A swing monitor system, method and excavator for a handle of an excavator

Abstract

The application discloses a kind of excavator handle shaking monitoring system, method and excavator, system includes: data acquisition device, for collecting excavator foot pedal pressure, handle grip pressure, handle angle and main valve pilot pressure;With the data acquisition device connection's host computer, for the risk walking condition of judgment based on excavator foot pedal pressure and handle grip pressure, in response to excavator is in risk walking condition, based on handle angle and main valve pilot pressure and combine preset handle dead zone angle and push main valve spool pressure value handle shaking safety determination, obtain determination result.The application can carry out handle shaking monitoring in the process of excavator walking, improve excavator walking safety.

Description

Technical Field

[0001] This invention relates to an excavator handle wobbling monitoring system, method, and excavator, belonging to the field of engineering machinery technology. Background Technology

[0002] When the excavator is working normally, the operator moves the hydraulic control handle. The movement of the hydraulic control handle causes a change in the pilot pressure of the main valve, which in turn pushes the main valve spool to move, thereby driving the hydraulic cylinder of the working device to perform the corresponding action. To prevent accidental operation caused by accidental operation of the handle when not in operation, existing designs generally reserve a dead zone angle in the mechanical structure of the handle. That is, if the handle moves within this range, the hydraulic cylinder of the working device will not perform any action.

[0003] The above design revealed significant flaws under risky walking conditions.

[0004] When an excavator travels on bumpy roads, the operator usually grips the handle while pressing the foot pedal to prevent it from wobbling. If the operator only presses the foot pedal without gripping the handle, excessive vibration from the machine will be transmitted to the handle, causing it to wobble beyond the dead zone angle for an extended period. This puts the excavator in a dangerous traveling condition. In this situation, the pilot pressure of the main valve may slowly build up due to continuous vibration. When the pressure exceeds the opening threshold of the main valve core, even if the operator does not actively operate the handle, the hydraulic cylinder of the working device will still act abnormally, causing the equipment to go out of control and resulting in injury to personnel.

[0005] Existing technologies rely solely on fixed dead zone angles for mechanical protection, lacking quantitative assessment methods for dynamic sway risks. For example, if the handle momentarily sways beyond the dead zone but fails to trigger pressure build-up, it's impossible to determine the safety margin of the current state.

[0006] In the field of construction machinery, there is no real-time monitoring solution for the risk chain of "handle shaking - pressure build-up - malfunction". Drivers can only judge abnormalities by visually observing the working device, which results in a delayed response and low reliability. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide an excavator handle sway monitoring system, method, and excavator, which can monitor handle sway during excavator movement, thereby improving excavator movement safety. To achieve the above objective, this invention employs the following technical solution:

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

[0009] The data acquisition device is used to collect the excavator's foot pedal pressure, handle gripping pressure, handle angle, and main valve pilot pressure.

[0010] The host computer connected to the data acquisition device is used to determine the risky walking conditions based on the excavator's foot pedal pressure and handle gripping pressure. In response to the excavator being in a risky walking condition, the host computer determines the safety of handle shaking 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 core, and obtains the determination result.

[0011] In conjunction with the first aspect, optionally, the determination of handle wobbling safety based on handle angle and main valve pilot pressure, combined with a preset handle dead zone angle and the pressure value pushing the main valve core, is based on the following logic:

[0012] When the handle angle is at all times <Handle dead zone angle At that time, the judgment result was that the handle was safe to shake.

[0013] When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is less than the pressure value that drives the main valve spool... Then calculate the safety factor. The judgment result is that the handle shaking is a safe but need to be monitored.

[0014] When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is greater than or equal to the pressure value that drives the main valve spool... If the handle is shaken, the result is that the handle is unsafe.

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

[0016] In conjunction with the first aspect, optionally, it also includes an interactive module that communicates with a host computer, used to display the judgment result of the handle shaking safety determination according to the interactive instructions output by the host computer.

