Method and system for detecting operating performance of engineering vehicle and storage medium

Abstract

The embodiment of the invention provides a detection method and system for operating performance of an engineering vehicle and a storage medium. The engineering vehicle comprises an operation handle, a rotary table and a main pump, and the detection method comprises the steps that under the condition that the engineering vehicle is in a no-load state, the handle opening degree of the operation handle is controlled to be gradually increased at a first speed till the handle opening degree reaches the maximum opening degree; in the process that the opening degree of the handle is increased to the maximum opening degree, the first pressure, the second pressure and the third pressure of the main pump are determined, the first pressure is the pressure obtained after the pressure of the main pump changes for the first time, and the second pressure is the pressure obtained after the rotation angle of the rotary table changes for the first time; the third pressure is the pressure of the main pump when the opening degree of the handle reaches the maximum opening degree; determining a handle idle stroke ratio calibration value of the operating handle according to the first pressure, the second pressure and the third pressure; and under the condition that the handle idle stroke ratio calibration value is within the first preset interval range, determining that the control precision of the operation handle is qualified.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method, system, vehicle-mounted computing terminal, and storage medium for detecting the operational performance of an engineering vehicle. Background Art

[0002] The overall maneuverability of construction machinery is a crucial metric for evaluating its performance. Currently, maneuverability testing often relies on the operator's subjective perception, using simple instruments (such as stopwatches) to record some timing indicators. Other indicators are not effectively measured, resulting in a lack of professionalism and a degree of bias. For example, the handle of a crawler crane is a crucial control component, primarily used to control various crane movements, such as boom lift, rotation, telescoping, and luffing. By controlling boom movement, the handle enables precise lifting of heavy objects. Crawler crane maneuverability assessment begins with handle movement and continues with vehicle movement as the outcome, evaluating overall machine performance throughout the entire process. Traditional maneuverability testing relies on manual perception and stopwatches. Key issues include: 1. Large errors in manual timing; 2. Non-time-dependent parameters, such as handle idle travel ratio calibration and slippage, cannot be measured and quantified; and 3. Long measurement paths. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method, system, vehicle-mounted computing terminal and storage medium for detecting the operating performance of engineering vehicles, so as to solve the technical defect in the prior art that the operating performance of engineering machinery cannot be accurately detected.

[0004] To achieve the above-mentioned objectives, the present application provides, in a first aspect, a method for detecting the operating performance of an engineering vehicle, wherein the engineering vehicle includes an operating handle, a turntable, and a main pump. The detection method includes: When the engineering vehicle is in an unloaded state, the handle opening and closing degree of the operating handle is controlled to gradually increase at a first rate until the handle opening and closing degree reaches a maximum opening and closing degree; In the process of increasing the handle opening and closing degree to the maximum opening and closing degree, the first pressure, the second pressure and the third pressure of the main pump are determined, wherein the first pressure is the pressure after the pressure of the main pump changes for the first time, the second pressure is the pressure of the main pump after the rotation angle of the turntable changes for the first time, and the third pressure is the pressure of the main pump when the handle opening and closing degree reaches the maximum opening and closing degree; determining a handle idle stroke ratio calibration value of the operating handle according to the first pressure, the second pressure, and the third pressure; When the handle idle stroke ratio calibration value is within the first preset interval, it is determined that the control accuracy of the operating handle is qualified.

[0005] In an embodiment of the present application, the detection method also includes: after determining that the control accuracy of the operating handle is qualified, controlling the engineering vehicle to be in an unloaded state again; controlling the handle opening and closing degree of the operating handle to gradually increase at a second rate until the handle opening and closing degree reaches the maximum opening and closing degree; in the process of the handle opening and closing degree increasing to the maximum opening and closing degree, determining the first operation time and the second operation time of the operating handle, wherein the first operation time is the time corresponding to the stage from the engineering vehicle being in an unloaded state to the first change in the rotation angle of the turntable, and the second operation time is the time corresponding to the stage from the engineering vehicle being in an unloaded state to the stage from the handle opening and closing degree to the maximum opening and closing degree; controlling the operating handle to return to its original position, and determining The first rotation angle of the turntable when the operating handle returns to its original position, and the third operation time of the operating handle are determined, wherein the third operation time corresponds to the period from when the engineering vehicle is in an unloaded state to when the operating handle returns to its original position; the operating handle is controlled to maintain its returned state until the turntable is in a stationary state, and the second rotation angle of the turntable when the turntable is in a stationary state is determined, and the fourth operation time of the operating handle are determined, wherein the fourth operation time corresponds to the period from when the engineering vehicle is in an unloaded state to when the turntable is in a stationary state; the control performance of the turntable is evaluated based on the first operation time, the second operation time, the third operation time, the fourth operation time, the first rotation angle and the second rotation angle.

[0006] In an embodiment of the present application, evaluating the controllability of the turntable based on the first operation time, the second operation time, the third operation time, the fourth operation time, the first rotation angle and the second rotation angle includes: determining the rotation response time of the turntable based on the first operation time; determining the rotation acceleration time of the turntable based on the difference between the second operation time and the first operation time; determining the rotation lag time of the turntable based on the difference between the fourth operation time and the third operation time; determining the rotation slip amount of the turntable based on the difference between the first rotation angle and the second rotation angle; and determining the operating performance of the turntable based on the rotation response time, the rotation acceleration time, the rotation lag time and the rotation slip amount.

