Method for intelligent monitoring and regulation of excavator track sticking

Abstract

The application discloses a kind of excavator track jamming intelligent monitoring and regulation methods, it is related to excavator control technical field.The purpose is to realize real-time monitoring and hierarchical control to track jamming state.Method includes to electric shovel position monitoring RTK, track monitoring high-definition infrared camera and high-precision inclinometer are initially calibrated, obtain reference image and initial position data;Using calibrated RTK, high-definition infrared camera and inclinometer, the position change data of excavator, track image data and inclination data are collected in real time;The fusion calculation of collected track image data, position change data and inclination data is carried out, and track actual deflection angle and angle difference value are obtained;According to the comparison result of angle difference value and preset threshold, hierarchical control operation is executed to excavator;Hierarchical control operation includes alarm, speed limit or shutdown.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to an intelligent monitoring and control method for excavator track jamming. Background Technology

[0002] In the traditional construction machinery field, when excavators operate in complex and harsh environments, the tracks on both sides often become stuck due to factors such as accumulated gravel and entangled mud. Current technology lacks a real-time monitoring and intelligent adjustment control mechanism for track jamming, meaning that track jamming cannot be detected and intervened in a timely manner. This often leads to further damage to the tracks and mechanical structure, affecting not only the safe and stable operation of the excavator but also causing downtime for maintenance due to equipment failure, reducing production efficiency and increasing maintenance costs. Summary of the Invention

[0003] To address some or all of the technical problems existing in the prior art, this invention provides an intelligent monitoring and control method for excavator track jamming, aiming to achieve real-time monitoring and hierarchical control of track jamming.

[0004] The technical solution of the present invention is as follows:

[0005] A method for intelligent monitoring and control of excavator track jamming is provided, the method comprising:

[0006] S1: Perform initial calibration on the electric shovel position monitoring RTK, track monitoring high-definition infrared camera and high-precision inclinometer to obtain reference images and initial position data; wherein, the RTK is based on the global satellite navigation system to achieve high-precision real-time positioning, the high-definition infrared camera is used for real-time tracking and monitoring of track angle, and the inclinometer is used to monitor the real-time tilt angle of the excavator;

[0007] S2: Using a calibrated RTK, high-definition infrared camera and tilt meter, real-time data on the excavator's position change, track image data and tilt angle are collected;

[0008] S3: The collected track image data, position change data, and tilt angle data are fused and calculated to obtain the actual track deviation angle and angle difference;

[0009] S4: Based on the comparison result between the angle difference and the preset threshold, perform graded control operations on the excavator; the graded control operations include alarm, speed limit or shutdown.

[0010] In some alternative implementations, step S1 includes:

[0011] Adjust the tracks on both sides of the excavator to be parallel, calibrate the initial position of RTK as parallel to the front of the tracks, acquire the reference image in this state, and complete the horizontal position calibration of the inclinometer.

[0012] In some optional implementations, the position change data includes position change values ​​measured by RTK, yaw angle change values, and left and right walking position change values ​​collected by the walking encoder; the tilt angle data includes left and right tilt angles and forward and backward tilt angles.

[0013] In some alternative implementations, step S3 includes:

[0014] Based on real-time tilt data, the reference image is dynamically adjusted in virtual three-dimensional space, and the adjusted image is horizontally rotated according to the rotation angle to match the angle of the currently acquired image.

[0015] In some alternative implementations, step S4 further includes:

[0016] The acquired track images are processed to remove mud and complete the structure to generate a standard track shape. Multiple straight lines perpendicular to the track's forward direction are selected at the same positions as the standard track shape and the acquired images, and the actual deflection angles of the left and right tracks are calculated by angle comparison.

[0017] In some alternative implementations, step S4 further includes:

[0018] Based on the position change value and yaw angle change value of RTK, the offset angle of the upper and lower plates on the left and right sides is calculated; the offset angle of the upper and lower plates is compared with the actual yaw angle to obtain the angle difference value.