[0017] Secondly, this invention provides a method for monitoring the shaking of an excavator handle, executed by a host computer, comprising:

[0018] Get the excavator's foot pedal pressure and handle gripping pressure;

[0019] Based on the obtained excavator foot pedal 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, the handle angle and main valve pilot pressure are obtained;

[0021] Based on the obtained handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve core, the safety of handle shaking is determined, and the determination result is obtained.

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

[0023] The timer starts when the excavator foot pedal pressure is obtained but the handle gripping pressure is not obtained, and the duration of the state is obtained.

[0024] When the duration of the state exceeds a preset time threshold, the excavator is in a risky walking condition.

[0025] In conjunction with the second aspect, optionally, the determination of handle wobbling safety is based on the acquired handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value pushing the main valve core. The determination logic is as follows:

[0026] When the handle angle is at all times <Handle dead zone angle At that time, the judgment result was that the handle was safe to shake.

[0027] When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is less than the pressure value that drives the main valve spool... Then calculate the safety factor. The judgment result is that the handle shaking is a safe but need to be monitored.

[0028] When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is greater than or equal to the pressure value that drives the main valve spool... If the handle is shaken, the result is that the handle is unsafe.

[0029] In conjunction with the second aspect, optionally, the host computer outputs interactive control commands based on the determination result, including:

[0030] When the judgment result is that the handle shaking is a state of safety and needs attention, the output interactive control command is to display the safety factor;

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

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

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

[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] Thirdly, the present invention provides an excavator equipped with the excavator handle sway monitoring system described in the first aspect, and performs the excavator handle sway monitoring method described in the second aspect.

[0036] Compared with the prior art, the beneficial effects achieved by the excavator handle wobbling monitoring system, method, and excavator provided in this embodiment of the invention include:

[0037] This invention provides an excavator handle sway monitoring system. Through a data acquisition device and a host computer connected to the data acquisition device, the system can collect the excavator foot pedal pressure, handle gripping pressure, handle angle, and main valve pilot pressure in real time, and can accurately identify unexpected handle swaying behavior under risky walking conditions.

[0038] This invention provides a method for monitoring excavator handle swaying. Based on the acquired excavator foot pedal pressure and handle gripping pressure, it determines the risky walking conditions. In response to the excavator being in a risky walking condition, it determines the safety of handle swaying based on the handle angle and main valve pilot pressure, combined with a preset handle dead zone angle and the pressure value of pushing the main valve core, and obtains the determination result. This invention can monitor handle swaying during excavator movement, improving the safety of excavator movement.

[0039] This invention provides a judgment 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 pushing the main valve core. This is a three-level safety judgment logic. This judgment logic realizes a progressive early warning from "safe" to "unsafe", avoiding the limitations of a single threshold judgment and improving the scientific nature of risk prevention and control.

[0040] The host computer of this invention outputs interactive control commands based on the judgment result. When the judgment result is that the handle shaking is safe and requires attention, the interactive control command is to display the safety factor; when the judgment result is that the handle shaking is unsafe, the interactive control command is to issue an alarm prompt. The safety factor provided by this invention can quantify the safety margin and provide an intuitive basis for risk assessment. The alarm prompt provided by this invention can remind the driver to grip the handle, avoid abnormal operation of the hydraulic cylinder of the working device due to accumulated vibration, and effectively reduce the risk of equipment loss of control.

[0041] When the displacement of the hydraulic cylinder of the working device 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 limitation of the traditional mechanical dead zone and improving the accuracy of the judgment criteria. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the structure of an excavator handle shaking monitoring system according to Embodiment 1 of the present invention;

[0043] Figure 2 This is a flowchart illustrating a method for monitoring the shaking of an excavator handle according to Embodiment 1 of the present invention. Detailed Implementation

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

[0045] Example 1:

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

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

[0048] The host computer is used to determine the risky walking conditions based on the excavator's foot pedal pressure and handle gripping pressure. In response to the excavator being in a risky walking condition, it determines the safety of handle wobbling based on the handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve core, and obtains the determination result.

