System and method for monitoring number of loading buckets for truck by excavator and electronic equipment

Abstract

The invention discloses a system and method for monitoring the number of loading buckets of a truck by an excavator and electronic equipment, and relates to the technical field of equipment monitoring. The system comprises a signal transmitter used for transmitting a transmitting signal; the backscattering label is used for outputting a scattering signal according to the emission signal; the signal receiver is used for receiving the scattering signal; the data processor is used for determining a target truck according to the moment when the signal receiver receives the scattering signal; the rotation angle sensor monitors the number of rotation times of the excavator towards the direction where the target truck is located and the rotation angle of each time; the data processor further calculates the number of buckets loaded to the target truck by the excavator according to the monitoring result of the rotation angle sensor; wherein at least the signal receiver and the rotation angle sensor are arranged on the excavator, the backscattering label is arranged on the truck, the number of devices involved in the monitoring system is small, deployment is simple, the target truck is rapidly locked based on the small number of devices, and the bucket number of the excavator for loading the truck is monitored in time.

Description

Technical Field

[0001] The invention belongs to the technical field of equipment monitoring, and in particular relates to a monitoring system, method and electronic equipment for monitoring the number of buckets loaded by an excavator into a truck. Background Art

[0002] The actual number of buckets loaded by excavators in mining areas and the maximum number of buckets that trucks can carry have long been recorded manually by on-site operators, which has led to difficulties such as inaccurate data and difficulty in supervision. In order to solve these technical problems, the commonly used measurement methods are as follows: Use drones to capture images of excavators in mining areas, and then use image recognition to estimate the number of buckets loaded by the excavator. However, this measurement method cannot solve the problem of matching the excavator with the truck loading, that is, the image only shows the state of the excavator at a certain moment, and it is impossible to determine which truck the excavator is loading and the actual number of buckets loaded.

[0003] 2. By installing communication devices on the excavator and truck ends respectively, it is necessary to install vehicle motion sensors, vehicle vibration sensors, and excavator rotation sensors. When working, the vehicle motion sensor first senses the vehicle's motion state. After sensing that the vehicle has stopped, it searches for nearby excavator communication devices to achieve pairing of the excavator and the truck. Finally, the number of loaded buckets is sensed based on the vehicle vibration sensor. This measurement method has a large number of sensors and communication devices, and it is impossible to accurately match the location information of the vehicle and the excavator in a scenario where multiple excavators and trucks exist at the same time, and the measurement result has a large error.

[0004] It can be seen from this that the current method of measuring the number of buckets that an excavator loads into a truck has the problem of low accuracy of the measurement results. Therefore, there is an urgent need for a new method of measuring the number of buckets that an excavator loads into a truck. Summary of the invention

[0005] The technical problem to be solved by the present application is to overcome the deficiencies of the prior art and provide a monitoring system, method and electronic equipment for the number of buckets loaded by an excavator into a truck.

[0006] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is: In a first aspect, the present application provides a monitoring system for the number of buckets loaded by an excavator into a truck, comprising: A signal transmitter, used for sending a transmission signal; A backscattering tag, used for scattering the transmission signal to emit a scattered signal; A signal receiver, used for receiving the scattered signal; a data processor, which is in communication with the signal receiver, and the data processor determines a target truck according to a time when the signal receiver receives the scattered signal, wherein the target truck is a truck to be loaded; A rotation angle sensor, used to monitor the number of rotations of the excavator toward the direction where the target truck is located and the rotation angle of each rotation; The data processor is in communication with the rotation angle sensor, and the data processor is further used to calculate the number of buckets loaded by the excavator on the target truck according to the monitoring result of the rotation angle sensor; Wherein, at least the signal receiver and the rotation angle sensor are arranged on the excavator, and the backscatter tag is arranged on the truck.

[0007] In a possible implementation, at least two signal receivers are provided, and the two signal receivers are respectively provided on two opposite side walls of the excavator.

[0008] In a possible implementation, when there is only one truck and the backscatter tag on the truck sends out a scattering signal, the data processor is configured to: Determining a first position of the truck according to a time difference between two signal receivers receiving the scattered signals; calculating a distance between the truck and the excavator according to the first position; When the distance is less than a preset distance, the truck is taken as a target truck.