[0019] In some optional implementations, the preset threshold includes a small angle threshold, a medium angle threshold, and a large angle threshold;

[0020] When the angle difference continuously exceeds the large angle threshold and reaches the jam confirmation time, the excavator is prohibited from moving in the current direction and is allowed to run in reverse at a preset low speed; if the angle difference is greater than the large angle threshold after reversing, an alarm shutdown operation is performed.

[0021] In some alternative implementations, when the angle difference continuously exceeds the mid-angle threshold and reaches the jam confirmation time, the excavator's travel speed is limited to a specific proportion not exceeding the preset maximum speed, and the corresponding steering operation is prohibited.

[0022] In some optional implementations, an alarm is triggered when the angle difference continuously exceeds the small angle threshold and reaches the jam confirmation time; if the duration exceeds the preset time, the walking speed is limited.

[0023] In some alternative implementations, when the excavator is digging and not moving, the monitoring and control system enters a waiting state; when moving is detected, the system restarts and enters the intelligent monitoring and control state.

[0024] The main advantages of the technical solution of this invention are as follows:

[0025] This invention presents an intelligent monitoring and control method for excavator track jamming. Through initial calibration of RTK, high-definition infrared cameras, and inclinometers, a unified measurement benchmark is established to ensure the accuracy of data acquisition, including position and angle, laying the foundation for accurate subsequent judgment of the jamming state. By integrating RTK positioning data, track image data, and inclinometer data, multi-dimensional real-time monitoring of the excavator's travel position, track angle deviation, and machine tilt is achieved. This multi-dimensional real-time monitoring function can more comprehensively capture early signs of track jamming, avoiding missed detections due to monitoring blind spots. Through the fusion calculation of multi-source data, the actual track deviation angle and angle difference are accurately obtained. Combined with algorithms such as dynamic angle following adjustment and image mud removal processing, the influence of environmental interference (such as mud cover and machine tilt) on the monitoring results is effectively eliminated, improving the reliability of jamming state identification under complex working conditions. Based on the comparison of the angle difference with a preset threshold, graded control of alarm, speed limit, and shutdown is achieved. This can both promptly prevent the jamming from worsening and minimize unnecessary downtime, improving equipment operating efficiency and safety. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and constitute a part of this invention, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0027] Figure 1 This is a flowchart illustrating an intelligent monitoring and control method for track jamming in an excavator, provided as an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0029] The technical solutions provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] In traditional excavator operation scenarios, the tracks on both sides of the equipment frequently jam due to the complex and harsh working environment. Because of the lack of an efficient monitoring and control system, track jamming is not addressed in a timely manner, leading to secondary damage to the mechanical structure and tracks, posing a significant threat to the safety and stability of excavator operation. Therefore, there is an urgent need for a method that can efficiently detect whether excavator tracks are jammed.

[0031] In view of this, embodiments of this application provide an intelligent monitoring and control method for excavator track jamming, exemplarily, such as... Figure 1 As shown. The method includes:

[0032] S1: Perform initial calibration of the electric shovel position monitoring RTK, track monitoring high-definition infrared camera and high-precision inclinometer to obtain reference images and initial position data.

[0033] Among them, RTK achieves high-precision real-time positioning based on the global satellite navigation system, high-definition infrared cameras are used for real-time tracking and monitoring of track angles, and inclinometers are used to monitor the real-time tilt angle of the excavator.

[0034] The intelligent monitoring and control method for excavator track jamming provided in this application establishes a unified measurement benchmark through initial calibration of RTK, high-definition infrared cameras, and inclinometers, ensuring the accuracy of data acquisition such as position and angle, and laying the foundation for accurate judgment of the jamming state. By integrating RTK positioning data, track image data, and inclinometer data, multi-dimensional real-time monitoring of the excavator's walking position, track angle deviation, and body tilt is achieved. This multi-dimensional real-time monitoring function can more comprehensively capture early signs of track jamming and avoid missed jamming due to monitoring blind spots. Through the fusion calculation of multi-source data, the actual track deviation angle and angle difference are accurately obtained. Combined with algorithms such as dynamic angle following adjustment and image mud removal processing, the influence of environmental interference (such as mud cover and body tilt) on the monitoring results is effectively eliminated, improving the reliability of jamming state identification under complex working conditions. Based on the comparison of the angle difference with a preset threshold, graded control of alarm, speed limit, and shutdown is achieved, which can both promptly prevent the jamming from worsening and minimize unnecessary downtime, improving equipment operating efficiency and safety.

