An excavator auxiliary excavation loading control system and control method

Abstract

The application discloses a kind of excavator auxiliary excavation loading control system and control method, belong to excavator technical field.Control system includes parameter storage module, safety detection module, driver fatigue detection module, car body material accumulation detection module and central control module, central control module connects excavator main pump, excavator main valve, parameter storage module, safety detection module, driver fatigue detection module and car body material accumulation detection module, and real-time judgment safety condition in auxiliary excavation loading process.The application effectively saves the energy of driver, relieves driver fatigue, improves working environment, improves work efficiency and the safety of work.

Description

Technical Field

[0001] This invention belongs to the field of excavator technology, specifically relating to an excavator auxiliary excavation and loading control system and control method. Background Technology

[0002] Excavation and loading operations are among the most common tasks performed by excavators. On construction sites, excavators and dump trucks often work together: the excavator loads the material onto the dump truck, which then transports the material to the destination for unloading, before returning to the loading point to load more, repeating this cycle until the task is completed. Each excavator loading and unloading cycle consists of four processes: excavation, slewing and lifting, unloading, and returning. A complete excavation and loading cycle typically takes about 15-30 seconds. Currently, the entire excavation and loading operation requires manual operation by the driver, making the work conditions and cycles relatively monotonous and labor-intensive. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an excavator-assisted excavation and loading control system and control method, which effectively saves driver energy, reduces driver fatigue, improves the working environment, and increases work efficiency and safety.

[0004] This invention provides the following technical solution:

[0005] In a first aspect, an excavator-assisted excavation and loading control system is provided, comprising: a parameter storage module for storing learning parameters for assisted excavation and loading, wherein the learning parameters include handle action signals, excavator main pump parameters, and excavator main valve parameters;

[0006] A safety detection module is used to detect the distance from objects in the surrounding space to the excavator. The safety detection module includes several distance sensors arranged on the body of the excavator.

[0007] The driver fatigue detection module is used to detect the frequency of the driver's eye movements, blinking frequency, and yawning frequency. The driver fatigue detection module includes a vision sensor arranged in the excavator cab.

[0008] A material accumulation detection module for excavator cargo box is used to detect the accumulation status of materials in the excavator cargo box. The material accumulation detection module includes a camera arranged on the back of the excavator bucket.

[0009] The central control module connects to the excavator's main pump, main valve, parameter storage module, safety detection module, driver fatigue detection module, and cargo box material accumulation detection module. The central control module receives real-time operating parameters from the excavator's main pump and main valve, compares them with learned parameters to determine if the current assisted excavation loading is in a safe state; it receives distance data from the safety detection module and compares it with pre-set safety thresholds to determine if the area around the excavator is safe; it receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine if the driver is fatigued; and it receives cargo box material accumulation information to determine if the cargo box is full during assisted excavation loading.

[0010] If the excavation and loading process is not in a safe condition, or if the area around the excavator is unsafe, or if the driver is fatigued, or if the cargo compartment is already full, the central control module will determine to discontinue the assisted excavation and loading process.

[0011] As an optional technical solution of the present invention, it also includes a human-machine interaction module, which is connected to the central control module and is used by the driver to select to read previously stored learning parameters or create new learning parameters, as well as to receive alarm information from the central control module.

[0012] If the driver selects to create new learning parameters, the human-machine interaction module prompts the driver to manually operate the excavator to perform excavation and loading operations in a loop, and repeats the loop several times; the central control module receives the working parameters for each loop, calculates the average of all working parameters, and uses the average as the learning parameter for this auxiliary excavation and loading.