[0049] like Figure 1 As shown, the data acquisition device includes an excavator foot pedal 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 foot pedal pressure monitoring subsystem is used to collect the excavator foot pedal pressure, including:

[0051] A foot pedal pressure sensor connected to the excavator's foot pedal is used to collect the excavator's foot pedal pressure.

[0052] The first microcontroller, connected to the foot pedal pressure sensor, is used to store and output the collected excavator foot pedal pressure.

[0053] The first serial communication module, which is connected to the first microcontroller and the host computer, is used to transmit the excavator's foot pedal pressure to the host computer.

[0054] The first control microcontroller operation module, which is electrically connected to the first microcontroller, is used to control the operation of the first microcontroller and receive data.

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

[0056] A handle gripping pressure sensor connected to the excavator handle is used to collect handle gripping pressure.

[0057] A second microcontroller connected to the handle grip pressure sensor is used to store and output the collected handle grip pressure.

[0058] The second serial communication module, which is connected to the second microcontroller and the host computer, is used to transmit the gripping pressure of the handle to the host computer.

[0059] The second control microcontroller operation module, which is electrically connected to the second microcontroller, is used to control the operation of the second microcontroller 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 microcontroller connected to the angle sensor is used to store and output the acquired handle angle;

[0063] The third serial communication module, which communicates with the third microcontroller and the host computer, is used to transmit the handle angle to the host computer.

[0064] The third control microcontroller operation module, which is electrically connected to the third microcontroller, is used to control the operation of the third microcontroller 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 testing connector connected to the main valve core of the excavator;

[0067] The main valve pilot pressure sensor, installed on the pressure testing connector, is used to collect the main valve pilot pressure.

[0068] A fourth microcontroller, connected to the main valve pressure sensor, is used to store and output the acquired main valve pilot pressure.

[0069] The fourth serial communication module, which is connected to the fourth microcontroller and the host computer, is used to transmit the pilot pressure of the main valve to the host computer.

[0070] The fourth control microcontroller operation module, which is electrically connected to the fourth microcontroller, is used to control the operation of the fourth microcontroller and receive data.

[0071] Specifically, the main valve pilot pressure sensor installed on the pressure testing connector collects the main valve pilot pressure, which includes the bucket retraction pilot pressure, bucket outward swing pilot pressure, stick retraction pilot pressure, stick outward swing pilot pressure, boom raising pilot pressure, and 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 hydraulic cylinder of the excavator's working device is used to collect the displacement of the hydraulic cylinder.

[0074] The fifth microcontroller, connected to the displacement sensor, is used to store and output the collected displacement of the hydraulic cylinder of the working device.

[0075] The fifth serial communication module, which communicates with the fifth microcontroller and the host computer, is used to transmit the displacement of the hydraulic cylinder of the working device to the host computer.

[0076] The fifth control microcontroller operation module, which is electrically connected to the fifth microcontroller, is used to control the operation of the fifth microcontroller 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 microcontroller operation modules (such as a first control microcontroller operation module, a second control microcontroller operation module, a third control microcontroller operation module, a fourth control microcontroller operation module, and a fifth control microcontroller operation module) are not set up. Instead, the relevant functions are implemented in other circuits or code. Specifically, the power supply circuit, clock circuit, and sensor interface circuit are designed on the same circuit board, and the microcontroller operation and data processing are implemented through code configuration, without the need to set up a separate "microcontroller operation module".

[0079] The host computer is used to determine the risky walking conditions based on the excavator's foot pedal pressure and handle gripping pressure. In response to the excavator being in a risky walking condition, it determines the safety of handle wobbling based on the handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve core, and obtains the determination result.

[0080] The safety assessment of handle wobbling is based on the handle angle and the main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value that pushes the main valve core. The assessment logic is as follows:

[0081] When the handle angle is at all times <Handle dead zone angle At that time, the judgment result was that the handle was safe to shake.

[0082] When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is less than the pressure value that drives the main valve spool... Then calculate the safety factor. The judgment result is that the handle shaking is a safe but need to be monitored.

