Excavator handle shaking monitoring system and method and excavator

Abstract

The invention discloses an excavator handle shaking monitoring system and method and an excavator, and the system comprises a data collection device which is used for collecting the pedal pressure, the handle grasping pressure, the handle angle and the main valve pilot pressure of the excavator; the upper computer is connected with the data acquisition device and is used for judging a risk walking working condition based on the pedal pressure and the handle grasping pressure of the excavator and responding to the risk walking working condition of the excavator; and handle shaking safety judgment is carried out based on the handle angle and the main valve pilot pressure in combination with a preset handle dead zone angle and a main valve element pushing pressure value, and a judgment result is obtained. Handle shaking monitoring can be carried out in the walking process of the excavator, and the walking safety of the excavator is improved.

Description

Technical Field

[0001] The present invention relates to an excavator handle shaking monitoring system and method and an excavator, belonging to the technical field of engineering machinery. Background Art

[0002] During normal operation, the driver operates the excavator handle. This hydraulic control handle movement causes changes in the main valve pilot pressure, which in turn moves the main valve spool, driving the working device cylinder to perform the corresponding action. To prevent accidental operation caused by accidental touch of the handle when not in operation, existing designs generally reserve a dead zone angle in the handle mechanism. This means that if the handle is moved within this range, the working device cylinder will not actuate.

[0003] The above design reveals significant defects under risky walking conditions.

[0004] When operating an excavator on bumpy roads, the driver typically grips the handle while pedaling to prevent it from shaking. If the driver only pedals without gripping the handle, excessive vibration from the excavator body can be transmitted to the handle, causing it to shake beyond the dead zone for extended periods, placing the excavator in a risky operating condition. During this period, the main valve pilot pressure may slowly build due to the accumulated vibration. When this pressure exceeds the main valve spool opening threshold, the working mechanism cylinder may malfunction, even without the driver actively operating the handle, causing the equipment to lose control and potentially causing personal injury.

[0005] Existing technologies rely solely on fixed dead zone angles for mechanical protection, lacking a quantitative assessment method for dynamic vibration risks. For example, if the handle's instantaneous vibration angle exceeds the dead zone but does not trigger pressure buildup, it is impossible to determine the current safety margin.

[0006] The engineering machinery sector has yet to develop a real-time monitoring solution for the risk chain of "handle shaking - pressure buildup - malfunction". Drivers can only judge abnormalities by visually observing the working device, resulting in delayed response and low reliability. Summary of the Invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an excavator handle shaking monitoring system, method and excavator, which can monitor the handle shaking during the excavator operation and improve the safety of the excavator operation. To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] In a first aspect, the present invention provides an excavator handle shaking monitoring system, comprising:

[0009] A data acquisition device for collecting excavator foot pressure, handle grip pressure, handle angle, and main valve pilot pressure;

[0010] The host computer connected to the data acquisition device is used to judge the risky walking condition based on the excavator's foot pressure and handle gripping pressure. In response to the excavator being in a risky walking condition, the handle shaking safety is judged based on the handle angle and the main valve pilot pressure and combined with the preset handle dead zone angle and the pressure value of pushing the main valve spool to obtain a judgment result.

[0011] In combination with the first aspect, optionally, the handle shaking safety determination is performed based on the handle angle and the main valve pilot pressure in combination with a preset handle dead zone angle and a pressure value for pushing the main valve spool, and the determination logic is:

[0012] When the handle angle at all times <Handle dead zone angle When , the result is that the handle is shaking safely;

[0013] When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p < the pressure value of the main valve core , then calculate the safety factor , the result of the judgment is that the handle is in a state of safety requiring attention;

[0014] When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p≥ the main valve spool pressure value , the result is that the handle is shaking and unsafe.

[0015] In combination with the first aspect, optionally, the data acquisition device is used to acquire the displacement of the working device cylinder; when the displacement of the working device cylinder is 0, the maximum value of the handle angle is a preset handle dead zone angle.

[0016] In combination with the first aspect, optionally, it further includes an interactive module that is communicatively connected to the host computer and is used to display the determination result of the handle shaking safety according to the interactive instruction output by the host computer.