[0013] As an optional technical solution of the present invention, the central control module receives real-time operating parameters of the excavator's main pump and main valve, compares them with learned parameters, and determines whether the current auxiliary excavation loading is in a safe state, including:

[0014] If the error between the real-time operating parameters of the excavator's main pump and main valve and the corresponding learning parameters exceeds the preset error threshold S1, an alarm message is sent to the human-machine interface module; if the error between the real-time operating parameters of the excavator's main pump and main valve and the corresponding learning parameters exceeds the preset error threshold S2, an alarm message is sent to the human-machine interface module and auxiliary excavation loading is terminated; wherein, the error between the real-time operating parameters and the learning parameters is expressed as:

[0015] ;

[0016] Where S represents the error between the real-time working parameters and the learning parameters.

[0017] As an optional technical solution of the present invention, the central control module receives distance data from the safety detection module and compares it with a preset safety threshold to determine whether the area around the excavator is safe, including:

[0018] The distance data detected by the distance sensor is represented as N. i Where i represents the i-th distance sensor, The security thresholds are denoted as L1 and L2.

[0019] When MIN( If L1 > L2, then the area around the excavator is considered safe; if L2 ≤ MIN, then the area around the excavator is considered safe. If MIN ≤ L1, then a safety hazard is identified around the excavator, and an alarm message is sent to the human-machine interface module; if MIN ( If L2 < L2, it is determined that the area around the excavator is unsafe, an alarm message is sent to the human-machine interaction module, and the auxiliary excavation and loading is discontinued.

[0020] As an optional technical solution of the present invention, the central control module receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine whether the driver is fatigued, including:

[0021] The frequency of eye movements is denoted as T1, the frequency of blinking is denoted as T2, and the frequency of yawning is denoted as T3.

[0022] Driver fatigue level is represented as:

[0023] T = T1*K1 + T2*K2 + T3*K3;

[0024] Wherein, K1, K2, and K3 represent the weighting coefficients of eye movement frequency level, blinking frequency level, and yawning frequency level, respectively, and T represents the driver fatigue level;

[0025] The pre-set fatigue level thresholds are denoted as TT1 and TT2. When T < TT1, it is determined that the driver is not fatigued. When TT1 ≤ T < TT2, it is determined that the driver is mild to moderate fatigued and an alarm message is sent to the human-machine interaction module. When TT2 ≤ T, it is determined that the driver is severely fatigued and an alarm message is sent to the human-machine interaction module and the auxiliary excavation loading is terminated.

[0026] As an optional technical solution of the present invention, the central control module is connected to the excavator safety handle. When the safety handle is in the closed state, auxiliary excavation and loading cannot be entered; if auxiliary excavation and loading is in operation, closing the safety handle will exit auxiliary excavation and loading.

[0027] As an optional technical solution of the present invention, the excavator main pump parameters include the main pump solenoid valve control current signal;

[0028] The excavator main valve parameters include the main valve solenoid valve control current signal;

[0029] The main pump solenoid valve control current signal and the main valve solenoid valve control current signal serve as target signals during the auxiliary excavation and loading process. The central control module sends the main pump solenoid valve control current signal and the main valve solenoid valve control current signal to the main pump and the main valve in real time for output control.

[0030] Secondly, a control method based on the excavator-assisted excavation and loading control system described in the first aspect is provided, comprising:

[0031] After the driver starts the excavator and sends the command to the central control module to open the auxiliary excavation loading, the central control module receives the learning parameters and uses the handle action signal in the learning parameters as the input signal for this auxiliary excavation loading. It also sends the excavator main pump parameters and excavator main valve parameters in the learning parameters as the target signals for this auxiliary excavation loading to the main pump solenoid valve and the main valve solenoid valve in real time for output control.

[0032] During the assisted excavation and loading process, the central control module receives the real-time operating parameters of the excavator's main pump and main valve, compares them with the learned parameters, and determines whether the current assisted excavation and loading is in a safe state. If it determines that the current assisted excavation and loading is in an unsafe state, it exits the assisted excavation and loading process.

[0033] The central control module receives distance data from the safety detection module and compares it with a preset safety threshold to determine whether the area around the excavator is safe. If the area around the excavator is determined to be unsafe, the auxiliary excavation and loading is discontinued.