[0009] In a possible implementation, when there are multiple trucks and a backscatter tag on each of the trucks sends out a scattering signal, the data processor is configured to: determining the second position of each of the trucks according to a time difference between two signal receivers receiving the same scattered signal, wherein the same scattered signal refers to a scattered signal emitted by a backscattering tag on the same truck; Based on the second position, merging the trucks located on the same side of the excavator into one set; From each set, a truck whose distance to the excavator is less than a preset distance is selected as a target truck.

[0010] In a possible implementation manner, the data processor is further configured to: After obtaining the target truck, locking the target truck until the distance between the target truck and the excavator reaches the preset distance; During the period of locking the target truck, the number of buckets loaded by the excavator to the target truck is calculated based on the monitoring result of the rotation angle sensor.

[0011] In a possible implementation, when the monitoring result is that the excavator rotates N times toward the direction where the target truck is located and the rotation angle of n times is greater than a preset angle, n≤N, and the number of loading buckets of the excavator for the target truck is n.

[0012] In a possible implementation, the impedance of the backscatter tag is related to the tag of the truck, and different trucks have different tags.

[0013] In a second aspect, the present application provides a method for monitoring the number of buckets loaded by an excavator into a truck, the method comprising: The signal transmitter sends a transmission signal; After receiving the transmission signal, the backscatter tag scatters the signal to emit a scattered signal; The signal receiver receives the scattered signal, and the data processor determines a target truck according to the time when the signal receiver receives the scattered signal, the target truck being the truck to be loaded; The rotation angle sensor monitors the number of times the excavator rotates toward the direction of the target truck and the angle of each rotation. The data processor calculates the number of buckets that the excavator loads into the target truck based on the monitoring result of the rotation angle sensor.

[0014] In a possible implementation, the method further includes: The distance between the truck and the excavator is calculated using the following formula: ; Where L is the distance between the truck and the excavator, c is the transmission speed of the scattered signal, , α is the signal attenuation parameter of the mining environment where the scattered signal is located, t is the time consumed by the scattered signal to be transmitted from the truck end to the signal receiver, P 0 is the initial strength of the scattered signal at the truck end, P 1 is the final intensity of the scattered signal at the excavator end.

[0015] According to a third aspect, an electronic device is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the above-mentioned methods for monitoring the number of buckets loaded by an excavator into a truck.

[0016] After adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art.

[0017] 1. The monitoring system of the present application includes a signal transmitter, a backscatter tag, a signal receiver, a corner angle sensor and a data processor. When working: the signal transmitter first sends out a transmission signal, and the backscatter tag on the truck scatters after receiving the transmission signal to send out a scattered signal. Then, the signal receiver receives the scattered signal, and the data processor determines the truck that the excavator is about to load (determines the target truck) through the time when the signal receiver receives the scattered signal, and locks the target truck until the target truck gradually moves away from the excavator and the distance reaches a preset distance. During the locking period, the data processor obtains the number of loading buckets of the excavator to the target truck in real time based on the monitoring results of the corner sensor, that is, the number of rotations of the excavator in the direction of the target truck and the rotation angle of each rotation, so that the excavator can perform excavation operations according to the number of loading buckets and improve the operation efficiency.

[0018] 2. The monitoring system of the present application involves a small number of devices and is simple to deploy. Based on a small number of devices, it can quickly lock the target truck and timely monitor the number of buckets loaded by the excavator for the truck, reducing monitoring costs and subsequent management costs.

[0019] 3. When calculating the distance between the truck and the excavator, the actual transmission speed of the scattered signal is calculated by the signal attenuation coefficient of the scattered signal in the excavation environment, the initial strength of the scattered signal at the truck end, and the final strength at the excavator end. Then, the distance between the truck and the excavator is calculated based on the actual transmission speed to ensure the accuracy of the calculated distance. Based on the accurate distance obtained, the accuracy of the selected target truck can be guaranteed, while reducing the complexity of matching the truck and the excavator, which is convenient for deployment and application in the actual excavation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings described below are only some embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the accompanying drawings: Figure 1 is a schematic diagram of an exemplary operating environment of an embodiment of the present application; Figure 2 is a block diagram of a monitoring system for the number of buckets loaded by an excavator into a truck according to an embodiment of the present application; Figure 3 It is a flow chart of a method for monitoring the number of buckets loaded by an excavator into a truck according to an embodiment of the present application.

