger, leading to a corresponding increase in blind spots for the operator. Especially in complex and ever-changing work scenarios such as municipal construction, open-pit mining, and emergency rescue, excavators often face challenges such as limited swing range, limited height or extension length of the working device, and obstructed travel direction, posing significant safety hazards.

[0003] Therefore, how to improve the intelligence and digitalization level of excavators, and enhance the safety of excavator operation through excavator position information and early warning information, is a technical problem faced by those skilled in the art. Summary of the Invention

[0004] To address the technical problems existing in the prior art, the first aspect of this application provides a method for early warning of excavator posture, which includes the following steps: S1. Set the warning parameters for the excavator through the instrument monitoring unit, including the warning height parameter, the warning length parameter, and the warning width parameter; S2. The excavator in the calibration posture state is calibrated through the instrument monitoring unit to determine the reference value of the angle data; S3. Obtain the angle data of the excavator detection unit under working conditions, and preprocess the angle data to obtain the excavator's pose parameters; S4. Calculate the actual position parameters of the excavator based on its posture parameters and structural parameters. The actual position parameters include the actual height parameter, the actual length parameter, and the actual width parameter. 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 for the excavator posture early warning system. The absolute angle coordinate system includes a working device angle coordinate system, a vehicle body tilt angle coordinate system, and a slewing angle coordinate system. Among them, the working device angle coordinate system takes the hinge point between the boom and the undercarriage as the origin O, the direction of the gravitational acceleration G as the absolute zero degree, and the angle increases clockwise around point O; the vehicle body tilt angle coordinate system takes the hinge point between the boom and the undercarriage as the origin O, the horizontal plane as the absolute zero degree of pitch and roll, the vehicle body tilt forward and right tilt as positive values, and the vehicle body tilt backward and left tilt as negative values; the slewing angle coordinate system takes the hinge point between the boom and the undercarriage as the origin O, the drive wheel at the rear and the working device at the front as the absolute zero degree, and the angle increases clockwise.

[0006] Furthermore, the preprocessing of angle data to obtain the excavator's pose parameters in step S3 includes preprocessing the angle data according to a filtering formula to reduce errors in 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 V represents the output value. in Indicates the input values, V1, V2, V max R represents the variables calculated during the filtering process. o T represents the set filter damping ratio. r T represents the program's execution cycle. f Indicates the filtering period.

[0007] Furthermore, the preprocessing of angle data to obtain the excavator's pose parameters in step S3 includes preprocessing the angle data according to a coordinate system formula to ensure that all angle data are in the same coordinate system, wherein the coordinate system formula is as follows: A out =(360-A in )+P x ;where A out This indicates that the output should be in the same coordinate system, A. in P represents the original value. xThis indicates the pitch angle value of the vehicle body tilt sensor.

[0008] Furthermore, the step S3 of preprocessing the angle data to obtain the excavator's pose parameters includes preprocessing the angle data according to the 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 A represents the angle at time t1. t0 Let A represent the angle at the previous time step t1. h A represents the value of 10 representing the maximum change in angle during one cycle of the device program's operation. x A represents the intermediate value of the relative angle calculation. in Indicates the input angle, A s A represents the relative angle output value. x1 A represents the value of the relative angle calculation process for component I. x2 This indicates the value of the relative angle calculation process for component II.

[0009] Furthermore, the preprocessing of angle data to obtain the excavator's pose parameters in step S3 includes preprocessing the angle data according to a multi-sensor fusion algorithm formula, wherein the multi-sensor fusion algorithm formula is as follows: S muti =W1*S1+W2*S2+…+W n *S n Among them, S muti W1…W represents the output value of multi-sensor fusion. n The weight values ​​of each sensor are represented by S1…S2. n This represents the data collected by each sensor.

[0010] Furthermore, the step S4, which involves calculating the excavator's actual position parameters based on its pose parameters and structural parameters, includes calculating the excavator's actual position parameters according to the pose warning algorithm mapping formula, wherein the pose warning algorithm mapping formula is as follows: ; Where a1, a2...a6 represent the angle between the boom and the body, the relative angle between the stick and the boom, the relative angle between the bucket and the stick, the slewing angle, the body pitch angle, and the body roll angle, respectively; bom represents the boom structural dimensions; arm represents the stick structural dimensions; bkt represents the bucket structural dimensions; and r1, r2, and r3 represent the actual height, actual length, and actual width parameters of the excavator, respectively.