[0034] The central control module receives the frequency of the driver's eye movements, blinking, and yawning to determine whether the driver is fatigued. If the driver is determined to be fatigued, the auxiliary excavation and loading will be discontinued.

[0035] The central control module receives information on the stacking status of materials in the excavator's cargo box and determines whether the cargo box is full during the assisted excavation loading process. If the cargo box is full, the assisted excavation loading process is terminated.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] The excavator assisted excavation and loading control system provided by this invention receives data from the parameter storage module, safety detection module, driver fatigue detection module, and cargo box material accumulation detection module through the central control module during the assisted excavation and loading process. It judges the safety of the current operation and can immediately exit the assisted excavation and loading if there is a safety hazard. This saves the driver's energy, reduces driver fatigue, improves the working environment, and increases work efficiency and safety. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the excavator-assisted excavation and loading control system in an embodiment of the present invention;

[0039] Figure 2 This is a flowchart of the excavator-assisted excavation and loading control method in an embodiment of the present invention. Detailed Implementation

[0040] 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.

[0041] Example 1

[0042] This embodiment provides an excavator-assisted excavation and loading control system, such as... Figure 1 As shown, it includes:

[0043] The parameter storage module is used to store the learning parameters for assisted excavation and loading. The learning parameters include handle action signals, excavator main pump parameters, and excavator main valve parameters.

[0044] Furthermore, the excavator main pump parameters include the main pump solenoid valve control current signal; the excavator main valve parameters include the main valve solenoid valve control current signal; the main pump solenoid valve control current signal and the main valve solenoid valve control current signal serve as target signals during the auxiliary excavation and loading process, and the central control module sends the main pump solenoid valve control current signal and the main valve solenoid valve control current signal to the main pump and the main valve in real time for output control.

[0045] Furthermore, the main valve solenoid valve control current signal includes the boom solenoid valve control current signal, the stick solenoid valve control current signal, the bucket solenoid valve control current signal, and the swing solenoid valve control current signal.

[0046] A safety detection module is used to detect the distance from objects in the surrounding space to the excavator. The safety detection module includes several distance sensors arranged on the body of the excavator.

[0047] The driver fatigue detection module is used to detect the frequency of the driver's eye movements, blinking frequency, and yawning frequency. The driver fatigue detection module includes a vision sensor and a processor arranged in the excavator cab. The vision sensor collects images of the driver's face, and the processor extracts the frequency of the driver's eye movements, blinking frequency, and yawning frequency.

[0048] A material accumulation detection module for excavator truck beds is used to detect the accumulation status of materials in the excavator truck bed. The module includes a processor and a camera mounted on the back of the excavator bucket. The camera captures real-time images of the material accumulation surface inside the truck bed, and the processor determines the accumulation status of the materials within the truck bed. The accumulation status includes whether the truck bed is full and whether it is uniform.

[0049] The central control module connects the excavator's main pump, main valve, parameter storage module, safety detection module, driver fatigue detection module, and cargo box material accumulation detection module. The central control module receives real-time operating parameters from the excavator's main pump and main valve, compares them with learned parameters to determine if the current auxiliary excavation loading is in a safe state; it receives distance data from the safety detection module and compares it with pre-set safety thresholds to determine if the area around the excavator is safe; it receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine if the driver is fatigued; and it receives information on the accumulation status of the excavator cargo box material to determine if the cargo box is full during the auxiliary excavation loading process.

[0050] Furthermore, the central control module is connected to the excavator's safety handle. When the safety handle is in the closed state, auxiliary excavation and loading cannot be initiated. If auxiliary excavation and loading is in operation, closing the safety handle will exit the auxiliary excavation and loading process.

[0051] The human-machine interface module, connected to the central control module, is used by the driver to select whether to read previously stored learning parameters or create new learning parameters, and to receive alarm information from the central control module. It also receives instructions from the driver to correct the actions of various working devices during the assisted excavation and loading process.