[0007] In an embodiment of the present application, determining the operating performance of the turntable based on the rotation response time, the rotation acceleration time, the rotation lag time and the rotation slip amount includes: when the rotation response time is within the second preset range, determining that the operating performance of the turntable in the startup phase is qualified; when the rotation acceleration time is within the third preset range, determining that the operating performance of the turntable in the operation phase is qualified; when the rotation lag time is within the fourth preset range and the rotation slip amount is within the fifth preset range, determining that the operating performance of the turntable in the closing phase is qualified.

[0008] In an embodiment of the present application, the detection method further includes: determining that the operating performance of the engineering machinery is qualified when the operating performance of the handle is qualified and the operating performance of the turntable is qualified.

[0009] In an embodiment of the present application, the operating handle is fixed with a handle clamp, the handle clamp is installed with an inclination sensor, the turntable is installed with a heading angle sensor, and the main pump is installed with a pressure sensor. The detection method also includes: detecting the opening and closing degree of the operating handle through the inclination sensor; detecting the rotation angle of the turntable through the heading angle sensor; and detecting the pressure of the main pump through the pressure sensor.

[0010] In an embodiment of the present application, the detection method also includes: controlling the operating handle to maintain the maximum opening and closing degree until the cumulative operation time of the operating handle reaches the fifth operation time and the sixth operation time respectively, and determining the third rotation angle and the fourth rotation angle of the turntable at the fifth operation time and the sixth operation time respectively; determining the angle difference between the fourth rotation angle and the third rotation angle; determining the time difference between the sixth operation time and the fifth operation time; and determining the maximum rotation speed of the turntable based on the ratio between the angle difference and the time difference.

[0011] A second aspect of the present application provides a vehicle-mounted computing terminal, comprising: a memory configured to store instructions; The processor is configured to call the instructions from the memory and implement the above-mentioned method for detecting the operating performance of the engineering vehicle when executing the instructions.

[0012] A third aspect of the present application provides a system for detecting the operating performance of an engineering vehicle, comprising: The above-mentioned vehicle-mounted computing terminal; The vehicle-mounted data collection terminal is installed on the engineering vehicle to collect the vehicle computer data of the engineering vehicle. The vehicle computer data includes the handle opening and closing degree of the operating handle, the pressure of the main pump and the rotation angle of the turntable; The debugging device is connected to the vehicle-mounted data acquisition terminal to record and display the test data of the engineering vehicle during the operation performance test; The debugging cloud platform is connected to the vehicle-mounted acquisition terminal and the debugging device signal to store test data; A handle fixture is fixed to the operating handle of the engineering vehicle. The handle fixture is equipped with an inclination sensor, which is used to detect the opening and closing degree of the operating handle; The heading angle sensor is installed on the turntable of the engineering vehicle to detect the rotation angle of the turntable; The pressure sensor is installed on the main pump of the engineering vehicle to detect the pressure of the main pump.

[0013] In an embodiment of the present application, the vehicle-mounted data collection terminal includes: A first edge collection end is installed on the handle fixture and is used to collect the handle opening and closing degree detected by the tilt sensor; The second edge acquisition end is installed on the turntable. The second edge acquisition end has a built-in heading angle sensor for acquiring the rotation angle detected by the heading angle sensor.

[0014] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned method for detecting the operating performance of an engineering vehicle.

[0015] The above technical solution, when the engineering vehicle is in an unloaded state, controls the handle opening and closing degree of the operating handle to gradually increase at a first rate until the handle opening and closing degree reaches the maximum opening and closing degree; in the process of the handle opening and closing degree increasing to the maximum opening and closing degree, determines the first pressure, second pressure and third pressure of the main pump, wherein the first pressure is the pressure after the pressure of the main pump changes for the first time, the second pressure is the pressure of the main pump after the rotation angle of the turntable changes for the first time, and the third pressure is the pressure of the main pump when the handle opening and closing degree reaches the maximum opening and closing degree; determines the handle idle stroke ratio calibration value of the operating handle based on the first pressure, the second pressure and the third pressure; when the handle idle stroke ratio calibration value is within the first preset range, determines that the control accuracy of the operating handle is qualified. This method realizes the precise detection of the operating performance of engineering machinery by providing a digital detection method.

[0016] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings: Figure 1 A schematic diagram schematically illustrates an application environment of a method for detecting the operating performance of an engineering vehicle according to an embodiment of the present application; Figure 2 The following schematically shows a structural diagram of a handle clamp according to an embodiment of the present application; Figure 3 Schematically shows an installation diagram of a handle clamp according to an embodiment of the present application; Figure 4 The following schematically illustrates a flow chart of a method for detecting the operating performance of an engineering vehicle according to an embodiment of the present application; Figure 5 A schematic diagram of a detection process according to an embodiment of the present application is shown schematically; Figure 6 Schematically shows another detection process diagram according to an embodiment of the present application; Figure 7 The following schematically shows a structural diagram of a vehicle-mounted computing terminal according to an embodiment of the present application; Figure 8 The schematic diagram shows the structure of a system for detecting the operating performance of an engineering vehicle according to an embodiment of the present application.

[0018] Figure 9 The following schematically shows a structural diagram of a vehicle-mounted data acquisition terminal according to an embodiment of the present application; Figure 10 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not intended to limit the embodiments of the present application. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present application without making creative efforts are within the scope of protection of this application.

[0020] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] In addition, if there are descriptions involving "first" and "second" in the embodiments of the present application, the descriptions of "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0022] The present application provides a method for detecting the operating performance of an engineering vehicle, which can be applied to Figure 1 In the application environment shown in the figure. Figure 1As shown, a structural schematic diagram of an engineering vehicle is provided. The engineering vehicle may include an operating handle, a turntable and a main pump (not shown in the figure), wherein the main pump is installed in the vehicle control cabinet, and the operating handle is installed in the cab of the engineering vehicle, which can be used to control various actions of the engineering machinery.