[0017] In a second aspect, the present invention provides a method for monitoring the shaking of an excavator handle, which is executed by a host computer and includes:

[0018] Get the excavator foot pressure and handle grip pressure;

[0019] Based on the acquired excavator foot pressure and handle grip pressure, determine whether the excavator is in a risky walking condition;

[0020] In response to the excavator being in a risky walking condition, obtaining a handle angle and a main valve pilot pressure;

[0021] Based on the acquired handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve spool, the handle shaking safety is judged to obtain a judgment result.

[0022] In combination with the second aspect, optionally, judging whether the excavator is in a risky walking condition based on the acquired excavator foot pressure and handle grip pressure includes:

[0023] When the excavator foot pressure is obtained but the handle grip pressure is not obtained, the timing starts and the state duration is obtained;

[0024] In response to the state duration being greater than a preset time threshold, the excavator is in a risky traveling condition.

[0025] In combination with the second aspect, optionally, the handle shaking safety determination is performed based on the acquired handle angle and main valve pilot pressure, combined with a preset handle dead zone angle and a pressure value for pushing the main valve spool, and the determination logic is:

[0026] When the handle angle at all times <Handle dead zone angle When , the result is that the handle is shaking safely;

[0027] When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p < the pressure value of the main valve core , then calculate the safety factor , the result of the judgment is that the handle is in a state of safety requiring attention;

[0028] When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p≥ the main valve spool pressure value , the result is that the handle is shaking and unsafe.

[0029] In conjunction with the second aspect, optionally, the host computer outputs an interactive control instruction according to the determination result, including:

[0030] When the result of the judgment is that the handle shaking safety is in a state of concern, the output interactive control instruction is to display the safety factor;

[0031] When the result of the judgment is that the handle is shaking unsafely, the output interactive control instruction is to issue an alarm prompt.

[0032] In conjunction with the second aspect, optionally, the preset handle dead zone angle is obtained by the following steps:

[0033] Start the excavator engine, push the handle from the initial position to the maximum position, and obtain the handle angle and working device cylinder displacement;

[0034] When the displacement of the working device cylinder is 0, the maximum value of the handle angle is obtained, which is the preset handle dead zone angle.

[0035] In a third aspect, the present invention provides an excavator equipped with the excavator handle shaking monitoring system described in the first aspect, and executing the excavator handle shaking monitoring method described in the second aspect.

[0036] Compared with the prior art, the excavator handle shaking monitoring system, method, and excavator provided by the embodiments of the present invention have the following beneficial effects:

[0037] The present invention provides an excavator handle shaking monitoring system. Through a data acquisition device and a host computer connected to the data acquisition device, the excavator's foot pressure, handle grip pressure, handle angle, and main valve pilot pressure are collected in real time. This system can accurately identify unexpected handle shaking behavior under risky walking conditions.

[0038] The present invention provides a method for monitoring handle shaking of an excavator. The method determines a risky walking condition based on the acquired excavator foot pressure and handle gripping pressure. In response to the excavator being in a risky walking condition, the method determines the safety of the handle shaking based on the handle angle and the main valve pilot pressure, in combination with a preset handle dead zone angle and the pressure value of the main valve spool. The method can monitor the handle shaking during the excavator's travel, thereby improving the safety of the excavator's travel.

[0039] The present invention provides a three-level safety determination logic for determining the safety of handle shaking based on the acquired handle angle and main valve pilot pressure, combined with a preset handle dead zone angle and the pressure value of the main valve spool. This determination logic implements a progressive early warning from "safe" to "unsafe", avoiding the limitations of single threshold determination and improving the scientific nature of risk prevention and control.

[0040] The host computer of the present invention outputs an interactive control instruction based on the judgment result. When the judgment result is that the handle shaking safety is in a state of concern, the output interactive control instruction is to display the safety factor; when the judgment result is that the handle shaking is unsafe, the output interactive control instruction is to issue an alarm prompt. The safety factor provided by the present invention can quantify the safety margin and provide an intuitive basis for risk assessment. The alarm prompt issued by the present invention can remind the driver to grasp the handle to avoid abnormal operation of the working device cylinder due to accumulated vibration, effectively reducing the risk of equipment loss of control.