[0052] Furthermore, if the driver selects to create new learning parameters, the human-machine interaction module prompts the driver to manually operate the excavator to perform excavation and loading operations in a loop, and repeat this loop several times; the central control module receives the working parameters for each loop, calculates the average of all working parameters, and uses the average as the learning parameter for this auxiliary excavation and loading.

[0053] If the excavation and loading process is not in a safe condition, or if the area around the excavator is unsafe, or if the driver is fatigued, or if the cargo compartment is already full, the central control module will determine to discontinue the assisted excavation and loading process.

[0054] Specifically, the central control module receives real-time operating parameters of the excavator's main pump and main valve, compares them with learned parameters, and determines whether the current auxiliary excavation loading is in a safe state, including:

[0055] If the error between the real-time operating parameters of the excavator's main pump and main valve and the corresponding learning parameters exceeds the preset error threshold S1, an alarm message is sent to the human-machine interface module; if the error between the real-time operating parameters of the excavator's main pump and main valve and the corresponding learning parameters exceeds the preset error threshold S2, an alarm message is sent to the human-machine interface module and auxiliary excavation loading is terminated; wherein, the error between the real-time operating parameters and the learning parameters is expressed as:

[0056] ;

[0057] Where S represents the error between the real-time working parameters and the learning parameters.

[0058] The central control module receives distance data from the safety detection module and compares it with a pre-set safety threshold to determine whether the area around the excavator is safe, including:

[0059] The distance data detected by the distance sensor is represented as N. i Where i represents the i-th distance sensor, The security thresholds are denoted as L1 and L2.

[0060] When MIN( If L1 > L2, then the area around the excavator is considered safe; if L2 ≤ MIN, then the area around the excavator is considered safe. If MIN ≤ L1, then a safety hazard is identified around the excavator, and an alarm message is sent to the human-machine interface module; if MIN ( If L2 < L2, it is determined that the area around the excavator is unsafe, an alarm message is sent to the human-machine interaction module, and the auxiliary excavation and loading is discontinued.

[0061] The central control module receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine whether the driver is fatigued, including:

[0062] The frequency of eye movements is denoted as T1, the frequency of blinking is denoted as T2, and the frequency of yawning is denoted as T3. The higher the frequency of eye movements of the driver, the smaller the T1 value; the higher the frequency of blinking, the smaller the T2 value; and the higher the frequency of yawning, the larger the T3 value.

[0063] Driver fatigue level is represented as:

[0064] T = T1*K1 + T2*K2 + T3*K3;

[0065] Wherein, K1, K2, and K3 represent the weighting coefficients of eye movement frequency level, blinking frequency level, and yawning frequency level, respectively, and T represents the driver fatigue level;

[0066] The pre-set fatigue level thresholds are denoted as TT1 and TT2. When T < TT1, it is determined that the driver is not fatigued. When TT1 ≤ T < TT2, it is determined that the driver is mild to moderate fatigued and an alarm message is sent to the human-machine interaction module. When TT2 ≤ T, it is determined that the driver is severely fatigued and an alarm message is sent to the human-machine interaction module and the auxiliary excavation loading is terminated.

[0067] When the central control module receives information about uneven loading in the car body, it adjusts the control current signal of the rotary solenoid valve to correct the rotary action and ensure that the material in the car body is piled up evenly.

[0068] Example 2

[0069] This embodiment provides a control method based on embodiment 1.

[0070] like Figure 2 As shown, the control methods include:

[0071] After the operator starts the excavator and sends a command to the central control module to activate the auxiliary excavation and loading function, the central control module receives the learning parameters. It uses the handle action signal from these parameters as the input signal for this auxiliary excavation and loading operation, and sends the excavator main pump parameters and main valve parameters from the learning parameters as the target signals to the main pump solenoid valve and main valve solenoid valve in real time for output control. The operator can choose to read previously stored auxiliary excavation and loading learning parameters or create new ones. If new parameters are selected, the human-machine interface module will guide the operator to manually operate the excavator according to their own operating habits, performing a cycle of excavation and loading operations N times. The central control module records the working parameters for each cycle in real time and calculates the average of the working parameters for the above N cycles as the learning parameters for this auxiliary excavation and loading operation.