[0023] In this technical solution, taking the engineering vehicle as a crawler crane as an example, the operating handle may refer to the crawler crane handle. The crawler crane handle is an important operating component of the crawler crane, which can be used to control the lifting, rotation, telescopic movement, luffing and other actions of the crane's boom, so as to control the arm movement to achieve precise lifting of heavy objects.

[0024] In this embodiment, it should be noted that, taking the crawler crane as an example, since the operating handle of the crawler crane is of irregular shape, it is difficult to directly install an angle detection device to detect the angle of its opening and closing degree. Therefore, this technical solution designs a handle clamp for its special structure. Specifically, Figure 2 As shown in FIG, a schematic diagram of the structure of a handle clamp is provided. Figure 2 As shown, the handle clamp is a hollow design, and the hollow part can be clamped into the operating handle, thereby being fixed on the operating handle. Secondly, the handle clamp is provided with a wide end face, specifically, as shown in FIG. Figure 3 As shown in FIG, a schematic diagram of the installation of a handle clamp is provided. Figure 3 As shown, the end surface can be installed with a sensor to detect the handle opening and closing degree of the operating handle. Specifically, the handle clamp can be installed with an inclination sensor to detect the handle opening and closing degree of the operating handle.

[0025] In this technical solution, a heading angle sensor can be installed at the turntable to detect the rotation angle of the turntable, and a pressure sensor can be installed at the main pump to detect the pressure of the main pump.

[0026] Figure 4 The flowchart of the method for detecting the operating performance of an engineering vehicle according to an embodiment of the present application is schematically shown. Figure 4 As shown, the embodiment of the present application provides a method for detecting the operating performance of an engineering vehicle, which can be applied to Figure 1 In the application environment shown, the detection method may include the following steps: Step 401 : When the engineering vehicle is in an unloaded state, the handle opening and closing degree of the operating handle is controlled to gradually increase at a first rate until the handle opening and closing degree reaches a maximum opening and closing degree.

[0027] In the embodiment of the present application, it should be noted that, taking the engineering vehicle as a crawler crane as an example, the engineering vehicle being in an unloaded state may refer to the crane's boom being fully retracted or only the basic boom being installed, and the inclination angle of the boom is 0 at this time. The first rate can be set according to actual test requirements, for example, it may include but is not limited to being set to an extremely slow speed. In the present technical solution, the controllability of the crawler crane is reflected in three states: the start of control, the middle of control, and the end of control. The handle actions and calculated indicators required for each control state are inconsistent. For example, the handle idle stroke ratio calibration requires slow operation of the handle, while the crawler crane's slewing response time, slewing acceleration time, slewing lag time, and slewing slip amount require fast operation of the handle. Therefore, from the perspective of handle operation, the present technical solution divides the crawler crane's controllability performance detection process into two detection stages, which include operating handle detection and turntable detection in sequence.

[0028] The first test phase is the operating handle test. During the preparatory phase before the test, it is necessary to confirm that the construction vehicle is in an unloaded state. At this point, the initial values ​​of various variables, including the main pump's initial pressure P0, the turntable's initial rotation angle Y0, and the handle's initial handle opening / closing degree R0, can be recorded when the construction vehicle enters the unloaded state. The initial pressure P0, initial rotation angle Y0, and initial handle opening / closing degree R0 are all 0. After confirming that the construction vehicle is in an unloaded state, the user can manually control the handle's opening / closing degree to gradually increase at an extremely slow speed until the handle opening / closing degree reaches its maximum.

[0029] Step 402, in the process of increasing the handle opening and closing degree to the maximum opening and closing degree, determine the first pressure, second pressure and third pressure of the main pump, wherein the first pressure is the pressure of the main pump after the pressure changes for the first time, the second pressure is the pressure of the main pump after the rotation angle of the turntable changes for the first time, and the third pressure is the pressure of the main pump when the handle opening and closing degree reaches the maximum opening and closing degree.

[0030] In the embodiment of the present application, it should be noted that, in the process of the handle opening and closing of the operating handle gradually increasing to the maximum opening and closing at an extremely slow speed, the first pressure, second pressure and third pressure of the main pump under the triggering conditions for automatic recording can be determined, wherein the automatic recording triggering conditions can be set to after the pressure of the main pump changes for the first time, after the rotation angle of the turntable changes for the first time, and when the handle opening and closing reaches the maximum opening and closing. Specifically, the first pressure is the pressure after the pressure of the main pump changes for the first time, the second pressure is the pressure of the main pump after the rotation angle of the turntable changes for the first time, and the third pressure is the pressure of the main pump when the handle opening and closing reaches the maximum opening and closing. Specifically, as Figure 5 As shown in FIG, a schematic diagram of the detection process is provided. Figure 5As shown, starting from moment T0, the opening and closing degree of the operating handle begins to gradually increase at an extremely slow speed until it reaches the maximum opening and closing degree at moment T3. In the process from moment T0 to moment T3, the pressure of the main pump changes for the first time at moment T1, and the first trigger automatically records the trigger condition to obtain the first pressure P1 of the main pump. At moment T2, the rotation angle of the turntable changes for the first time, and the second trigger automatically records the trigger condition to obtain the second pressure P2 of the main pump. At moment T3, the opening and closing degree of the handle reaches the maximum opening and closing degree, and the third trigger automatically records the trigger condition to obtain the third pressure P3 of the main pump.

[0031] Step 403: Determine a handle idle stroke ratio calibration value of the operating handle according to the first pressure, the second pressure, and the third pressure.