[0083] When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is greater than or equal to the pressure value that drives the main valve spool... If the handle is shaken, the result is that the handle is unsafe.

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

[0085] The preset main valve core pressure values ​​are obtained in advance based on the brand and model information of the excavator's main valve, including the main valve core pressure values ​​corresponding to bucket retraction, bucket swing, stick retraction, stick swing, boom raising, and boom lowering.

[0086] The interaction module is used to display the judgment result of the handle shaking safety assessment based on the interaction commands output by the host computer.

[0087] In this embodiment, the interaction module is located in the excavator's dashboard.

[0088] For example, the excavator's dashboard uses status indicator lights to display information in stages. A green indicator light corresponds to the judgment result "Safe to move the handle," indicating that the current handle movement has not exceeded the dead zone angle, there is no risk of pressure build-up, and the operator can focus on normal operation. A yellow indicator light corresponds to the judgment result "Safe to move the handle, but needs attention," accompanied by a safety factor, indicating that the handle movement has exceeded the dead zone angle, and attention should be paid to the risk of pressure build-up due to accumulated vibration. The safety factor value can intuitively reflect the remaining safety margin. A red indicator light corresponds to the judgment result "Unsafe to move the handle," flashing brightly and marked with words such as "Danger," forcibly reminding the operator to immediately grip the handle. At the same time, information such as the handle movement angle, main valve pilot pressure, and working device cylinder displacement are displayed on the excavator's dashboard, intuitively presenting the risk of malfunction.

[0089] For example, the excavator's dashboard uses tiered audible alerts. When the assessment result is "Safe to move the handle," there is no audible alert; only a green indicator light shows the normal operating status, avoiding unnecessary noise that might distract the driver. When the assessment result is "Safe to move the handle, but need attention," the dashboard emits an intermittent low-frequency warning sound, accompanied by a yellow indicator light, reminding the driver to pay attention to the handle movement. When the assessment result is "Unsafe to move the handle," the dashboard emits a continuous high-frequency alarm sound until the driver grips the handle (the handle grip pressure sensor detects the signal) or manually shuts off the alarm, while a red indicator light flashes continuously to ensure the alarm has the highest priority.

[0090] This embodiment provides an excavator handle sway monitoring system. Through a data acquisition device and a host computer connected to the data acquisition device, the system collects the excavator's foot pedal pressure, handle gripping pressure, handle angle, and main valve pilot pressure in real time, which can accurately identify unexpected handle swaying behavior under risky walking conditions.

[0091] Example 2:

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

[0093] Get the excavator's foot pedal pressure and handle gripping pressure;

[0094] Based on the obtained excavator foot pedal 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, the handle angle and main valve pilot pressure are obtained;

[0096] Based on the obtained handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve core, the safety of handle shaking is determined, and the determination result is obtained.

[0097] The specific steps include:

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

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

[0100] Specifically, the excavator foot pedal pressure monitoring subsystem of the data acquisition device is used to obtain the excavator foot pedal pressure, including: a foot pedal pressure sensor connected to the excavator foot pedal to collect the excavator foot pedal pressure, a first microcontroller connected to the foot pedal pressure sensor to store and output the collected excavator foot pedal pressure, and a first serial communication module to transmit the excavator foot pedal pressure to the host computer.

[0101] Specifically, the handle gripping pressure monitoring subsystem of the data acquisition device is used to obtain the handle gripping pressure, including: a handle gripping pressure sensor connected to the excavator handle to collect the handle gripping pressure, a second microcontroller connected to the handle gripping pressure sensor to store and output the collected handle gripping pressure, and a second serial communication module to transmit the handle gripping pressure to the host computer.

[0102] Step 2: Based on the obtained excavator foot pedal 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 pedal pressure is obtained but the handle gripping pressure is not obtained, and obtain the duration of the state.

[0104] Step 2.2: When the duration of the state exceeds a preset time threshold, the excavator is in a risky walking condition.