[0072] During the assisted excavation and loading process, the central control module receives real-time operating parameters from the excavator's main pump and main valve, compares them with the learned parameters, and determines whether the current assisted excavation and loading is in a safe state. If it determines that the current assisted excavation and loading is in an unsafe state, it exits the assisted excavation and loading process.

[0073] The central control module receives distance data from the safety detection module and compares it with a pre-set safety threshold to determine whether the area around the excavator is safe. If the area around the excavator is deemed unsafe, the auxiliary excavation and loading process is discontinued.

[0074] The central control module receives the frequency of the driver's eye movements, blinking, and yawning to determine whether the driver is fatigued. If the driver is determined to be fatigued, the auxiliary excavation and loading will be discontinued.

[0075] The central control module receives information on the stacking status of materials in the excavator's cargo box and determines whether the cargo box is full during the assisted excavation loading process. If the cargo box is full, the assisted excavation loading process is terminated.

[0076] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0077] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0078] 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 control system for assisting excavation and loading of an excavator, characterized in that, include: The parameter storage module is used to store the learning parameters for assisted excavation and loading, including handle action signals, excavator main pump parameters, and excavator main valve parameters. A safety detection module is used to detect the distance from objects in the surrounding space to the excavator. The safety detection module includes several distance sensors arranged on the body of the excavator. The driver fatigue detection module is used to detect the frequency of the driver's eye movements, blinking frequency, and yawning frequency. The driver fatigue detection module includes a vision sensor arranged in the excavator cab. A material accumulation detection module for excavator cargo box is used to detect the accumulation status of materials in the excavator cargo box. The material accumulation detection module includes a camera arranged on the back of the excavator bucket. The central control module connects to the excavator's main pump, main valve, parameter storage module, safety detection module, driver fatigue detection module, and cargo box material accumulation detection module. The central control module receives real-time operating parameters from the excavator's main pump and main valve, compares them with learned parameters to determine if the current assisted excavation loading is in a safe state; it receives distance data from the safety detection module and compares it with pre-set safety thresholds to determine if the area around the excavator is safe; it receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine if the driver is fatigued; and it receives cargo box material accumulation information to determine if the cargo box is full during assisted excavation loading. If the excavation and loading process is not in a safe state, or the area around the excavator is unsafe, or the driver is fatigued, or the cargo box is full, the central control module will determine to exit the assisted excavation and loading process. The central control module receives real-time operating parameters from the excavator's main pump and main valve, compares them with learned parameters, and determines whether the current auxiliary excavation loading is in a safe state, including: If the error between the real-time operating parameters of the excavator's main pump and main valve and the corresponding learning parameters exceeds the preset error threshold S1, an alarm message is sent to the human-machine interface module; if the error between the real-time operating parameters of the excavator's main pump and main valve and the corresponding learning parameters exceeds the preset error threshold S2, an alarm message is sent to the human-machine interface module and auxiliary excavation loading is terminated; wherein, the error between the real-time operating parameters and the learning parameters is expressed as: ； Where S represents the error between the real-time working parameters and the learning parameters; The central control module receives distance data from the safety detection module and compares it with a pre-set safety threshold to determine whether the area around the excavator is safe, including: The distance data detected by the distance sensor is represented as N. i Where i represents the i-th distance sensor, The security thresholds are denoted as L1 and L2. When MIN( If L1 > L2, then the area around the excavator is considered safe; if L2 ≤ MIN, then the area around the excavator is considered safe. If MIN ≤ L1, then a safety hazard is identified around the excavator, and an alarm message is sent to the human-machine interface module; if MIN ( If L2 < L2, it is determined that the area around the excavator is unsafe, an alarm message is sent to the human-machine interaction module, and the auxiliary excavation and loading is discontinued.