[0032] In the embodiment of the present application, it should be noted that the handle idle stroke ratio calibration value can be an important indicator for evaluating the control accuracy of the handle. Its core lies in measuring the proportional relationship between the invalid input interval and the effective control stroke. By quantifying the invalid input interval, operation delays or misjudgments can be avoided. If the handle idle stroke ratio calibration value is too low, it is easy to cause false touches and increase operator fatigue. If the handle idle stroke ratio calibration value is too high, it is easy to cause input delays and affect rapid response. Therefore, a moderate handle idle stroke ratio calibration value can effectively reduce the friction loss of mechanical components and extend the service life of components. Therefore, in the present technical solution, after respectively obtaining the first pressure, the second pressure and the third pressure of the main pump, the handle idle stroke ratio calibration value of the operating handle can be further calculated according to the first pressure, the second pressure and the third pressure, so as to evaluate the control accuracy of the operating handle by the calculated handle idle stroke ratio calibration value. Specifically, the handle idle stroke ratio calibration value of the operating handle can be calculated by the following formula, including: , Where i is the mechanical idle stroke ratio, which is an individual design parameter of the operating handle and is determined by the specification model. is the handle idle stroke ratio calibration value, is the first pressure, is the second pressure, The third pressure.

[0033] Step 404: When the handle idle stroke ratio calibration value is within a first preset interval, it is determined that the control accuracy of the operating handle is qualified.

[0034] In the embodiment of the present application, it should be noted that the first preset interval can be set according to actual needs, for example, it can include but is not limited to being set to [8%, 10%]. Therefore, after calculating the handle idle travel ratio calibration value, if the handle idle travel ratio calibration value is within the range of [8%, 10%], it can be considered that the control accuracy of the operating handle is qualified. Otherwise, it can be considered that the control accuracy of the operating handle is unqualified.

[0035] The above technical solution, when the engineering vehicle is in an unloaded state, controls the handle opening and closing degree of the operating handle to gradually increase at a first rate until the handle opening and closing degree reaches the maximum opening and closing degree; in the process of the handle opening and closing degree increasing to the maximum opening and closing degree, determines the first pressure, second pressure and third pressure of the main pump, wherein the first pressure is the pressure after the pressure of the main pump changes for the first time, the second pressure is the pressure of the main pump after the rotation angle of the turntable changes for the first time, and the third pressure is the pressure of the main pump when the handle opening and closing degree reaches the maximum opening and closing degree; determines the handle idle stroke ratio calibration value of the operating handle based on the first pressure, the second pressure and the third pressure; when the handle idle stroke ratio calibration value is within the first preset range, determines that the control accuracy of the operating handle is qualified. This method realizes the precise detection of the operating performance of engineering machinery by providing a digital detection method.

[0036] In an embodiment of the present application, the detection method also includes: after determining that the control accuracy of the operating handle is qualified, controlling the engineering vehicle to be in an unloaded state again; controlling the handle opening and closing degree of the operating handle to gradually increase at a second rate until the handle opening and closing degree reaches the maximum opening and closing degree; in the process of the handle opening and closing degree increasing to the maximum opening and closing degree, determining the first operation time and the second operation time of the operating handle, wherein the first operation time is the time corresponding to the stage from the engineering vehicle being in an unloaded state to the first change in the rotation angle of the turntable, and the second operation time is the time corresponding to the stage from the engineering vehicle being in an unloaded state to the stage from the handle opening and closing degree to the maximum opening and closing degree; controlling the operating handle to return to its original position, and determining The first rotation angle of the turntable when the operating handle returns to its original position, and the third operation time of the operating handle are determined, wherein the third operation time corresponds to the period from when the engineering vehicle is in an unloaded state to when the operating handle returns to its original position; the operating handle is controlled to maintain its returned state until the turntable is in a stationary state, and the second rotation angle of the turntable when the turntable is in a stationary state is determined, and the fourth operation time of the operating handle are determined, wherein the fourth operation time corresponds to the period from when the engineering vehicle is in an unloaded state to when the turntable is in a stationary state; the control performance of the turntable is evaluated based on the first operation time, the second operation time, the third operation time, the fourth operation time, the first rotation angle and the second rotation angle.

[0037] In the present embodiment, it should be noted that after the control accuracy of the operating handle is qualified, the second detection stage is entered, that is, the control performance of the turntable is further tested. In order to avoid the repeatability of the opening and closing of the operating handle affecting the detection accuracy, it is necessary to control the engineering vehicle to be in a no-load state again. At this time, when the engineering vehicle enters the no-load state, the initial values ​​of various variables including the initial pressure P0 of the main pump, the initial rotation angle Y0 of the turntable and the initial handle opening and closing degree R0 of the handle can be recorded, and the initial pressure P0, the initial rotation angle Y0 and the initial handle opening and closing degree R0 are all 0. After confirming that the engineering vehicle enters the no-load state again, the user can manually control the handle opening and closing degree of the operating handle to gradually increase at a second rate until the handle opening and closing degree reaches the maximum opening and closing degree. Among them, the second rate can be set according to actual test requirements, for example, it can include but is not limited to being set to fast.