[0041] When the displacement of the working device cylinder is 0, the present invention obtains the maximum value of the handle angle, which is the preset handle dead zone angle; the present invention can dynamically determine the handle dead zone angle based on the actual hydraulic response characteristics, breaking through the fixed limitations of traditional mechanical dead zones and improving the accuracy of the judgment benchmark. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic structural diagram of an excavator handle shaking monitoring system in Example 1 of the present invention;

[0043] Figure 2 It is a flow chart of a method for monitoring excavator handle shaking in embodiment 1 of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0045] Example 1:

[0046] This embodiment provides an excavator handle shaking monitoring system, including: a data acquisition device, a host computer connected to the data acquisition device, and an interactive module connected to the host computer for communication.

[0047] The data acquisition device is used to collect the excavator's foot pressure, handle grip pressure, handle angle and main valve pilot pressure.

[0048] The upper computer is used to judge the risky walking condition based on the excavator's foot pressure and handle grip pressure. In response to the excavator being in a risky walking condition, the handle shaking safety is judged based on the handle angle and the main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve spool, to obtain a judgment result.

[0049] like Figure 1 As shown, the data acquisition device includes an excavator foot pressure monitoring subsystem, a handle grip pressure monitoring subsystem, a handle angle monitoring subsystem, a main valve pilot pressure monitoring subsystem, and a working device cylinder displacement monitoring subsystem.

[0050] like Figure 1 As shown, in this embodiment, the excavator pedal pressure monitoring subsystem is used to collect the excavator pedal pressure, including:

[0051] A pedal pressure sensor connected to the excavator pedal is used to collect the excavator pedal pressure;

[0052] a first single chip microcomputer connected to the pedal pressure sensor, for storing and outputting the collected excavator pedal pressure;

[0053] A first serial port communication module communicatively connected to the first single-chip microcomputer and the host computer, for transmitting the excavator foot pressure to the host computer;

[0054] The first single chip microcomputer operation control module is electrically connected to the first single chip microcomputer and is used to control the operation of the first single chip microcomputer and receive data.

[0055] like Figure 1 As shown, in this embodiment, the handle gripping pressure monitoring subsystem is used to collect the handle gripping pressure, including:

[0056] A handle grip pressure sensor connected to the excavator handle, used to collect the handle grip pressure;

[0057] a second single-chip microcomputer connected to the handle grip pressure sensor, for storing and outputting the collected handle grip pressure;

[0058] The second serial port communication module is communicatively connected to the second single-chip microcomputer and the host computer, and is used to transmit the gripping pressure of the handle to the host computer.

[0059] The second control single chip computer operation module electrically connected to the second single chip computer is used to control the operation of the second single chip computer and receive data.

[0060] like Figure 1 As shown, in this embodiment, the handle angle monitoring subsystem is used to collect the handle angle, including:

[0061] An angle sensor connected to the excavator handle is used to collect the handle angle;

[0062] A third single-chip microcomputer connected to the angle sensor is used to store and output the acquired handle angle;

[0063] A third serial port communication module connected to the third single-chip microcomputer and the host computer, for transmitting the handle angle to the host computer;

[0064] The third single-chip microcomputer operation control module electrically connected to the third single-chip microcomputer is used to control the operation of the third single-chip microcomputer and receive data.

[0065] like Figure 1 As shown, in this embodiment, the main valve pilot pressure monitoring subsystem is used to collect the main valve pilot pressure, including:

[0066] Pressure measuring joint connected to the main valve core of the excavator;

[0067] The main valve pilot pressure sensor installed on the pressure measuring joint is used to collect the main valve pilot pressure;

[0068] a fourth single chip microcomputer connected to the main valve pressure sensor, for storing and outputting the collected main valve pilot pressure;

[0069] A fourth serial port communication module connected to the fourth single-chip computer and the host computer for transmitting the main valve pilot pressure to the host computer;

[0070] The fourth control single chip computer operation module electrically connected to the fourth single chip computer is used to control the operation of the fourth single chip computer and receive data.