[0021] Explanation of the reference numerals: 100, excavator; 200, truck; 300, monitoring system; 301, signal transmitter; 302, backscatter tag; 303, signal receiver; 304, rotation angle sensor; 305, data processor.

[0022] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0024] In the description of the present invention, it should be noted that the terms "including" and "having" in the specification and claims of the present invention and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatuses.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Figure 1 This is a schematic diagram of an exemplary operating environment of an embodiment of the present application, in which an excavator 100, a truck 200, and a monitoring system 300 for the number of buckets loaded by the excavator into the truck are included. The excavator 100 is used to perform excavation operations in a mining area or other places, the truck 200 is responsible for transporting the excavated materials, and the monitoring system is used to monitor the process of the excavator 100 loading the truck 200 to obtain the specific number of buckets loaded. In other words, during the excavation operation of the excavator 100, the number of buckets loaded is obtained through accurate data analysis of the monitoring system 300, and the number of buckets loaded is fed back in real time, so that the excavator 100 and the truck 200 can adjust the excavation strategy according to the number of buckets loaded and improve the material handling efficiency.

[0027] It should be noted that this embodiment does not limit the model and specific parameters of the excavator 100, as long as it can perform the excavation task. Similarly, this embodiment does not limit the model, specification and number of the truck 200, as long as it can cooperate with the excavator 100 and transport the excavated materials.

[0028] like Figure 2 As shown, the monitoring system for the number of buckets loaded by the excavator into the truck includes a signal transmitter 301, a backscatter tag 302, a signal receiver 303, an angle sensor 304 and a data processor 305. Each device is interconnected through a specific communication protocol to form a complete monitoring network.

[0029] The signal transmitter 301 mainly includes a signal generating module and a signal transmitting module. The signal generating module is composed of at least one signal generator, and the signal generator is an electronic device that can provide signals of various frequencies and waveforms. The signal transmitting module is composed of one or more antennas, and the protocols supported by the signal transmitting module include but are not limited to NFC, Wi-Fi, Bluetooth, and RFID. In this embodiment, taking the signal transmitting module supporting the Wi-Fi protocol as an example, the signal transmitting module uses the Wi-Fi protocol to transmit the signal generated by the signal generator to the excavation operation environment where the excavator 100 is located.

[0030] The above-mentioned signal transmitter 301 can be installed on the excavator 100. The specific installation method can be any one of welding, bonding, and threaded connection. The signal transmitter 301 can also be deployed in the excavation operation environment where the excavator 100 is located to generate and send signals.

[0031] The backscatter tag 302 includes but is not limited to a communication device with a reflective function such as an RFID tag and a radar reflector. The backscatter tag 302 is installed on the truck 200, and the specific installation method can also be any one of welding, bonding, and threaded connection. According to different trucks 200, the impedance of the backscatter tag 302 is also different, so that the truck 200 has a unique corresponding backscatter tag 302. In this embodiment, in order to distinguish different trucks 200, a corresponding tag is matched for each truck 200 in advance, and then the impedance of the backscatter tag 302 is configured according to the tag. For example, if there are multiple trucks 200 with different loading capacities, the corresponding tag of each truck 200 can be assigned in ascending or descending order of loading capacity. Assuming that the tag is a string of numerical values, the impedance of the configured backscatter tag 302 is correspondingly increased or decreased according to the order of numerical values ​​from large to small, or the impedance of the configured backscatter tag 302 is correspondingly increased or decreased according to the order of numerical values ​​from small to large, so as to realize the configuration of different impedances of backscatter tags 302 according to different trucks 200. For another example, the ID number of the truck 200 is used as a tag, and the impedance of the backscatter tag 302 is configured according to the tag. Similarly, different impedances of the backscatter tag 302 can be configured according to different trucks 200.

[0032] The signal receiver 303 is also composed of an antenna. The signal receiver 303 is installed on the excavator 100. The specific installation method can also be any one of welding, bonding, and threaded connection. The signal receiver 303 can be provided with one or more. When multiple signal receivers 303 are provided, the multiple signal receivers 303 are distributed at intervals on the side wall of the excavator 100. In this embodiment, taking the signal receiver 303 as an example, the two signal receivers are a first receiver and a second receiver, wherein the first receiver is provided on the left side wall of the excavator 100, and the second receiver is provided on the right side wall of the excavator 100. In actual application, the backscatter tag 302 located on the truck 200 sends a signal. According to the time difference between the first receiver and the second receiver receiving the signal, it can be determined that the distance between the truck 200 and the first receiver or the second receiver is closer, thereby determining the position of the truck 200.