[0038] In the process of the handle opening and closing degree of the operating handle increasing rapidly to the maximum opening and closing degree, the first operation duration and the second operation duration of the operating handle under the trigger condition of automatic trigger recording can be determined, wherein the automatic recording trigger condition can be set to when the handle opening and closing degree reaches the maximum opening and closing degree after the rotation angle changes for the first time. Specifically, the first operation duration is the duration corresponding to the stage from the engineering vehicle being in an unloaded state to the stage after the rotation angle of the turntable changes for the first time, and the second operation duration is the duration corresponding to the stage from the engineering vehicle being in an unloaded state to the stage when the handle opening and closing degree reaches the maximum opening and closing degree. Specifically, if Figure 6 As shown in FIG, a schematic diagram of the detection process is provided. Figure 6 As shown, starting from moment T6, the handle opening and closing degree of the operating handle begins to increase rapidly and gradually until it reaches the maximum opening and closing degree at moment T8. In the process from moment T6 to moment T8, the rotation angle of the turntable changes for the first time at moment T7, triggering the automatic recording of the trigger condition to obtain the first operation duration of the operating handle (T7-T6). At moment T8, the handle opening and closing degree reaches the maximum opening and closing degree, triggering the automatic recording of the trigger condition to obtain the second operation duration of the operating handle (T8-T6). After the handle opening and closing degree of the operating handle reaches the maximum opening and closing degree, the operating handle is controlled to return to its position, and the first rotation angle of the turntable when the operating handle returns to its position is determined, as well as the third operation duration of the operating handle, wherein the third operation duration is the duration corresponding to the stage from when the engineering vehicle is in an unloaded state to when the operating handle returns to its position. Specifically, as Figure 6 As shown, at time T8, the handle opening and closing degree reaches the maximum opening and closing degree, and the operating handle is controlled to return to its original position. At time T9, the operating handle is in the returned state, and the triggering condition is automatically recorded to obtain the third operating time of the operating handle (T9-T6) and the first rotation angle Y9 of the turntable.

[0039] After the operating handle is in the return state, the operating handle is controlled to maintain the return state until the turntable is in a stationary state, and the second rotation angle of the turntable when the turntable is in the stationary state is determined, and the fourth operating time of the operating handle is determined, wherein the fourth operating time is the time corresponding to the stage from the engineering vehicle being in the no-load state to the turntable being in the stationary state. Specifically, Figure 6 As shown, at time T9, the operating handle is in the return position. Maintaining the handle in this position, the turntable's rotation speed begins to decrease. At time T10, the turntable is stationary, triggering the automatic recording trigger condition to obtain the turntable's second rotation angle Y10 and the fourth operating duration of the operating handle (T10-T6). After obtaining the first, second, third, and fourth operating durations of the operating handle, and the first and second rotation angles of the turntable, the turntable's controllability is evaluated based on the first, second, third, and fourth operating durations, the first and second rotation angles.

[0040] In an embodiment of the present application, evaluating the controllability of the turntable based on the first operation time, the second operation time, the third operation time, the fourth operation time, the first rotation angle and the second rotation angle includes: determining the rotation response time of the turntable based on the first operation time; determining the rotation acceleration time of the turntable based on the difference between the second operation time and the first operation time; determining the rotation lag time of the turntable based on the difference between the fourth operation time and the third operation time; determining the rotation slip amount of the turntable based on the difference between the first rotation angle and the second rotation angle; and determining the operating performance of the turntable based on the rotation response time, the rotation acceleration time, the rotation lag time and the rotation slip amount.

[0041] In this embodiment, it should be noted that vehicle swing acceleration time is a key indicator of vehicle dynamic performance, primarily reflecting the speed of vehicle feedback to driver input, directly impacting driving safety and control experience. Swing response time and swing lag time are key parameters for vehicle safety performance, requiring a balance between safety and controllability. For example, swing lag time should be neither too fast nor too slow. Too fast reduces comfort and can lead to abrupt braking and jerking due to sensitive braking. It increases control difficulty, as the instantaneous response may exceed the control capabilities of the average driver. It also increases system cost and wear, as the pursuit of extremely short response times requires high-performance components, significantly increasing manufacturing costs. Too slow increases safety risks, as excessive delays can extend braking distances. It also creates psychological pressure on the operator, as delayed feedback can lead the driver to doubt the effectiveness of the braking system. Swing slip is a direct indicator of safety performance and a quantitative measure of braking system efficiency. It should be neither too long nor too short. Control is primarily about balancing safety and comfort, and it also addresses the need for vehicle dynamic stability.

[0042] In this technical solution, after respectively obtaining the first operation duration, the second operation duration, the third operation duration, and the fourth operation duration of the operating handle, and the first rotation angle and the second rotation angle of the turntable, the rotation response duration of the turntable can be determined according to the first operation duration. Specifically, The rotation acceleration duration of the turntable can be determined according to the difference between the second operation duration and the first operation duration. Specifically, The rotation lag time of the turntable can be determined according to the difference between the fourth operation time and the third operation time. Specifically, At the same time, the rotation slip amount of the turntable can be determined according to the difference between the first rotation angle and the second rotation angle. Specifically, . After calculating the rotation response time , rotation acceleration time , rotation lag time and rotation slip After that, you can further analyze the rotation response time. , rotation acceleration time , rotation lag time and rotation slip Determine the operational performance of the turntable.

[0043] In an embodiment of the present application, determining the operating performance of the turntable based on the rotation response time, the rotation acceleration time, the rotation lag time and the rotation slip amount includes: when the rotation response time is within the second preset range, determining that the operating performance of the turntable in the startup phase is qualified; when the rotation acceleration time is within the third preset range, determining that the operating performance of the turntable in the operation phase is qualified; when the rotation lag time is within the fourth preset range and the rotation slip amount is within the fifth preset range, determining that the operating performance of the turntable in the closing phase is qualified.