[0071] Specifically, the main valve pilot pressure sensor installed on the pressure measuring joint collects the main valve pilot pressure, which includes the bucket retraction pilot pressure, the bucket swing pilot pressure, the arm retraction pilot pressure, the arm swing pilot pressure, the boom raising pilot pressure, and the boom lowering pilot pressure.

[0072] like Figure 1 As shown, in this embodiment, the working device cylinder displacement monitoring subsystem is used to collect the displacement of the working device cylinder, including:

[0073] A displacement sensor connected to the excavator's working device cylinder is used to collect the displacement of the working device cylinder;

[0074] a fifth single-chip microcomputer connected to the displacement sensor, for storing and outputting the acquired displacement of the working device cylinder;

[0075] A fifth serial port communication module connected to the fifth single-chip microcomputer and the host computer, for transmitting the displacement of the working device cylinder to the host computer;

[0076] The fifth single-chip microcomputer operation control module electrically connected to the fifth single-chip microcomputer is used to control the operation of the fifth single-chip microcomputer and receive data.

[0077] In this embodiment, the displacement sensor is a wire-type displacement sensor.

[0078] It should be noted that in some other embodiments, separate MCU operation modules (such as the first control MCU operation module, the second control MCU operation module, the third control MCU operation module, the fourth control MCU operation module, and the fifth control MCU operation module) are not provided. Instead, related functions are implemented in separate circuits or code. Specifically, the power supply circuit, clock circuit, and sensor interface circuit are designed on the same circuit board, and MCU operation and data processing are implemented through code configuration, eliminating the need for a separate "MCU operation module."

[0079] The upper computer is used to judge the risky walking condition based on the excavator's foot pressure and handle gripping pressure. In response to the excavator being in a risky walking condition, the upper computer judges the safety of the handle shaking based on the handle angle and the main valve pilot pressure and in combination with the preset handle dead zone angle and the pressure value of pushing the main valve spool to obtain a judgment result.

[0080] The safety of handle shaking is determined based on the handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of the main valve spool. The judgment logic is as follows:

[0081] When the handle angle at all times <Handle dead zone angle When , the result is that the handle is shaking safely;

[0082] When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p < the pressure value of the main valve core , then calculate the safety factor , the result of the judgment is that the handle is in a state of safety requiring attention;

[0083] When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p≥ the main valve spool pressure value , the result is that the handle is shaking and unsafe.

[0084] The preset handle dead zone angle is: when the displacement of the working device cylinder is 0, the maximum value of the handle angle is the preset handle dead zone angle.

[0085] Among them, the preset push main valve spool pressure value is obtained in advance according to the brand and model information of the excavator main valve, including the push main valve spool pressure value corresponding to the bucket retraction, the push main valve spool pressure value corresponding to the bucket swing, the push main valve spool pressure value corresponding to the arm retraction, the push main valve spool pressure value corresponding to the arm swing, the push main valve spool pressure value corresponding to the boom rising and the push main valve spool pressure value corresponding to the boom lowering.

[0086] The interactive module is used to display the result of the handle shaking safety judgment according to the interactive instructions output by the host computer.

[0087] In this embodiment, the interaction module is provided in the instrument panel of the excavator.

[0088] For example, the excavator dashboard uses status indicator lights for graded display. The green indicator light corresponds to the judgment result of "handle shaking is safe", indicating that the current handle shaking has not exceeded the dead zone angle, there is no risk of pressure buildup, and the driver is normally focused on walking operations. The yellow indicator light corresponds to the judgment result of "handle shaking safety awaiting attention", accompanied by a safety factor, indicating that the handle shaking has exceeded the dead zone angle, and it is necessary to be vigilant about pressure buildup caused by vibration accumulation. The safety factor value can intuitively reflect the remaining safety margin. The red indicator light corresponds to the judgment result of "handle shaking is unsafe", flashes brightly and is marked with words such as "danger", forcing the driver to grab the handle immediately. At the same time, the handle shaking angle, main valve pilot pressure, working device cylinder displacement and other information are displayed on the excavator dashboard, intuitively presenting the risk of misoperation.