[0105] When no foot pressure is received from the excavator, the excavator is not in a risky walking condition.

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

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

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

[0109] like Figure 2 As shown, the handle angle and main valve pilot pressure are obtained through the data acquisition device of the excavator handle sway monitoring system provided in Embodiment 1.

[0110] Specifically, the handle angle is obtained using the handle angle monitoring subsystem of the data acquisition device, which includes: an angle sensor connected to the excavator handle to collect the handle angle, a third microcontroller connected to the angle sensor to store and output the collected handle angle, and a third serial communication module to transmit the handle angle to the host computer.

[0111] Specifically, the main valve pilot pressure is obtained using the main valve pilot pressure monitoring subsystem of the data acquisition device, including: a main valve pilot pressure sensor installed on the pressure testing connector to collect the main valve pilot pressure; a fourth microcontroller connected to the main valve pressure sensor to store and output the collected main valve pilot pressure; and a fourth serial communication module to transmit 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, stick retraction pilot pressure, stick swing pilot pressure, boom raising pilot pressure, and boom lowering pilot pressure.

[0113] Step 4: Based on the obtained handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve core, the safety of handle shaking is determined, and the determination result is obtained.

[0114] The decision logic is as follows:

[0115] When the handle angle is at all times <Handle dead zone angle At that time, the judgment result was that the handle was safe to shake.

[0116] When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is less than the pressure value that drives the main valve spool... Then calculate the safety factor. The judgment result is that the handle shaking is a safe but need to be monitored.

[0117] When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is greater than or equal to the pressure value that drives the main valve spool... If the handle is shaken, the result is that the handle is unsafe.

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

[0119] Start the excavator engine and push the handle from the initial position to the maximum position to 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 dead zone angle of the handle based on the actual hydraulic response characteristics, breaking through the fixed limitation of the traditional mechanical dead zone and improving the accuracy of the judgment criteria.

[0121] Specifically, the displacement of the hydraulic cylinder of the working device is obtained by using the hydraulic cylinder displacement monitoring subsystem of the data acquisition device.

[0122] Based on the brand and model information of the excavator's main valve, preset pressure values ​​for the main valve core are obtained in advance, including the pressure values ​​for the main valve core corresponding to bucket retraction, bucket outward swing, stick retraction, stick outward swing, boom raising, and boom lowering.

[0123] Specifically, when there is a handle angle When the moment is greater than or equal to the dead zone angle of the handle corresponding to the bucket retraction, then determine the pilot pressure of the main valve for bucket retraction and the valve core pressure value of the push main valve corresponding to bucket retraction.

[0124] Specifically, when there is a handle angle When the moment is greater than or equal to the dead zone angle of the handle corresponding to the bucket outward swing, then determine the pilot pressure of the main valve for the bucket outward swing and the valve core pressure value of the push main valve corresponding to the bucket outward swing.

[0125] Specifically, when there is a handle angle When the moment is greater than or equal to the dead zone angle of the handle corresponding to the stick retraction, then determine the pilot pressure of the main valve and the valve core pressure of the push main valve corresponding to the stick retraction.

[0126] Specifically, when there is a handle angle When the moment is greater than or equal to the dead zone angle of the handle corresponding to the stick outward swing, then determine the pilot pressure of the main valve and the valve core pressure of the push main valve corresponding to the stick outward swing.

[0127] Specifically, when there is a handle angle When the moment is greater than or equal to the dead zone angle of the handle corresponding to boom lifting, then determine the pilot pressure of the main valve for boom lifting and the spool pressure of the main valve for boom lifting.

[0128] Specifically, when there is a handle angle When the moment is greater than or equal to the dead zone angle of the handle corresponding to boom descent, then determine the pilot pressure of the main valve for boom descent and the spool pressure of the main valve for boom descent.

[0129] The judgment logic provided in this embodiment covers bucket retraction, bucket swing, stick retraction, stick swing, boom raising, and boom lowering, and provides a three-level safety judgment logic. This judgment logic realizes a progressive early 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 commands based on the judgment result.