[0035] In some embodiments, step S1 includes: adjusting the tracks on both sides of the excavator to a parallel state, calibrating the initial position of the RTK as the track parallel and directly in front, acquiring a reference image in this state, and completing the horizontal position calibration of the inclinometer.

[0036] For example, two high-precision RTK devices are installed on the top of the excavator cab and initially calibrated. The calibration reference is the forward angle of the electric shovel's tracks, enabling real-time dynamic positioning of the electric shovel. RTK technology is based on the Global Navigation Satellite System. It receives dual-frequency carrier signals and calculates the phase difference, using the carrier phase difference method to eliminate various errors, thereby achieving high-precision positioning.

[0037] S2: Using a calibrated RTK, high-definition infrared camera, and tilt meter, the excavator's position change data, track image data, and tilt angle data are collected in real time.

[0038] In some embodiments, the position change data includes the position change value measured by RTK, the yaw angle change value, and the left and right walking position change value collected by the walking encoder; the tilt angle data includes the left and right tilt angle and the forward and backward tilt angle.

[0039] For example, two high-definition infrared cameras are installed at the lower front of the excavator cab control panel to monitor the track angle in real time. During initial installation, the tracks on both sides of the electric shovel need to be adjusted so that the shovel faces directly forward and the tracks are parallel. This completes the calibration of the absolute angle of the electric shovel tracks at 0 degrees and the relative angle deviation at 0 degrees, and collects reference image information and data when the tracks are in a parallel 0-degree deviation state.

[0040] At the same time, the excavator collects left and right travel position data (where the distance direction corresponding to the position value measured by the travel encoder is set to the front parallel to the track) and slewing angle data (0 degrees slewing corresponds to the front parallel to the track) through the control system PLC. The above data is calibrated and calculated with the RTK measurement value to verify the deviation angle value of the electric shovel, so as to ensure the accuracy and reliability of the excavator's travel direction and position measurement results.

[0041] In addition, a high-precision inclinometer is installed in the X direction (left and right tilt angle) and Y direction (front and rear tilt angle) at the center of the excavator's slewing platform, and its horizontal position is calibrated to enable real-time monitoring of the excavator's tilt angle.

[0042] S3: The collected track image data, position change data, and tilt angle data are fused and calculated to obtain the actual track deviation angle and angle difference.

[0043] In some embodiments, step S3 includes: dynamically adjusting the reference image in virtual three-dimensional space based on real-time tilt data, and rotating the adjusted image horizontally according to the rotation angle to match the angle of the currently acquired image.

[0044] S4: Based on the comparison between the angle difference and the preset threshold, perform graded control operations on the excavator.

[0045] The tiered control operation includes alarm, speed limit, or shutdown.

[0046] In some embodiments, step S4 further includes: removing mud and completing the structure of the acquired track image to generate a standard track shape; selecting multiple straight lines perpendicular to the track's forward direction at the same position as the standard track shape and the acquired image, and calculating the actual deflection angle of the left and right tracks by angle comparison.

[0047] By removing mud and completing the structure of the acquired track images, the interference of environmental factors such as mud cover and gravel obstruction on the track shape can be effectively eliminated, the standard track structure can be restored, and the angle measurement error caused by image distortion can be avoided. This provides a clear and complete visual benchmark for subsequent angle calculation and helps to further improve the accuracy of detection.

[0048] In some embodiments, step S4 further includes: calculating the offset angles of the upper and lower yaws on the left and right sides based on the position change value and yaw angle change value of RTK; comparing the offset angles of the upper and lower yaws with the actual yaw angle to obtain the angle difference value.

[0049] In some embodiments, the preset thresholds include a small angle threshold, a medium angle threshold, and a large angle threshold; when the angle difference continuously exceeds the large angle threshold and reaches the jam confirmation time, the excavator is prohibited from moving in the current direction and is allowed to run in reverse at a preset low speed; if the angle difference is greater than the large angle threshold after reversing, an alarm shutdown operation is performed.