[0089] For example, the excavator's instrument panel uses sound to provide graded prompts. When the judgment result is "handle shaking is safe," there is no sound prompt, and only a green indicator light indicates normal operation to prevent irrelevant noise from distracting the driver. When the judgment result is "handle shaking is safe and requires attention," the instrument panel emits an intermittent low-frequency prompt sound, accompanied by a yellow indicator light, to remind the driver to pay attention to the handle shaking. When the judgment result is "handle shaking is unsafe," the instrument panel emits a continuous high-frequency alarm until the driver grasps the handle (the handle grip pressure sensor detects a signal) or manually turns off the alarm. At the same time, the red indicator light continues to flash to ensure the alarm has the highest priority.

[0090] This embodiment provides an excavator handle shaking monitoring system, which collects the excavator foot pressure, handle grip pressure, handle angle and main valve pilot pressure in real time through a data acquisition device and a host computer connected to the data acquisition device, and can accurately identify unexpected shaking behavior of the handle under risky walking conditions.

[0091] Example 2:

[0092] This embodiment provides a method for monitoring the shaking of an excavator handle, which is executed by a host computer and includes:

[0093] Get the excavator foot pressure and handle grip pressure;

[0094] Based on the acquired excavator foot pressure and handle grip pressure, determine whether the excavator is in a risky walking condition;

[0095] In response to the excavator being in a risky walking condition, obtaining a handle angle and a main valve pilot pressure;

[0096] Based on the acquired handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve spool, the handle shaking safety is judged to obtain a judgment result.

[0097] The specific steps include:

[0098] Step 1: Obtain the excavator foot pressure and handle grip pressure.

[0099] like Figure 2 As shown, the excavator foot pressure and handle gripping pressure are obtained through a data acquisition device of an excavator handle shaking monitoring system provided in Example 1.

[0100] Specifically, the excavator foot pressure is obtained by using the excavator foot pressure monitoring subsystem of the data acquisition device, including: a foot pressure sensor connected to the excavator foot to collect the excavator foot pressure, a first single-chip microcomputer connected to the foot pressure sensor to store and output the collected excavator foot pressure, and a first serial port communication module to transmit the excavator foot pressure to the host computer.

[0101] Specifically, the handle grip pressure is obtained by using the handle grip pressure monitoring subsystem of the data acquisition device, including: a handle grip pressure sensor connected to the excavator handle to collect the handle grip pressure, a second single-chip microcomputer connected to the handle grip pressure sensor to store and output the collected handle grip pressure, and a second serial port communication module to transmit the handle grip pressure to the host computer.

[0102] Step 2: Based on the acquired excavator foot pressure and handle grip pressure, determine whether the excavator is in a risky walking condition.

[0103] Step 2.1: Start timing when the excavator foot pressure is obtained but the handle grip pressure is not obtained to obtain the state duration.

[0104] Step 2.2: In response to the state duration being greater than a preset time threshold, the excavator is in a risky traveling state.

[0105] When the excavator foot pressure is not obtained, the excavator is not in a risky walking condition.

[0106] When the excavator foot pressure and the handle grip pressure are obtained, the excavator is not in a risky walking condition.

[0107] When the state duration is less than or equal to the preset time threshold, the excavator is not in a risky walking condition.

[0108] Step 3: In response to the excavator being in a risky traveling condition, the handle angle and the main valve pilot pressure are obtained.

[0109] like Figure 2 As shown, the handle angle and the main valve pilot pressure are obtained through a data acquisition device of an excavator handle shaking monitoring system provided by Example 1.

[0110] Specifically, the handle angle is obtained by using the handle angle monitoring subsystem of the data acquisition device, including: an angle sensor connected to the excavator handle collects the handle angle, a third single-chip microcomputer connected to the angle sensor stores and outputs the collected handle angle, and a third serial port communication module transmits the handle angle to the host computer.

[0111] Specifically, the main valve pilot pressure is obtained by using the main valve pilot pressure monitoring subsystem of the data acquisition device, including: the main valve pilot pressure sensor installed on the pressure measuring joint collects the main valve pilot pressure, the fourth single-chip microcomputer connected to the main valve pressure sensor stores and outputs the collected main valve pilot pressure, and the fourth serial port communication module transmits the main valve pilot pressure to the host computer.