[0011] The second aspect of this application provides an excavator posture warning system for implementing the excavator posture warning method as described in any of the above claims. The system includes at least 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 acquire the excavator's posture information and transmit the excavator's posture information to the control unit. The control unit is used for signal processing, logic algorithms, and result output of the entire system. The excavator instrument monitoring unit is used for visualization of warning information, parameter setting, and human-machine interaction.

[0012] Furthermore, the detection unit includes at least: a boom angle sensor fixed to the side of the boom, a stick angle sensor fixed to the side of the stick, a bucket angle sensor fixed to the side of the rocker arm connecting the bucket and the stick, a body tilt sensor fixed to the excavator's upper platform, and a body slewing angle sensor fixed to the slewing motor bearing.

[0013] Furthermore, the boom angle sensor, the stick angle sensor, the bucket angle sensor, and the vehicle body tilt sensor are all gravity sensors, and the vehicle body slewing angle sensor is a rotary encoder.

[0014] Compared with the prior art, the beneficial effects of this application are: This application, from the perspective of excavator technology development, improves the intelligence and digitalization level of excavators, providing fundamental technologies in environmental perception and attitude detection for subsequent excavator unmanned driving and precision control technologies. From the driver's perspective, by using the overall position and posture of the excavator and early warning information, it improves the safety of excavator operation, ensuring the safety of both equipment and personnel. Attached Figure Description

[0015] Figure 1 This is a topology diagram of the excavator posture early warning system of this application; Figure 2 This is a structural schematic diagram of the excavator posture early warning system of this application; Figure 3 This is a schematic diagram of the absolute angle coordinate system of the excavator posture early warning system of this application; Figure 4 This is a flowchart of the excavator pose early warning method of this application; Figure 5 This is a diagram of an excavator model representing the pose warning algorithm of this application; Explanation of reference numerals in the attached figures: 1. Boom angle sensor; 2. Stick angle sensor; 3. Bucket angle sensor; 4. Body tilt angle sensor; 5. Body slewing angle sensor; 6. Control unit; 7. Instrument monitoring unit; 8. Working device angle coordinate system; 9. Body tilt angle coordinate system; 10. Slewing angle coordinate system. Detailed Implementation

[0016] To facilitate understanding of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] refer to Figure 1-2 As shown in the figure, this embodiment provides an excavator posture early warning system, which includes at least: The system includes a detection unit, a control unit 6, and an instrument monitoring unit 7. The detection unit is connected to the control unit 6 via a CAN communication bus to acquire the excavator's position and posture information and transmit it to the control unit 6. The control unit 6 is located in the electrical box in the cab and is used for signal processing, logic algorithms, and result output of the entire system. The control unit 6 is connected to the instrument monitoring unit 7 via a CAN communication bus. The instrument monitoring unit 7 is located on the front side of the cab control panel and is used for visualization of position and posture warnings, parameter setting, and human-machine 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. After the data preprocessing algorithm, calibration algorithm, storage algorithm and posture warning algorithm inside the control unit 6, the warning information of the whole vehicle is obtained. Based on the warning information, the instrument monitoring unit 7 is used to display the warning information. Furthermore, the actuator current output algorithm of the control unit 6 is used to control the current output of the actuator of the control unit 6.

[0019] The detection unit includes at least: a boom angle sensor 1 fixed to the side of the boom, a stick angle sensor 2 fixed to the side of the stick, a bucket angle sensor 3 fixed to the side of the rocker arm connecting the bucket and the stick, a body tilt sensor 4 fixed to the excavator's upper platform, and a body swing angle sensor 5 fixed to the swing motor bearing. The bucket angle sensor 3 is fixed to the side of the rocker arm connecting the bucket and the stick, which reduces the risk of damage during excavation. Furthermore, due to the harsh working environment of the excavator and the significant impact forces experienced during excavation, ordinary angle sensors have poor reliability. Therefore, the boom angle sensor 1, stick angle sensor 2, bucket angle sensor 3, and body tilt sensor 4 are all gravity sensors, while the body swing angle sensor 5 is a rotary encoder.