[0050] In some embodiments, when the angle difference continuously exceeds the mid-angle threshold and reaches the jam confirmation time, the excavator's travel speed is limited to a specific proportion not exceeding the preset maximum speed, and the corresponding steering operation is prohibited.

[0051] In some embodiments, when the angle difference continuously exceeds the small angle threshold and reaches the jam confirmation time, an alarm is triggered; if the duration exceeds a preset time, a speed limit is applied to the walking speed.

[0052] In some embodiments, when the excavator is in the process of digging and is not moving, the monitoring and control system enters a waiting state; when moving is detected, the system restarts and enters the intelligent monitoring and control state.

[0053] Furthermore, as a possible implementation, the following algorithm is used to calculate the actual track deviation angle and angle difference based on the high-definition infrared camera image captured by the algorithm server, and then to perform graded control:

[0054] The excavator is pre-set with adjustable monitoring and control parameters for track jamming monitoring and adjustment, which can be modified according to actual conditions: The actual horizontal (left-right) tilt angle is θx, and the horizontal (front-back) tilt angle is θy, obtained in real time from the inclinometer. The monitoring cycle for each track jamming detection is t. The logical change of the left-side position within time t is K1, and the logical change of the right-side position within time t is K2. The actual position change of the RTK position within time t is S1, and the actual change of the yaw angle is θ1. The left and right yaw angles are θz, θy, and the slewing angle is θh. The angle difference verification value is θj.

[0055] Preset parameters for the angle deviation value: safe range (θ≤a), small angle deviation range (a<θ≤b), medium angle deviation range (b<θ≤c), and large angle deviation range (θ≥c); continuous small angle track jamming time t1, jamming confirmation time t2, slight jamming alarm and speed limit time t3, and excavator full speed Vm; (the default values ​​for each adjustable control parameter are a=1°, b=3°, c=5°, t1=30min, t2=10s, t3=2min, t=0.02s, θj=0.2°, and Vm=excavator maximum travel speed).

[0056] When the excavator is performing excavation work, the track angle is fixed and the action is repetitive excavation. At this time, since the track is not stuck before the operation and the walking action is static during the operation, the excavator track jamming intelligent monitoring and adjustment control algorithm enters the waiting state based on the characteristic of no walking action during the operation.

[0057] When the excavator begins to move, the algorithm enters intelligent monitoring and adjustment control mode. First, the basic algorithm server monitors the excavator's tilt angles θx and θy in real time, and adjusts the calibrated reference image according to the changes in tilt angle. At this time, the system dynamically adjusts the θx and θy angles of the calibrated reference image in virtual three-dimensional space in real time according to the θx and θy angles, with the monitoring period t as the node. Then, the reference image is horizontally rotated by θh (rotation angle value) to keep consistent with the current image acquisition angle. At the same time, the real-time image values ​​of the acquired left and right tracks are simulated to remove mud and complete the structure into a standard track shape according to the standard three-dimensional dimensions of the left and right tracks. Then, 100 straight lines perpendicular to the track forward direction are randomly selected at the same position in the acquired images and standard images of the left and right tracks. The angles of the 100 straight lines are compared between the acquired images and the standard images. The included angle of each pair of straight lines is recorded. The 5 largest and 5 smallest included angle values ​​are removed respectively. The average of the remaining 90 included angle values ​​on the left and right sides is taken. The actual included angles θpz and θpy of the left and right electric shovel tracks are calculated according to the direction of deviation and transmitted to the excavator PLC.

[0058] The PLC monitors the RTK's position change S1 and yaw angle change θ1 in real time with a period of t. It also monitors and collects the position changes K1 and K2 of the travel, and receives the actual deviation angles θpz and θpy of the left and right tracks after image measurement at time t. Based on the collected values, it calculates the offset angles of the upper and lower tracks on both sides: the left track's angle difference is θz = arccos(K1 / S1), and the right track's angle difference is θy = arccos(K2 / S1). Then, it performs classification calculations and adjustments according to the excavator's operating state. When the offset directions of θz and θ1 are the same, the left track deviation angle verification value is calculated as θza = θz - θ1. When the offset directions of θz and θ1 are opposite, the left track deviation angle verification value is calculated as θza = θz + θ1. The same process is applied to the right side; when the offset directions are the same, the left track deviation angle verification value is calculated as θya = θy - θ1. When the offset directions of θz and θ1 are opposite, the left track deviation angle verification value is calculated as θya = θy + θ1. Then, based on the excavator's walking status, θza is compared with θpz, and θya is compared with θpy to obtain the angle difference.