[0112] In this embodiment, the main valve pilot pressure includes bucket retraction pilot pressure, bucket swing pilot pressure, arm retraction pilot pressure, arm swing pilot pressure, boom up pilot pressure, and boom down pilot pressure.

[0113] Step 4: Based on the acquired handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve spool, the handle shaking safety is judged to obtain a judgment result.

[0114] The decision logic is:

[0115] When the handle angle at all times <Handle dead zone angle When , the result is that the handle is shaking safely;

[0116] When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p < the pressure value of the main valve core , then calculate the safety factor , the result of the judgment is that the handle is in a state of safety requiring attention;

[0117] When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p≥ the main valve spool pressure value , the result is that the handle is shaking and unsafe.

[0118] The preset handle dead zone angle is obtained through the following steps:

[0119] Start the excavator engine, push the handle from the initial position to the maximum position, and obtain the handle angle and the displacement of the working device cylinder; when the displacement of the working device cylinder is 0, obtain the maximum value of the handle angle, which is the preset handle dead zone angle.

[0120] This embodiment can dynamically determine the handle dead zone angle based on the actual hydraulic response characteristics, breaking through the fixed limitation of traditional mechanical dead zones and improving the accuracy of the determination benchmark.

[0121] Specifically, the working device oil cylinder displacement monitoring subsystem of the data acquisition device is used to obtain the working device oil cylinder displacement.

[0122] The preset push main valve spool pressure value is obtained in advance according to the brand and model information of the excavator main valve, including the push main valve spool pressure value corresponding to the bucket retraction, the push main valve spool pressure value corresponding to the bucket swing, the push main valve spool pressure value corresponding to the arm retraction, the push main valve spool pressure value corresponding to the arm swing, the push main valve spool pressure value corresponding to the boom rising and the push main valve spool pressure value corresponding to the boom lowering.

[0123] Specifically, when there is a handle angle ≥When the handle dead zone angle corresponding to the bucket retraction is reached, the main valve pilot pressure of the bucket retraction and the main valve spool pressure corresponding to the bucket retraction are determined.

[0124] Specifically, when there is a handle angle ≥When the handle dead zone angle corresponding to the bucket swing is reached, the main valve pilot pressure of the bucket swing and the main valve core pressure value corresponding to the bucket swing are determined.

[0125] Specifically, when there is a handle angle ≥When the handle dead zone angle corresponding to the boom retraction is reached, the main valve pilot pressure and the main valve core pressure corresponding to the boom retraction are determined.

[0126] Specifically, when there is a handle angle ≥When the handle dead zone angle corresponding to the boom outward swing is reached, the main valve pilot pressure of the boom outward swing and the main valve core pressure value corresponding to the boom outward swing are determined.

[0127] Specifically, when there is a handle angle ≥When the handle dead zone angle corresponding to the boom rising is reached, the main valve pilot pressure of the boom rising and the pressure value of the main valve spool corresponding to the boom rising are judged.

[0128] Specifically, when there is a handle angle ≥When the handle dead zone angle corresponding to the boom lowering is reached, the main valve pilot pressure of the boom lowering and the pressure value of the main valve spool corresponding to the boom lowering are determined.

[0129] The judgment logic provided in this embodiment covers bucket retraction, bucket outward swing, arm retraction, arm outward swing, boom up, and boom down, and provides a three-level safety judgment logic. This judgment logic realizes progressive warning from "safe" to "unsafe", avoids the limitations of single threshold judgment, and improves the scientific nature of risk prevention and control.

[0130] Step 5: Output interactive control instructions based on the judgment result.

[0131] When the result of the judgment is that the handle shaking safety is in a state of concern, the output interactive control instruction is to display the safety factor;

[0132] This embodiment shows that the safety factor can quantify the safety margin and provide an intuitive basis for risk assessment.

[0133] When the result of the judgment is that the handle is shaking unsafely, the output interactive control instruction is to issue an alarm prompt.

[0134] This embodiment issues an alarm prompt to remind the driver to grip the handle to avoid abnormal movement of the working device cylinder due to accumulated vibration, thereby effectively reducing the risk of equipment loss of control.