[0020] This application also provides a method for early warning of excavator posture, referencing... Figure 4 As shown, the method includes the following steps: Step S1: Set the warning parameters for the excavator through the instrument monitoring unit 7, including the warning height parameter, the warning length parameter, and the warning width parameter; Step S2: The excavator in the calibration posture state is calibrated by the instrument monitoring unit 7 to determine the reference value of the angle data.

[0021] Step S3: Obtain the angle data of the excavator detection unit under working conditions, and preprocess the angle data to obtain the excavator's pose parameters; Step S4: Calculate the actual position parameters of the excavator based on the excavator's pose parameters and structural parameters. The actual position parameters include the actual height parameter, the actual length parameter, and the 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 the calibration posture, that is, raising the excavator to the highest point, using the excavator instrument monitoring unit 7 for calibration human-machine interaction, and the excavator control unit 6 using the absolute angles received from each angle sensor as the reference value of the angle data.

[0023] In some embodiments, reference Figure 3As shown, step S3, obtaining the angle data of the excavator detection unit in the working state, includes establishing an absolute angle coordinate system for the excavator posture warning system. The absolute angle coordinate system includes a working device angle coordinate system 8, a vehicle body tilt angle coordinate system 9, and a slewing angle coordinate system 10. Specifically, the working device angle coordinate system 8 uses the hinge point between the boom and the undercarriage as its origin O, with the direction of gravitational acceleration G as the absolute zero angle, and the angle increases clockwise around point O. The vehicle body tilt angle coordinate system 9 uses the hinge point between the boom and the undercarriage as its origin O, with the horizontal plane as the absolute zero angle for pitch and roll, and the angle increases clockwise. The slewing angle coordinate system 10 uses the hinge point between the boom and the undercarriage as its origin O, with the drive wheel at the rear and the working device at the front as the absolute zero angle, and the angle increases clockwise.

[0024] Specifically, in the working device angular coordinate system 8, the hinge point between the boom and stick is L, the hinge point between the stick and bucket is M, and the tip of the bucket teeth is N. In this embodiment, the absolute angle of the boom is defined as the angle of vector OL, the absolute angle of the stick is defined as the angle of vector LM, the absolute angle of the bucket is defined as the angle of vector MN, the relative angle between the stick and boom is defined as the angle between vectors LM and LO, and the relative angle between the bucket and stick is defined as the angle between vectors MN and ML. The vehicle body tilt coordinate system 9 takes the hinge point between the boom and the undercarriage as the origin O, and the horizontal plane as the absolute zero degree of pitch and roll, with the angle increasing clockwise. In the vehicle body tilt coordinate system 9, the vehicle body tilt angle takes the horizontal plane as the absolute zero degree of pitch and roll. The angle of the vehicle body tilt sensor is defined as the angle between the vehicle body and the horizontal plane, with forward and right tilts being positive values ​​and backward and left tilts being negative values.

[0025] In some embodiments, the preprocessing of angle data in step S3 to obtain the pose parameters of the excavator includes preprocessing the angle data of the detection unit to make each angle data of the detection unit lie in the same coordinate system and reduce errors.

[0026] First, the control unit 6 filters the raw angle data collected from the detection units, performing coordinate transformations based on the installation positions of each sensor. This step reduces the errors in the sensor data, yielding the absolute angles 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 V represents the output value. in Indicates the input values, V1, V2, V max R represents the variables calculated during the filtering process. o T represents the set filter damping ratio. r T represents the program's execution cycle. f Indicates the filtering period.

[0027] Secondly, the angle data is preprocessed according to the same coordinate system formula to ensure 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 A out This indicates that the output should be in the same coordinate system, A. in P represents the original value. x This indicates the pitch angle value of the vehicle body tilt sensor.

[0028] Next, the angle data is preprocessed according to the relative angle algorithm formula, converting the absolute angle data obtained from each gravity sensor into relative angles; 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 A represents the angle at time t1. t0 Let A represent the angle at the previous time step t1. h A represents the value of 10 representing the maximum change in angle during one cycle of the device program's operation. x A represents the intermediate value of the relative angle calculation. in Indicates the input angle, A s A represents the relative angle output value. x1 A represents the value of the relative angle calculation process for component I. x2 This indicates the value of the relative angle calculation process for component II.