[0059] When the excavator is traveling in a straight line, if any result angle difference exceeds θj multiple times consecutively, an alarm will be triggered, prompting the excavator to perform angle measurement verification of the track jamming intelligent monitoring and adjustment control system. When the excavator is turning left or right, if any result difference exceeds 1.3θj multiple times consecutively, an alarm will be triggered, prompting the excavator to perform angle measurement verification of the track jamming intelligent monitoring and adjustment control system. If the deviation is consistently less than θj, θpz and θpy will be determined, and the excavator's track jamming situation will be classified and adjusted to prevent damage to the track mechanical structure caused by track jamming.

[0060] During the adjustment and control phase, the measured values ​​of θpz and θpy are classified and monitored. If either value is continuously greater than angle c (i.e., the large angle threshold in the preset threshold) and exceeds time t2 (i.e., the jam confirmation time), the excavator will be prohibited from continuing to travel in the current direction and will be allowed to slowly reverse at a speed of 10%. If, after 2*t2 of slow reverse deceleration, θpz or θpy is still continuously greater than angle c, an alarm will be triggered and the machine will be stopped immediately.

[0061] If either θpz or θpy is measured to be greater than angle b for a continuous time interval t2 or more (i.e., the middle angle threshold in the preset threshold and less than or equal to c), the travel speed will be limited. In this case, the excavator can only travel at a speed not exceeding 30% of Vm. If θpz is greater than angle b for a continuous time interval t2 or more and less than or equal to c, then left turns are prohibited. If θpy is greater than angle b for a continuous time interval t2 or more and less than or equal to c, then right turns are prohibited.

[0062] If either θpz or θpy is measured to be greater than angle a (i.e., the small angle threshold in the preset threshold) for more than t2 consecutive time periods, and is less than or equal to b, an alarm will be triggered to remind the operator of the risk of blade twisting. If the duration exceeds t3 (i.e., the preset time), a 50% Vm travel speed limit will be applied. When both θpz and θpy are less than a, the control system will not impose any restrictions on the excavator's actions and will continue to track and monitor the jam angle.

[0063] This application constructs a three-dimensional monitoring network covering position, angle, and attitude through multi-sensor collaboration of RTK satellite positioning, high-definition infrared camera visual monitoring, and tilt meter attitude perception, forming a high-precision monitoring system that integrates multi-source data. Compared with traditional single-parameter monitoring, it significantly improves the accuracy and comprehensiveness of track jamming state identification.

[0064] During the data calculation process, a benchmark model is established based on the initial calibration, and the benchmark image is dynamically adjusted by real-time tilt angle and rotation angle. Combined with preprocessing techniques such as image desmearing and structure completion, the real data is restored to the maximum extent to reduce errors, thereby improving the accuracy of the detection results.

[0065] By using a graded intelligent control strategy, the system classifies jamming into small, medium, and large angle jamming levels based on angle deviation thresholds. Correspondingly, it implements a graded response mechanism that includes alarm reminders, speed limit control, and shutdown protection. This changes the traditional crude mode of "shutting down unless an alarm is triggered." It can promptly prevent jamming from worsening and minimize unnecessary shutdowns, thus balancing safety and operational efficiency.