[0135] This embodiment can monitor the shaking of the handle during the movement of the excavator, thereby improving the safety of the excavator's movement.

[0136] Example 3:

[0137] This embodiment provides an excavator, which is equipped with the excavator handle shaking monitoring system described in Example 1 and executes the excavator handle shaking monitoring method described in Example 2.

[0138] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An excavator handle shaking monitoring system, characterized in that: include: A data acquisition device for collecting excavator foot pressure, handle grip pressure, handle angle, and main valve pilot pressure; The host computer connected to the data acquisition device is used to judge the risky walking condition based on the excavator's foot pressure and handle gripping pressure. In response to the excavator being in a risky walking condition, the handle shaking safety is judged based on the handle angle and the main valve pilot pressure and combined with the preset handle dead zone angle and the pressure value of pushing the main valve spool to obtain a judgment result.

2. The excavator handle shaking monitoring system according to claim 1, characterized in that: The handle shaking safety determination is performed based on the handle angle and the main valve pilot pressure in combination with the preset handle dead zone angle and the pressure value of the main valve spool. The determination logic is: When the handle angle at all times <Handle dead zone angle When , the result is that the handle is shaking safely; When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p < the pressure value of the main valve core , then calculate the safety factor , the result of the judgment is that the handle is in a state of safety requiring attention; When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p≥ the main valve spool pressure value , the result is that the handle is shaking and unsafe.

3. The excavator handle shaking monitoring system according to claim 1, characterized in that: The data acquisition device is used to acquire the displacement of the working device cylinder; when the displacement of the working device cylinder is 0, the maximum value of the handle angle is a preset handle dead zone angle.

4. The excavator handle shaking monitoring system according to claim 2, characterized in that: It also includes an interactive module connected to the host computer for displaying the result of the handle shaking safety judgment according to the interactive instruction output by the host computer.

5. A method for monitoring the shaking of an excavator handle, characterized in that: Executed by the host computer, including: Get the excavator foot pressure and handle grip pressure; Based on the acquired excavator foot pressure and handle grip pressure, determine whether the excavator is in a risky walking condition; In response to the excavator being in a risky walking condition, obtaining a handle angle and a main valve pilot pressure; Based on the acquired handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve spool, the handle shaking safety is judged to obtain a judgment result.

6. The method for monitoring excavator handle shaking according to claim 5, characterized in that: The determining whether the excavator is in a risky walking condition based on the acquired excavator foot pressure and handle grip pressure includes: When the excavator foot pressure is obtained but the handle grip pressure is not obtained, the timing starts and the state duration is obtained; In response to the state duration being greater than a preset time threshold, the excavator is in a risky traveling condition.

7. The method for monitoring excavator handle shaking according to claim 5, characterized in that: The handle shaking safety is determined based on the acquired handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of the main valve spool. The determination logic is: When the handle angle at all times <Handle dead zone angle When , the result is that the handle is shaking safely; When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p < the pressure value of the main valve core , then calculate the safety factor , the result of the judgment is that the handle is in a state of safety requiring attention; When there is a handle angle ≥Handle dead zone angle At the moment of the main valve pilot pressure p≥ the main valve spool pressure value , the result is that the handle is shaking and unsafe.

8. The method for monitoring excavator handle shaking according to claim 7, characterized in that: The host computer outputs interactive control instructions according to the determination result, including: When the result of the judgment is that the handle shaking safety is in a state of concern, the output interactive control instruction is to display the safety factor; When the result of the judgment is that the handle is shaking unsafely, the output interactive control instruction is to issue an alarm prompt.

9. The method for monitoring excavator handle shaking according to claim 5, characterized in that: The preset handle dead zone angle is obtained by the following steps: Start the excavator engine, push the handle from the initial position to the maximum position, and obtain the handle angle and working device cylinder displacement; When the displacement of the working device cylinder is 0, the maximum value of the handle angle is obtained, which is the preset handle dead zone angle.

10. An excavator, characterized in that: The excavator handle shaking monitoring system according to any one of claims 1 to 4 is configured to execute the excavator handle shaking monitoring method according to any one of claims 5 to 9.

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