[0044] In this embodiment, it should be noted that the second preset range, the third preset range, the fourth preset range and the fifth preset range can be set according to actual detection requirements. Specifically, as shown in Table 1, it can include but is not limited to setting the second preset range to [0.8, 1.5], setting the third preset range to [2.5, 5], setting the fourth preset range to [2, 3], and setting the fifth preset range to [3, 5].

[0045] Table 1

[0046] Table 1 shows that if the slewing response time is within [0.8, 1.5], the turntable's operating performance during the startup phase is considered acceptable; otherwise, it is unacceptable. If the slewing acceleration time is within [2.5, 5], the turntable's operating performance during the operation phase is considered acceptable; otherwise, it is unacceptable. If the slewing lag time is within [2, 3] and the slewing slip is within [3, 5], the turntable's operating performance during the shutdown phase is considered acceptable; otherwise, it is unacceptable.

[0047] It should be noted that the operating performance of the turntable can be further subdivided, as shown in Table 1. If the rotation response time is within [0.8, 1], the operating performance level of the turntable in the startup phase can be considered good. If the rotation response time is within [1, 1.5], the operating performance level of the turntable in the startup phase can be considered average. If the rotation acceleration time is within [2.5, 3], the operating performance level of the turntable in the operation phase can be considered good. If the rotation acceleration time is within [3, 5], the operating performance level of the turntable in the operation phase can be considered average. If the rotation lag time is within [2, 2.5], the operating performance level of the turntable in the closing phase can be considered good. If the rotation lag time is within [2.5, 3], the operating performance level of the turntable in the closing phase can be considered average. If the closing slip amount is within [3, 4], the operating performance level of the turntable in the closing phase can be considered good. If the closing slip is within [4, 5], it can be considered that the operating performance level of the turntable in the closing stage is average.

[0048] In an embodiment of the present application, the detection method further includes: determining that the operating performance of the engineering machinery is qualified when the operating performance of the handle is qualified and the operating performance of the turntable is qualified.

[0049] In this embodiment, it should be noted that the operating performance of the engineering machinery can be considered qualified only when the operating performance of the handle and the operating performance of the turntable are qualified, and this is the minimum evaluation standard.

[0050] In an embodiment of the present application, the operating handle is fixed with a handle clamp, the handle clamp is installed with an inclination sensor, the turntable is installed with a heading angle sensor, and the main pump is installed with a pressure sensor. The detection method also includes: detecting the opening and closing degree of the operating handle through the inclination sensor; detecting the rotation angle of the turntable through the heading angle sensor; and detecting the pressure of the main pump through the pressure sensor.

[0051] In this embodiment, it should be noted that the handle clamp is hollow in design, and the hollow part can be clamped into the operating handle, thereby fixing it on the operating handle. Secondly, the handle clamp is provided with a wide end face, and the inclination sensor installed on the handle clamp can be installed on the end face of the handle clamp, so as to detect the opening and closing degree of the operating handle. The turntable can be installed with a heading angle sensor to detect the rotation angle of the turntable through the heading angle sensor. The main pump can be installed with a pressure sensor to detect the pressure of the main pump through the pressure sensor.

[0052] In an embodiment of the present application, the detection method also includes: controlling the operating handle to maintain the maximum opening and closing degree until the cumulative operation time of the operating handle reaches the fifth operation time and the sixth operation time respectively, and determining the third rotation angle and the fourth rotation angle of the turntable at the fifth operation time and the sixth operation time respectively; determining the angle difference between the fourth rotation angle and the third rotation angle; determining the time difference between the sixth operation time and the fifth operation time; and determining the maximum rotation speed of the turntable based on the ratio between the angle difference and the time difference.

[0053] In this embodiment, it should be noted that, after the handle opening and closing degree of the operating handle reaches the maximum opening and closing degree, the operating handle can be controlled to maintain the maximum opening and closing degree until the cumulative operation time of the operating handle reaches the fifth operation time and the sixth operation time respectively, and the third rotation angle of the turntable in the fifth operation time and the fourth rotation angle in the sixth operation time are determined. Specifically, Figure 5 As shown, at time T3, the handle opening and closing degree reaches the maximum opening and closing degree. At this time, the control handle opening and closing degree continues to maintain the maximum opening and closing degree until it reaches time T4 and time T5 respectively. At time T4, the fourth trigger automatically records the trigger condition to obtain the third rotation angle Y4 of the turntable. At time T5, the fifth trigger automatically records the trigger condition to obtain the fourth rotation angle Y5 of the turntable.

[0054] After obtaining the third rotation angle Y4 and the fourth rotation angle Y5, the angle difference between the fourth rotation angle Y5 and the third rotation angle Y4 can be calculated. Simultaneously, the duration difference between the sixth operation duration T5-T0 and the fifth operation duration T4-T0 can be calculated. The maximum rotation speed of the turntable can be calculated based on the ratio between the calculated angle difference and duration difference. Specifically, the calculation can be performed according to the following formula, including: , in, is the maximum rotation speed, is the fourth rotation angle, is the third rotation angle, is the sixth operation duration, and T4-T0 is the fifth operation duration.

[0055] An embodiment of the present application provides a vehicle-mounted computing terminal, including: a memory configured to store instructions; The processor is configured to call the instructions from the memory and implement the above-mentioned method for detecting the operating performance of the engineering vehicle when executing the instructions.

[0056] In this embodiment, it should be noted that in order to realize and calculate the core index parameters affecting the slewing controllability, such as the handle idle stroke ratio calibration value of the operating handle, the slewing response time, slewing acceleration time, slewing lag time, and slewing slippage of the turntable, and ultimately realize the automatic control and debugging of the slewing action of the engineering machinery, a vehicle-mounted computing terminal is designed. Figure 7 As shown in FIG, a schematic diagram of the structure of a vehicle-mounted computing terminal is provided. Figure 7 As shown, the vehicle-mounted computing terminal includes: The CAN module realizes the collection of engineering vehicle data; LED status display; The wifi module realizes the control reception and data transmission of the terminal.