[0029] Finally, when there are multiple sensors, the angle data is preprocessed according to the multi-sensor fusion algorithm formula, which is as follows: S muti =W1*S1+W2*S2+…+W n *S n Among them, S muti W1…W represents the output value of multi-sensor fusion. n The weight values ​​of each sensor are represented by S1…S2. n This represents the data collected by each sensor.

[0030] In some embodiments, step S4 includes calculating the actual position parameters of the excavator based on the excavator's pose parameters and structural parameters, wherein the actual position parameters include actual height parameters, actual length parameters, and actual width parameters; in this embodiment, the actual position parameters of the excavator are calculated according to a pose warning algorithm mapping formula, wherein the pose warning algorithm mapping formula is as follows: ; Where a1, a2…a6 represent the angle between the boom and the body, the relative angle between the stick and the boom, the relative angle between the bucket and the stick, the slewing angle, the body pitch angle, and the body roll angle, respectively; bom represents the boom structural dimension data; arm represents the stick structural dimension data; bkt represents the bucket structural dimension data; and r1…r3 represent the actual height, actual length, and actual width parameters 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 current output of the control unit 6 actuator through the actuator current output algorithm of the control unit 6.

[0032] Specifically, such as Figure 5 As shown, an excavator model for the r4 pose warning algorithm is established, where quadrilateral R1R2P3P2 represents the vehicle body, quadrilateral ABPQ represents the boom, quadrilateral BCKN represents the stick, pentagon CDEFH represents the bucket, and quadrilateral CHMJ represents the four-bar linkage controlling the bucket. The pose warning algorithm is a region-restricted algorithm that calculates the x-axis length and x-axis height of points A, B, C, D, E, F, H, J, K, N, P, and Q relative to point O on the periphery of the working device. The angles known from the multi-angle sensor fusion algorithm include absolute angles, i.e., line segment L. AB、 L BC、 L CD The angle between the angle and the direction of gravitational acceleration and the OG direction is represented by ∠L. AB OG 、 ∠L BC OG、 ∠L CD OG indicates the tilt angle of the vehicle body relative to the horizontal plane, i.e., ∠P1OP2; the relative angles are the boom-body relative angle ∠BAR1, the stick-boom relative angle ∠CBA, and the bucket-stick relative angle ∠DCB. The boom segment L is determined based on the structural dimensions of the vehicle body and working device. AB、 L BP、 L PQ、 L QA The boom structure angles ∠ABP, ∠BPQ, ∠PQA, and ∠QAB are constant values. The stick segment L... BC、 L CK、 L KN、 L NB The boom angles ∠BCK, ∠CKN, ∠KNB, and ∠NBC are constants. Bucket segment L... CD、 L DE、 L EF、 L FH、 L HC The bucket structure angles ∠CDE, ∠DEF, ∠EFH, ∠FHC, and ∠HCD are constant values. The vehicle body line segment L... R1P2、 L P2P3、 L P3R2、 L R1R2 The value is constant. The four-bar linkage segment L... CH、 L HJ、 L JM、 L MC It is a constant value.