2. The excavator-assisted excavation and loading control system according to claim 1, characterized in that: It also includes a human-machine interaction module, which is connected to the central control module and is used by the driver to select to read previously stored learning parameters or create new learning parameters, as well as to receive alarm information from the central control module. If the driver selects to create new learning parameters, the human-machine interaction module prompts the driver to manually operate the excavator to perform excavation and loading operations in a loop, and repeats the loop several times; the central control module receives the working parameters for each loop, calculates the average of all working parameters, and uses the average as the learning parameter for this auxiliary excavation and loading.

3. The excavator-assisted excavation and loading control system according to claim 1, characterized in that: The central control module receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine whether the driver is fatigued, including: The frequency of eye movements is denoted as T1, the frequency of blinking is denoted as T2, and the frequency of yawning is denoted as T3. Driver fatigue level is represented as: T = T1*K1 + T2*K2 + T3*K3; Wherein, K1, K2, and K3 represent the weighting coefficients of eye movement frequency level, blinking frequency level, and yawning frequency level, respectively, and T represents the driver fatigue level; The pre-set fatigue level thresholds are denoted as TT1 and TT2. When T < TT1, it is determined that the driver is not fatigued. When TT1 ≤ T < TT2, it is determined that the driver is mild to moderate fatigued and an alarm message is sent to the human-machine interaction module. When TT2 ≤ T, it is determined that the driver is severely fatigued, an alarm message is sent to the human-machine interaction module, and the auxiliary excavation loading is terminated.

4. The excavator-assisted excavation and loading control system according to claim 1, characterized in that: The central control module is connected to the excavator's safety handle. When the safety handle is closed, auxiliary excavation and loading cannot be initiated. If auxiliary excavation and loading is in operation, closing the safety handle will exit the auxiliary excavation and loading process.

5. The excavator-assisted excavation and loading control system according to claim 1, characterized in that: The excavator main pump parameters include the main pump solenoid valve control current signal; The excavator main valve parameters include the main valve solenoid valve control current signal; The main pump solenoid valve control current signal and the main valve solenoid valve control current signal serve as target signals during the auxiliary excavation and loading process. The central control module sends the main pump solenoid valve control current signal and the main valve solenoid valve control current signal to the main pump and the main valve in real time for output control.

6. A control method for an excavator-assisted excavation and loading control system based on any one of claims 1-5, characterized in that, include: After the driver starts the excavator and sends the command to the central control module to open the auxiliary excavation loading, the central control module receives the learning parameters and uses the handle action signal in the learning parameters as the input signal for this auxiliary excavation loading. It also sends the excavator main pump parameters and excavator main valve parameters in the learning parameters as the target signals for this auxiliary excavation loading to the main pump solenoid valve and the main valve solenoid valve in real time for output control. During the assisted excavation and loading process, the central control module receives the real-time operating parameters of the excavator's main pump and main valve, compares them with the learned parameters, and determines whether the current assisted excavation and loading is in a safe state. If it determines that the current assisted excavation and loading is in an unsafe state, it exits the assisted excavation and loading process. The central control module receives distance data from the safety detection module and compares it with a pre-set safety threshold to determine whether the area around the excavator is safe. If the area around the excavator is determined to be unsafe, the auxiliary excavation and loading is discontinued. The central control module receives the frequency of the driver's eye movements, blinking, and yawning to determine whether the driver is fatigued. If the driver is determined to be fatigued, the auxiliary excavation and loading will be discontinued. The central control module receives information on the stacking status of materials in the excavator's cargo box and determines whether the cargo box is full during the assisted excavation loading process. If the cargo box is full, the assisted excavation loading process is terminated.

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