[0057] The present application provides a system for detecting the operating performance of an engineering vehicle, including: In-vehicle computing terminal; The vehicle-mounted data collection terminal is installed on the engineering vehicle to collect the vehicle computer data of the engineering vehicle. The vehicle computer data includes the handle opening and closing degree of the operating handle, the pressure of the main pump and the rotation angle of the turntable; The debugging device is connected to the vehicle-mounted data acquisition terminal to record and display the test data of the engineering vehicle during the operation performance test; The debugging cloud platform is connected to the vehicle-mounted acquisition terminal and the debugging device signal to store test data; A handle fixture is fixed to the operating handle of the engineering vehicle. The handle fixture is equipped with an inclination sensor, which is used to detect the opening and closing degree of the operating handle; The heading angle sensor is installed on the turntable of the engineering vehicle to detect the rotation angle of the turntable; The pressure sensor is installed on the main pump of the engineering vehicle to detect the pressure of the main pump.

[0058] In this embodiment, it should be noted that Figure 8As shown, a structural diagram of a detection system for the operational performance of engineering vehicles is provided. It should be noted that the on-board computing terminal (not shown in the figure) can be adsorbed on the body of the engineering vehicle by magnetic attraction, and has its own independent power supply. Due to the different monitoring points, the operating handle is located in the cockpit, the turntable is located outside the vehicle, and the main pump is located in the vehicle control cabinet. Based on the distributed layout of the various structural components of the boom, the movement of the boom extension / lifting makes wiring on the basis of the distributed layout even more difficult. Therefore, this technical solution designs a wifi-based, self-powered, magnetically installed perception module, namely the on-board acquisition terminal. As Figure 9 As shown in FIG, a schematic diagram of the structure of a vehicle-mounted data acquisition terminal is provided. Figure 9 As shown in the figure, the vehicle-mounted acquisition terminal includes: ADC collects the battery power and converts it into a percentage; LED status display; The wifi module realizes the control reception and data transmission of the terminal; GPIO power output switch control selection; The RS485 bus is divided into two parts: internal and external.

[0059] It should be noted that the handle clamp (not shown in the figure) can be fixed to the operating handle of the engineering vehicle. The handle clamp is equipped with an inclination sensor, which can be used to detect the opening and closing degree of the operating handle. The heading angle sensor (not shown in the figure) can be installed on the turntable of the engineering vehicle to detect the rotation angle of the turntable. The pressure sensor (not shown in the figure) can be installed on the main pump of the engineering vehicle to detect the pressure of the main pump. In an embodiment of the present application, the vehicle-mounted data collection terminal includes: A first edge collection end is installed on the handle fixture and is used to collect the handle opening and closing degree detected by the tilt sensor; The second edge acquisition end is installed on the turntable. The second edge acquisition end has a built-in heading angle sensor for acquiring the rotation angle detected by the heading angle sensor.

[0060] In this embodiment, it should be noted that the vehicle-mounted acquisition terminal includes a first edge acquisition terminal and a second edge acquisition terminal. Due to the irregular shape and small size of the operating handle, the first edge acquisition terminal and the tilt sensor can be separately installed on the handle fixture. This is an external method for acquiring handle opening and closing degrees. Since there is no vehicle-mounted data to read for turntable rotation angle measurement, a heading angle sensor can be designed to acquire the turntable rotation angle. This is an internal method, where the second edge acquisition terminal and the heading angle sensor are integrated and installed on the turntable.

[0061] An embodiment of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned method for detecting the operating performance of an engineering vehicle.

[0062] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 10 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data on a detection method for the operating performance of an engineering vehicle. The network interface A02 of the computer device is used to communicate with an external terminal via a network connection. When the computer program B02 is executed by the processor A01, a detection method for the operating performance of an engineering vehicle is implemented.

[0063] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0064] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, steps of a method for detecting the operating performance of an engineering vehicle are implemented.

[0065] The present application also provides a computer program product which, when executed on a data processing device, is suitable for executing a program for initializing a method for detecting the operating performance of an engineering vehicle.

[0066] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0068] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0069] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0070] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0071] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0072] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0073] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0074] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for detecting the operating performance of an engineering vehicle, characterized in that: The engineering vehicle includes an operating handle, a turntable and a main pump, and the detection method includes: When the engineering vehicle is in an unloaded state, controlling the handle opening and closing degree of the operating handle to gradually increase at a first rate until the handle opening and closing degree reaches a maximum opening and closing degree; In the process of increasing the opening and closing degree of the handle to the maximum opening and closing degree, determining the first pressure, the second pressure, and the third pressure of the main pump, wherein the first pressure is the pressure of the main pump after the pressure changes for the first time, the second pressure is the pressure of the main pump after the rotation angle of the turntable changes for the first time, and the third pressure is the pressure of the main pump when the opening and closing degree of the handle reaches the maximum opening and closing degree; determining a handle idle stroke ratio calibration value of the operating handle according to the first pressure, the second pressure, and the third pressure; When the handle idle stroke ratio calibration value is within a first preset interval, it is determined that the control accuracy of the operating handle is qualified.