[0033] Based on the above known conditions, the x-axis distance and y-axis distance of each point relative to point O can be obtained. The calculation formulas for each point are as follows: 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] Based on the distance calculation formulas for each point above, the actual position parameters of the excavator are obtained: the distance to the x-axis represents the height parameter of the working device, and the distance to the y-axis represents the length parameter of the working device. During the actual operation of the working device, the maximum height and maximum length are calculated every 10ms, serving as the actual height and length parameters of the excavator. The maximum height is the maximum value among the y-axis distances from each point, and the maximum length is the maximum value among the x-axis distances from each point. The actual width parameter of the excavator can be calculated based on the height, length, and slewing angle of the excavator.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A method for early warning of excavator posture, characterized in that, The method includes the following steps: S1. Set the warning parameters for the excavator through the instrument monitoring unit, including the warning height parameter, the warning length parameter, and the warning width parameter; S2. The excavator in the calibration posture state is calibrated through the instrument monitoring unit to determine the reference value of the angle data; S3. Obtain the angle data of the excavator detection unit under working conditions, and preprocess the angle data to obtain the excavator's pose parameters; S4. Calculate the actual position parameters of the excavator based on its posture parameters and structural parameters. The actual position parameters include the actual height parameter, the actual length parameter, and the actual width parameter. 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. Step S3, which involves acquiring the angle data of the excavator detection unit in the working state, includes establishing an absolute angle coordinate system for the excavator's posture warning system. This absolute angle coordinate system includes a working device angle coordinate system, a vehicle body tilt angle coordinate system, and a slewing angle coordinate system. Specifically, the working device angle coordinate system uses the hinge point between the boom and the undercarriage as its origin O, with the direction of gravitational acceleration G as absolute zero, and the angle increases clockwise around point O. The vehicle body tilt angle coordinate system uses the hinge point between the boom and the undercarriage as its origin O, with the horizontal plane as absolute zero for pitch and roll, and positive values ​​for forward and rightward tilt, and negative values ​​for backward and leftward tilt. The slewing angle coordinate system uses the hinge point between the boom and the undercarriage as its origin O, with the drive wheel at the rear and the working device at the front as absolute zero, and the angle increases clockwise. Step S3, which involves preprocessing the angle data to obtain the excavator's pose parameters, includes preprocessing the angle data according to a coordinate system formula to ensure that all angle data are in the same coordinate system. The coordinate system formula is as follows: A out =(360-A in )+P x , where A out Indicates that the output is in the same coordinate system, A in P represents the original value. x This indicates the pitch angle value from the vehicle body tilt sensor; Step S4, which involves calculating the excavator's actual position parameters based on its pose and structural parameters, includes calculating the excavator's actual position parameters using a pose warning algorithm mapping formula, wherein the pose warning algorithm mapping formula is as follows: ； Where a1, a2...a6 represent the angle between the boom and the vehicle body, the relative angle between the stick and the boom, the relative angle between the bucket and the stick, the slewing angle, the vehicle body pitch angle, and the vehicle body roll angle, respectively; bom represents the boom structural dimension data; arm represents the stick structural dimension data; bkt represents the bucket structural dimension data; r1, r2, and r3 are the actual height, actual length, and actual width parameters of the excavator, respectively.

2. The excavator pose early warning method according to claim 1, characterized in that, Step S3, which involves preprocessing the angle data to obtain the excavator's pose parameters, includes preprocessing the angle data according to a filtering formula to reduce errors in the angle data. 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 V represents the output value. in Indicates the input values, V1, V2, V max R represents the variables calculated during the filtering process. o T represents the set filter damping ratio. r T represents the program's execution cycle. f Indicates the filtering period.

3. The excavator pose early warning method according to claim 1, characterized in that, Step S3, which involves preprocessing the angle data to obtain the excavator's pose 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 A represents the angle at time t1. t0 Let A represent the angle at the previous time step t1. h A represents the value of 10 representing the maximum change in angle during one cycle of the device program's operation. x A represents the intermediate value of the relative angle calculation. in Indicates the input angle, A s A represents the relative angle output value. x1 A represents the value of the relative angle calculation process for component I. x2 This indicates the value of the relative angle calculation process for component II.

4. The excavator posture early warning method according to claim 1, characterized in that, Step S3, which involves preprocessing the angle data to obtain the excavator's pose parameters, includes preprocessing the angle data according to a multi-sensor fusion algorithm formula, wherein the multi-sensor fusion algorithm formula is as follows: S muti =W1*S1+W2*S2+…+W n *S n ; Among them, S muti W1…W represents the output value of multi-sensor fusion. n The weight values ​​of each sensor are represented by S1…S2. n This represents the data collected by each sensor.

5. An excavator posture warning system, used to implement the excavator posture warning method according to any one of claims 1-4, characterized in that, The system includes at least 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 acquire the excavator's position and orientation information and transmit the excavator's position and orientation information to the control unit. The control unit is used for signal processing, logic algorithms, and result output of the entire system. The excavator instrument monitoring unit is used for visualization of early warning information, parameter setting, and human-machine interaction.

6. The excavator posture early warning system according to claim 5, characterized in that, The detection unit includes at least: a boom angle sensor fixed to the side of the boom, a stick angle sensor fixed to the side of the stick, a bucket angle sensor fixed to the side of the rocker arm connecting the bucket and the stick, a body tilt sensor fixed to the excavator's upper platform, and a body swing angle sensor fixed to the swing motor bearing.

7. The excavator posture early warning system according to claim 6, characterized in that, The boom angle sensor, the stick angle sensor, the bucket angle sensor, and the vehicle body tilt sensor are all gravity sensors, and the vehicle body slewing angle sensor is a rotary encoder.

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