[0033] The rotation angle sensor 304 is mounted on the bucket of the excavator 100, and the mounting method can be any one of welding, threaded connection, and magnetic connection. The rotation angle sensor 304 can obtain the rotation direction of the excavator 100 and the rotation angle in the corresponding rotation direction as the bucket rotates. In practical applications, any one of a slewing sensor, an inclination sensor, and an integrated attitude sensor can also be used to replace the rotation angle sensor 304 to perform monitoring work, and this embodiment does not limit it.

[0034] The data processor 305 is respectively connected to the signal transmitter 301, the signal receiver 303, and the angle sensor 304 in communication. The specific communication connection mode is a wired connection mode or a wireless connection mode. The wired connection mode is connected by wires, and the wireless connection mode is any one of Wifi, Bluetooth, and 4G / 5G. In order to facilitate management and maintenance, the signal transmitter 301 and the data processor 305 can be combined into a vehicle-mounted TBox of the excavator 100. In addition to the above-mentioned signal transmitter 301 and data processor 305, the vehicle-mounted TBox can also include a GPS module, a 4G / 5G module, and components that support multiple interfaces such as CAN bus, USB, RS232, Bluetooth, etc. The vehicle-mounted TBox has reserved interfaces for communicating with the signal transmitter 301, the signal receiver 303, and the angle sensor 304 in advance, so that the data processor 305 can communicate with the signal transmitter 301, the signal receiver 303, and the angle sensor 304. In this embodiment, the data processor 305 is an MCU. In other examples, the data processor 305 may also be other devices with data processing and data storage functions, which is not limited in this embodiment.

[0035] It can be seen that the data processor 305, as the core of the monitoring system, can communicate with each device and obtain the required data from the corresponding device to achieve the purpose of real-time monitoring of the number of buckets loaded by the excavator 100 into the truck 200.

[0036] In order to specifically explain the process of monitoring the number of buckets loaded by the monitoring system, the present application also provides a method for monitoring the number of buckets loaded by an excavator to a truck, such as Figure 3 As shown, the monitoring method is shown in steps S101 to S106.

[0037] Step S101, the signal transmitter 301 sends a transmission signal; Step S102, the backscatter tag 302 scatters the received transmission signal to emit a scattered signal; Step S103, the signal receiver 303 receives the scattered signal; Step S104, the data processor 305 determines the target truck according to the time when the signal receiver 303 receives the scattered signal, and the target truck is the truck 200 to be loaded; Step S105, the rotation angle sensor 304 monitors the number of rotations of the excavator 100 toward the direction of the target truck and the rotation angle of each rotation; In step S106 , the data processor 305 calculates the number of buckets that the excavator 100 loads into the target truck based on the monitoring result of the rotation angle sensor 304 .

[0038] In step S101, the signal transmitter 301 may periodically and autonomously send out a transmission signal, for example, automatically send out a transmission signal every three minutes, or the data processor 305 may control the signal transmitter 301 to passively send out a transmission signal, and the control logic of the data processor 305 may be periodically controlled, or the user may send out a driving signal to the data processor 305 through the user terminal, for example, when the user sees the truck 200 moving toward the excavator 100, the user sends out a driving signal to the data processor 305 through the user terminal, so that the data processor 305 controls the signal transmitter 301. The user terminal is any one of a mobile phone, a tablet, a computer, and a smart watch.

[0039] In step S102, the scattered signal mainly includes a tag corresponding to the truck 200, specifically, after receiving the transmission signal, the backscatter tag 302 sends out a tag corresponding to the truck 200 where it is located, so that after the signal receiver 303 receives the scattered signal, the truck 200 corresponding to the scattered signal can be known. In other words, the scattered signal sent by the backscatter tag 302 is used by the data processor 305 to determine the truck 200, so in actual applications, the scattered signal can also include other information used to determine the truck 200.