[0066] It should be noted that, in this document, relational terms such as “first” and “second” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for intelligent monitoring and control of excavator track jamming, characterized in that, The method includes: S1: Perform initial calibration on the electric shovel position monitoring RTK, track monitoring high-definition infrared camera and high-precision inclinometer to obtain reference images and initial position data; wherein, the RTK is based on the global satellite navigation system to achieve high-precision real-time positioning, the high-definition infrared camera is used for real-time tracking and monitoring of track angle, and the inclinometer is used to monitor the real-time tilt angle of the excavator; S2: Using a calibrated RTK, high-definition infrared camera and tilt meter, real-time data on the excavator's position change, track image data and tilt angle are collected; S3: The collected track image data, position change data, and tilt angle data are fused and calculated to obtain the actual track deviation angle and angle difference; S4: Based on the comparison result between the angle difference and the preset threshold, perform graded control operations on the excavator; the graded control operations include alarm, speed limit, or shutdown; For step S1, the following are included: Adjust the tracks on both sides of the excavator to be parallel, calibrate the initial position of RTK as the track parallel and directly in front, acquire the reference image in this state, and complete the horizontal position calibration of the inclinometer; The position change data includes the position change value measured by RTK, the yaw angle change value, and the left and right walking position change value collected by the walking encoder; the tilt angle data includes the left and right tilt angle and the forward and backward tilt angle. For step S3, the following are included: Based on real-time tilt data, the reference image is dynamically adjusted in virtual three-dimensional space, and the adjusted image is horizontally rotated according to the rotation angle to match the angle of the currently acquired image. For step S4, it also includes: The acquired track images are processed to remove mud and complete the structure to generate a standard track shape. Multiple straight lines perpendicular to the track's forward direction are selected at the same positions as the standard track shape and the acquired images, and the actual deflection angles of the left and right tracks are calculated by angle comparison. For step S4, it also includes: Based on the position change value and yaw angle change value of RTK, the offset angle of the upper and lower plates on the left and right sides is calculated; the offset angle of the upper and lower plates is compared with the actual yaw angle to obtain the angle difference; The PLC monitors the RTK's position change S1 and yaw angle change θ1 in real time with a period of t. Simultaneously, it monitors and collects the left and right side position changes K1 and K2, and receives the actual deviation angles θpz and θpy of the left and right tracks after image measurement at time t. Based on the collected values, it calculates the offset angles of the upper and lower tracks on the left and right sides. The angle difference between the upper and lower tracks on the left is θz = arccos(K1 / S1), and the angle difference between the upper and lower tracks on the right is θy = arccos(K2 / S1). Then, it performs classification calculations and adjustments based on the excavator's operating state. When the angles θz and θ1 are offset... If the directions are consistent, the left track deviation angle verification value is calculated as θza = θz - θ1. When the angle offset directions of θz and θ1 are opposite, the left track deviation angle verification value is calculated as θza = θz + θ1. The same process is performed on the right side. If the angle offset directions are consistent, the right track deviation angle verification value is calculated as θya = θy - θ1. When the angle offset directions of θy and θ1 are opposite, the right track deviation angle verification value is calculated as θya = θy + θ1. Then, based on the excavator's walking state, θza is compared with θpz, and θya is compared with θpy to obtain the angle difference value.

2. The intelligent monitoring and control method for excavator track jamming according to claim 1, characterized in that, The preset thresholds include small angle thresholds, medium angle thresholds, and large angle thresholds; When the angle difference continuously exceeds the large angle threshold and reaches the jam confirmation time, the excavator is prohibited from moving in the current direction, but is allowed to run in the opposite direction at a preset low speed. If the angle difference after reverse operation is greater than the large angle threshold, an alarm shutdown operation will be performed.

3. The intelligent monitoring and control method for excavator track jamming according to claim 2, characterized in that, When the angle difference continuously exceeds the mid-angle threshold and reaches the jam confirmation time, the excavator's travel speed will be limited to a specific percentage of the preset maximum speed, and the corresponding steering operation will be prohibited.

4. The intelligent monitoring and control method for excavator track jamming according to claim 3, characterized in that, When the angle difference continuously exceeds the small angle threshold and reaches the jam confirmation time, an alarm is triggered. If the duration exceeds the preset time, the walking speed will be limited.

5. The intelligent monitoring and control method for excavator track jamming according to any one of claims 1 to 4, characterized in that, When the excavator is digging and not moving, the monitoring and control system enters a waiting state; when moving is detected, the system restarts and enters the intelligent monitoring and control state.

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