2. The method for detecting the operating performance of an engineering vehicle according to claim 1, characterized in that: The detection method further comprises: After determining that the control accuracy of the operating handle is qualified, controlling the engineering vehicle to be in an unloaded state again; Controlling the handle opening and closing degree of the operating handle to gradually increase at a second rate until the handle opening and closing degree reaches the maximum opening and closing degree; During the process of the handle opening degree increasing to the maximum opening degree, determining a first operation duration and a second operation duration of the operating handle, wherein the first operation duration is the duration corresponding to the period from when the engineering vehicle is in an unloaded state to when the rotation angle of the turntable first changes, and the second operation duration is the duration corresponding to the period from when the engineering vehicle is in an unloaded state to when the handle opening degree reaches the maximum opening degree; controlling the operating handle to return to its original position, determining a first rotation angle of the turntable when the operating handle returns to its original position, and determining a third operating time of the operating handle, wherein the third operating time is a time period from when the engineering vehicle is in an unloaded state to when the operating handle returns to its original position; controlling the operating handle to maintain the returned state until the turntable is in a stationary state, determining a second rotation angle of the turntable when the turntable is in the stationary state, and determining a fourth operation time of the operating handle, wherein the fourth operation time corresponds to a time period from when the engineering vehicle is in an unloaded state to when the turntable is in a stationary state; The controllability of the turntable is evaluated according to the first operation duration, the second operation duration, the third operation duration, the fourth operation duration, the first rotation angle, and the second rotation angle.

3. The method for detecting the operating performance of an engineering vehicle according to claim 2, characterized in that: The evaluating the controllability of the turntable according to the first operation duration, the second operation duration, the third operation duration, the fourth operation duration, the first rotation angle, and the second rotation angle includes: Determining a rotation response duration of the turntable according to the first operation duration; determining a rotation acceleration duration of the turntable according to a difference between the second operation duration and the first operation duration; determining a rotation lag duration of the turntable according to a difference between the fourth operation duration and the third operation duration; determining a rotation slip amount of the turntable according to a difference between the first rotation angle and the second rotation angle; The operating performance of the turntable is determined according to the rotation response time, the rotation acceleration time, the rotation hysteresis time, and the rotation slip amount.

4. The method for detecting the operating performance of an engineering vehicle according to claim 3, characterized in that: Determining the operating performance of the turntable according to the rotation response time, the rotation acceleration time, the rotation hysteresis time, and the rotation slip amount includes: When the rotation response time is within a second preset range, determining that the operating performance of the turntable in the startup phase is qualified; When the rotation acceleration time is within a third preset range, it is determined that the operating performance of the turntable in the operation phase is qualified; When the rotation lag time is within the fourth preset range and the rotation slip amount is within the fifth preset range, it is determined that the operating performance of the turntable in the closing stage is qualified.

5. The method for detecting the operating performance of an engineering vehicle according to claim 1, characterized in that: The detection method further comprises: When the operating performance of the handle is qualified and the operating performance of the turntable is qualified, it is determined that the operating performance of the engineering machinery is qualified.

6. The method for detecting the operating performance of an engineering vehicle according to claim 1, characterized in that: The operating handle is fixed with a handle fixture, the handle fixture is installed with a tilt sensor, the turntable is installed with a heading angle sensor, and the main pump is installed with a pressure sensor. The detection method further includes: Detecting the opening and closing degree of the operating handle by the inclination sensor; Detecting the rotation angle of the turntable by the heading angle sensor; The pressure of the main pump is detected by the pressure sensor.

7. The method for detecting the operating performance of an engineering vehicle according to claim 1, characterized in that: The detection method further comprises: controlling the operating handle to maintain the maximum opening and closing degree until the accumulated operation time of the operating handle reaches a fifth operation time and a sixth operation time, respectively, and determining a third rotation angle and a fourth rotation angle of the turntable during the fifth operation time and the sixth operation time, respectively; determining an angle difference between the fourth rotation angle and the third rotation angle; Determining a duration difference between the sixth operation duration and the fifth operation duration; The maximum rotation speed of the turntable is determined according to the ratio between the angle difference and the time difference.

8. A vehicle-mounted computing terminal, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the method for detecting the operating performance of an engineering vehicle according to any one of claims 1 to 7 when executing the instructions.

9. A system for detecting the operating performance of an engineering vehicle, characterized in that: include: The vehicle-mounted computing terminal according to claim 8; The vehicle-mounted data collection terminal is installed on the engineering vehicle and is used to collect the vehicle data of the engineering vehicle, wherein the vehicle data includes the handle opening and closing degree of the operating handle, the pressure of the main pump and the rotation angle of the turntable; A debugging device, communicatively connected to the vehicle-mounted acquisition terminal, for recording and displaying test data of the engineering vehicle during the operational performance test; A debugging cloud platform, connected to the vehicle-mounted acquisition terminal and the debugging device, for storing the test data; A handle fixture is fixed to the operating handle of the engineering vehicle, and the handle fixture is equipped with an inclination sensor, and the inclination sensor is used to detect the opening and closing degree of the operating handle; A heading angle sensor, mounted on a turntable of an engineering vehicle, for detecting a rotation angle of the turntable; The pressure sensor is installed on the main pump of the engineering vehicle and is used to detect the pressure of the main pump.

10. The system for detecting the operating performance of an engineering vehicle according to claim 9, characterized in that: The vehicle-mounted acquisition terminal includes: a first edge collecting end, mounted on the handle fixture, for collecting the handle opening and closing degree detected by the tilt sensor; The second edge collection end is installed on the turntable. The second edge collection end has the heading angle sensor built in and is used to collect the rotation angle detected by the heading angle sensor.

11. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the method for detecting the operating performance of an engineering vehicle according to any one of claims 1 to 7.

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