[0040] In step S104, when the number of trucks 200 in the mining operation environment is different, the method of determining the target truck is also different, specifically: When there is only one truck 200 in the excavation environment: First, a scattering signal is emitted by the backscattering tag 302 located on the truck 200. Then, the two signal receivers 303 on the excavator 100 receive the scattering signals respectively, and the data processor 305 determines the position of the truck 200 according to the time difference between the two signal receivers 303 receiving the scattering signals, and this position is called the first position. Specifically, by comparing the time when the two signal receivers 303 receive the scattering signals, the signal receiver 303 with an earlier receiving time is selected, and the distance between the truck 200 and the signal receiver 303 with an earlier receiving time is smaller than the distance between the signal receiver 303 with a later receiving time, that is, the truck 200 is close to the signal receiver 303 with an earlier receiving time, then according to the time consumed when the scattering signal is transmitted from the truck end to the signal receiver 303 with an earlier receiving time, and the time consumed when the scattering signal is transmitted from the first position to the position of the excavator 100, the distance between the truck 200 and the excavator 100 is obtained. It should be noted that a deep neural network model is stored in the data processor 305. The model is obtained by using the transmitted signal and the scattered signal in the mining operation environment as sample data for training in advance. The model mainly obtains the signal attenuation coefficient of the mining operation environment through training with a large amount of sample data, so that when the initial strength of the scattered signal at the truck end, the time consumed when the scattered signal is transmitted from the truck end to the signal receiver 303 with an earlier receiving time, and the final strength of the scattered signal at the excavator end are input into the model, the model can derive the transmission speed of the scattered signal in the mining operation environment, that is: ; Wherein, c is the transmission speed of the scattered signal in the mining environment, t is the time consumed when the scattered signal is transmitted from the truck end to the signal receiver 303 with an earlier receiving time, α is the signal attenuation coefficient, and P 0 is the initial strength of the scattered signal at the truck end, P 1 is the final intensity of the scattered signal at the excavator end. The initial intensity of the scattered signal at the truck end and the final intensity of the scattered signal at the excavator end can be obtained from the backscatter tag 302 and the signal receiver 303 respectively.

[0041] Normally, c uses the speed of light, but in the actual excavation environment, there may be dust, wind speed and other factors that affect the actual transmission speed, so this application first calculates the signal attenuation coefficient of the excavation environment, and then calculates the actual transmission speed based on the signal attenuation coefficient. Finally, the distance L between the truck 200 and the excavator 100 is calculated: , based on the premise that the transmission speed c is accurate, the accuracy of the obtained distance L is also guaranteed.

[0042] Based on the obtained distance L between the truck 200 and the excavator 100, it is determined whether the distance L is less than a preset distance, which is set in advance and can be obtained through a limited number of experimental calculations. Specifically, when the distance between the truck 200 and the excavator 100 is less than the preset distance, it indicates that the excavator 100 needs to load the truck 200. Therefore, when the distance between the truck 200 and the excavator 100 is less than the preset distance, the truck 200 is used as the target truck, that is, the target truck is the truck 200 to be loaded.

[0043] When there are multiple trucks 200 in the excavation environment: First, the backscatter tags 302 on different trucks 200 send out scattered signals. Then, the two signal receivers 303 on the excavator 100 receive the same scattered signals to obtain the position of each truck 200, which is called the second position. The same scattered signal refers to the scattered signal sent by the backscatter tag 302 on the same truck 200. It is just that the distances between the truck 200 and the two signal receivers 303 are different, resulting in a sequence of receiving times. For each truck 200, the distance between each truck 200 and the excavator 100 is calculated in the same way as the above calculation of the distance between a single truck 200 and the excavator 100. At the same time, according to the order in which the two signal receivers 303 receive the scattered signals, it is determined that the truck 200 is close to the signal receiver 303 with an earlier receiving time, that is, the direction of the truck 200 relative to the excavator 100 is obtained. Further, the trucks 200 located at the same side of the excavator 100 are combined into one set, and from each set, a truck 200 whose distance to the excavator 100 is less than a preset distance is selected as a target truck.

[0044] It should be noted that in order not to affect the excavation operation of the excavator 100, the trucks 200 are usually parked on the left and right sides of the excavator 100. Therefore, in actual classification, there are only two sets, one of which is located on the left side of the excavator 100, and the other is located on the right side of the excavator 100. That is, two target trucks are obtained, one of which is located on the left side of the excavator 100, and the other is located on the right side of the excavator 100.