[0131] When the judgment result is that the handle shaking is a state of safety and needs attention, the output interactive control command 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 judgment result is that the handle shaking is unsafe, the output interactive control command is to issue an alarm prompt.

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

[0135] This embodiment can monitor handle swaying during excavator movement, improving excavator movement safety.

[0136] Example 3:

[0137] This embodiment provides an excavator equipped with the excavator handle sway monitoring system described in Embodiment 1, and executes the excavator handle sway monitoring method described in Embodiment 2.

[0138] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A monitoring system for excavator handle swaying, characterized in that, include: The data acquisition device is used to collect the excavator's foot pedal pressure, handle gripping pressure, handle angle, and main valve pilot pressure. The host computer connected to the data acquisition device is used to determine the risky walking conditions based on the excavator's foot pedal pressure and handle gripping pressure. In response to the excavator being in a risky walking condition, the host computer determines the safety of handle shaking 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 core, and obtains the determination result. The safety determination of handle wobbling is based on the handle angle and the pilot pressure of the main valve, combined with the preset handle dead zone angle and the pressure value of pushing the main valve core. The determination logic is as follows: When the handle angle is at all times <Handle dead zone angle At that time, the judgment result was that the handle was safe to shake. When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is less than the pressure value that drives the main valve spool... Then calculate the safety factor. The judgment result is that the handle shaking is a safe but need to be monitored. When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is greater than or equal to the pressure value that drives the main valve spool... If the handle is shaken, the result is that the handle is unsafe.

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

3. The excavator handle wobbling monitoring system according to claim 1, characterized in that, It also includes an interactive module that communicates with a host computer, used to display the judgment result of the handle shaking safety assessment based on the interactive instructions output by the host computer.

4. A method for monitoring the shaking of an excavator handle, characterized in that, Executed by the host computer, including: Get the excavator's foot pedal pressure and handle gripping pressure; Based on the obtained excavator foot pedal 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, the handle angle and main valve pilot pressure are obtained; Based on the obtained handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve core, the safety of handle shaking is determined, and the determination result is obtained. The safety determination of handle wobbling is based on the obtained handle angle and main valve pilot pressure, combined with the preset handle dead zone angle and the pressure value of pushing the main valve core. The determination logic is as follows: When the handle angle is at all times <Handle dead zone angle At that time, the judgment result was that the handle was safe to shake. When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is less than the pressure value that drives the main valve spool... Then calculate the safety factor. The judgment result is that the handle shaking is a safe but need to be monitored. When there is a handle angle ≥ Handle dead zone angle At the specified moment, if the pilot pressure p of the main valve is greater than or equal to the pressure value that drives the main valve spool... If the handle is shaken, the result is that the handle is unsafe.

5. The excavator handle wobbling monitoring method according to claim 4, characterized in that, The determination of whether the excavator is in a risky walking condition based on the obtained excavator foot pedal pressure and handle grip pressure includes: The timer starts when the excavator foot pedal pressure is obtained but the handle gripping pressure is not obtained, and the duration of the state is obtained. When the duration of the state exceeds a preset time threshold, the excavator is in a risky walking condition.

6. The excavator handle wobbling monitoring method according to claim 4, characterized in that, The host computer outputs interactive control commands based on the determination result, including: When the judgment result is that the handle shaking is a state of safety and needs attention, the output interactive control command is to display the safety factor; When the judgment result is that the handle shaking is unsafe, the output interactive control command is to issue an alarm prompt.

7. The excavator handle wobbling monitoring method according to claim 4, characterized in that, The preset handle dead zone angle is obtained through the following steps: Start the excavator engine and push the handle from the initial position to the maximum position to obtain the handle angle and 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 obtained, which is the preset handle dead zone angle.

8. An excavator, characterized in that, The device is equipped with the excavator handle sway monitoring system according to any one of claims 1-3, and performs the excavator handle sway monitoring method according to any one of claims 4-7.

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