[0045] After obtaining the target truck, the target truck is locked, such as retrieving the ID of the target truck or other information used to uniquely identify the target truck, and recording the number of buckets loaded by the excavator 100 to the target truck until the distance between the target truck and the excavator 100 reaches the preset distance, that is, when the target truck gradually moves away from the excavator 100 until the distance reaches the preset distance, the recorded number of buckets loaded and the ID of the target truck are saved together in the data processor 305, and the data processor 305 stores the data or uploads it to the cloud. In actual applications, while outputting the number of buckets loaded, a new target truck is searched and the ID of the original target truck or other information used to uniquely identify the target truck is deleted.

[0046] In step S106, from the monitoring results of the rotation angle sensor 304, it is selected that the excavator 100 rotates N times in the direction where the target truck is located and the rotation angle of n times is greater than the preset angle, n≤N, and the number of loading buckets for the target truck by the excavator 100 is obtained as n. Among them, the preset angle is set in advance, and the preset angle can be calculated through a limited number of experiments. Specifically, when the excavator 100 rotates in the direction where the target truck is located and the rotation angle is greater than the preset angle, it means that the excavator 100 is loading the truck 200.

[0047] It should be noted that, for each target truck, the number of loading buckets of the excavator 100 for each truck 200 needs to be determined according to the monitoring result in the above step S106 .

[0048] It should also be noted that, for each target truck, if it is monitored that the target truck is gradually moving away from the excavator 100 until the distance reaches a preset distance, the number of loading buckets of the excavator 100 for the target truck will be uploaded, so that the excavator 100 can decide whether to continue loading the target truck based on the number of loading buckets and the maximum capacity of the target truck, or the truck 200 can decide whether to continue accepting loading based on the number of loading buckets and its own maximum capacity, so as to ensure the stability of the excavation operation environment and the operating efficiency.

[0049] In summary, the implementation principle of the method for monitoring the number of buckets loaded by the excavator 100 to the truck 200 in the embodiment of the present application is as follows: first, the signal transmitter 301 sends a transmission signal, and the backscatter tag 302 located on the truck 200 scatters after receiving the transmission signal to send a scattered signal. Then, the signal receiver 303 receives the scattered signal, and the data processor 305 determines the truck 200 that the excavator 100 is about to load (determines the target truck) through the time when the signal receiver 303 receives the scattered signal, and locks the target truck until the target truck gradually moves away from the excavator 100 and the distance reaches a preset distance. During the locking period, the data processor 305 obtains the number of buckets loaded by the excavator 100 to the target truck in real time based on the monitoring result of the rotation angle sensor 304, that is, the number of rotations of the excavator 100 in the direction where the target truck is located and the rotation angle of each rotation, so that the excavator 100 can perform excavation operations according to the number of buckets loaded and improve the operation efficiency. During the entire monitoring process, the monitoring system involves a small number of devices and is simple to deploy. It can quickly lock the truck 200 to be loaded based on a small number of devices, and timely monitor the number of buckets loaded by the excavator 100 for the truck 200, thereby ensuring the accuracy of the monitored number of buckets.

[0050] In order to better execute the procedure of the above method, the present application also provides an electronic device for monitoring the number of buckets loaded by an excavator into a truck, and the electronic device includes a memory and a processor.

[0051] The memory may be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the above-mentioned method for monitoring the number of buckets loaded by an excavator to a truck, etc.; the data storage area may store data involved in the above-mentioned method for monitoring the number of buckets loaded by an excavator to a truck, etc.

[0052] The processor may include one or more processing cores. The processor calls the data stored in the memory by running or executing the instructions, programs, code sets or instruction sets stored in the memory, performs various functions of the present application and processes data. The processor may be at least one of a special purpose integrated circuit, a digital signal processor, a digital signal processing device, a programmable logic device, a field programmable gate array, a central processing unit, a controller, a microcontroller and a microprocessor. It is understandable that for different devices, the electronic device used to implement the above-mentioned processor function can also be other, and the embodiments of the present application are not specifically limited.

[0053] The present application also provides a computer-readable storage medium, for example, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes. The computer-readable storage medium stores a computer program that can be loaded by a processor and execute the above-mentioned method for monitoring the number of buckets loaded by an excavator into a truck.

[0054] The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this patent can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical content suggested above without departing from the scope of the technical solution of the present invention. The implementation scheme in the above embodiment can also be further combined or replaced. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the solution of the present invention.

Claims

1. A monitoring system for the number of buckets loaded by an excavator into a truck, characterized in that: include: A signal transmitter (301), used for sending a transmission signal; A backscattering tag (302) for scattering the transmission signal to emit a scattered signal; A signal receiver (303), configured to receive the scattered signal; A data processor (305) is connected in communication with the signal receiver (303), wherein the data processor (305) determines a target truck according to the time when the signal receiver (303) receives the scattered signal, wherein the target truck is the truck (200) to be loaded; A rotation angle sensor (304) for monitoring the number of rotations of the excavator (100) toward the direction where the target truck is located and the angle of each rotation; The data processor (305) is in communication connection with the rotation angle sensor (304), and the data processor (305) is further used to calculate the number of buckets loaded by the excavator (100) on the target truck according to the monitoring result of the rotation angle sensor (304); Wherein, at least the signal receiver (303) and the rotation angle sensor (304) are arranged on the excavator (100), and the backscatter tag (302) is arranged on the truck (200).

2. The system according to claim 1, characterized in that At least two signal receivers (303) are provided, and the two signal receivers (303) are respectively provided on two opposite side walls of the excavator (100).

3. The system according to claim 2, characterized in that When there is only one truck (200) and the backscatter tag (302) on the truck (200) emits a scattered signal, the data processor (305) is configured to: Determining a first position of the truck (200) based on a time difference between two signal receivers (303) receiving the scattered signal; calculating the distance between the truck (200) and the excavator (100) according to the first position; When the distance is less than a preset distance, the truck (200) is used as a target truck.

4. The system according to claim 2, characterized in that When there are a plurality of trucks (200) and a backscattering tag (302) located on each of the trucks (200) emits a scattering signal, the data processor (305) is configured to: Determining the second position of each of the trucks (200) based on a time difference between two signal receivers (303) receiving the same scattered signal, wherein the same scattered signal refers to a scattered signal emitted by a backscattering tag (302) on the same truck (200); Based on the second position, the trucks (200) located on the same side of the excavator (100) are combined into one group; From each set, a truck (200) whose distance from the excavator (100) is less than a preset distance is selected as a target truck.

5. The system according to any one of claims 3 to 4, characterized in that: The data processor (305) is further configured to: After obtaining the target truck, locking the target truck until the distance between the target truck and the excavator (100) reaches the preset distance; During the period of locking the target truck, the number of buckets loaded by the excavator (100) for the target truck is calculated based on the monitoring result of the rotation angle sensor (304).

6. The system according to claim 5, characterized in that When the monitoring result is that the excavator (100) rotates N times towards the direction where the target truck is located and the rotation angle of the n times is greater than the preset angle, n≤N, and the number of loading buckets of the excavator (100) for the target truck is n.

7. The system according to claim 1, characterized in that The impedance of the backscatter tag (302) is related to the tag of the truck (200), and different trucks (200) have different tags.

8. A method for monitoring the number of buckets loaded by an excavator into a truck, applied to a system as claimed in any one of claims 1 to 7, characterized in that: include: The signal transmitter (301) sends a transmission signal; After receiving the transmission signal, the backscatter tag (302) scatters the signal to emit a scattered signal; The signal receiver (303) receives the scattered signal, and the data processor (305) determines a target truck according to the time when the signal receiver (303) receives the scattered signal, the target truck being the truck (200) to be loaded; The rotation angle sensor (304) monitors the number of times the excavator (100) rotates in the direction of the target truck and the angle of each rotation. The data processor (305) calculates the number of buckets that the excavator (100) loads into the target truck based on the monitoring result of the rotation angle sensor (304).

9. The method according to claim 8, characterized in that The method further comprises: The distance between the truck (200) and the excavator (100) is calculated using the following formula: ； Wherein, L is the distance between the truck (200) and the excavator (100), c is the transmission speed of the scattered signal, , α is the signal attenuation parameter of the excavation working environment where the scattered signal is located, t is the time consumed when the scattered signal is transmitted from the truck end to the signal receiver (303), P0 is the initial strength of the scattered signal at the truck end, and P1 is the final strength of the scattered signal at the excavator end.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the method according to any one of claims 8 to 9.

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