Slope operation safety early warning method and system for hydraulic excavator

Abstract

The invention relates to the technical field of hydraulic excavator safety monitoring, in particular to a hydraulic excavator slope operation safety early warning method and system.The hydraulic excavator slope operation safety early warning method comprises the steps that according to basic operation information of slope operation task sites, a three-dimensional slope model is built, operation procedures including operation paths and postures are set, and then track sections are overlapped according to the operation paths; the method comprises the following steps of: dividing a path into a primary path and an overlapping path, acquiring parameters such as concave depth, transverse and longitudinal working angles and the like of a local track under each operation attitude of the primary path, processing to obtain an inertia working coefficient, finally detecting the operation attitude and parameters of the overlapping path, calculating a working state coefficient, and comparing the inertia working coefficient to determine a risk early warning signal. According to the method, the scene adaptation precision is improved through the three-dimensional model, the early warning problem caused by environmental deviation is reduced, meanwhile, differentiated path division is conducted, the high risk of overlapped paths is accurately recognized, and slope operation safety is further comprehensively guaranteed.

Description

Technical Field

[0001] This invention relates to the field of hydraulic excavator safety monitoring technology, and in particular to a method and system for early warning of safety during hydraulic excavator operation on slopes. Background Technology

[0002] In engineering fields such as building construction, mining, and road construction, hydraulic excavators often need to operate in sloping environments, such as slope excavation, slope trimming, and muck removal.

[0003] The prior art CN118563878A discloses a landslide early warning device, system, and method for excavator slope operation. The method includes: acquiring the slope angle, angles of each actuator, torque of the slewing motor, and hydraulic pressure of each actuator when the excavator is operating on a slope; calculating the excavator's posture and the output force of each actuator based on the acquired data; calculating the resistance, total weight, first component of the slewing force in the slope direction, and friction between the tracks and the ground; comparing the sum of the resistance, weight, and first component of the slewing force in the slope direction with the friction between the tracks and the ground to determine if a landslide exists and detecting the excavator's landslide distance; generating and outputting landslide assessment information, slope holding capacity information, and landslide early warning information based on the landslide distance to alert the user.

[0004] However, some hydraulic excavators fail to scientifically divide and differentiate work paths when planning their operations, and instead use the same early warning logic to process all work paths. This ignores the risk differences between overlapping and non-overlapping paths in slope operations. During slope operations, excavators may repeatedly travel to the same area due to work requirements, forming overlapping paths. After repeated compaction, the soil in the overlapping path area will have a significantly reduced structural stability, and the risk of getting stuck or landslides is much higher than that of non-overlapping paths during the first operation. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the background art by proposing a safety early warning method and system for hydraulic excavator slope operation.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A safety early warning method for hydraulic excavators operating on slopes, the method specifically includes the following steps: Step 1: Obtain the slope operation task, and based on the task location, collect basic operation information of the task location. Build a three-dimensional slope model based on the basic operation information, and then set the operation process for the hydraulic excavator based on the three-dimensional slope model. The operation process includes the operation path and operation posture. Step 2: Based on the overlapping trajectory segments in the work path, divide the work path into primary paths and overlapping paths; Step 3: Obtain the working posture of the hydraulic excavator when working on a single path, select the trajectory line segment of each working posture, and divide the trajectory line segment under the notified working posture into multiple local trajectories according to the unit length. Collect the working parameters under each local trajectory, and process the working parameters to obtain the inertial working coefficient of each working posture. The working parameters include the indentation depth and working angle, and the working angle includes the lateral angle and the longitudinal angle. Step 4: Obtain the overlapping path, detect the working posture and working parameters of the hydraulic excavator when working on the overlapping path, calculate the working state coefficient during the current operation, obtain the corresponding inertial working coefficient for the current working posture, compare the inertial working coefficient with the working state coefficient, and determine the risk warning signal.

[0007] As a further aspect of the present invention, the basic operational information includes the slope angle, soil moisture, and soil density of the task location; Based on the basic operation information, a three-dimensional simulation model of the slope is set up in the simulation software and marked as a three-dimensional slope model. Then, according to the three-dimensional slope model, the operation process of the hydraulic excavator is set up, which includes the operation path and operation posture.

[0008] As a further aspect of the present invention, the method for dividing primary paths and overlapping paths includes: Based on the work process, the hydraulic excavator will work according to the work process. At the same time, when the hydraulic excavator is detected to start working, the hydraulic excavator and the work site will be monitored in real time to obtain real-time information of the site and real-time information of the equipment. The real-time information of the site refers to the real-time status of the work site, and the real-time information of the equipment refers to the real-time working posture of the hydraulic excavator at the work site. A three-dimensional slope model is obtained, and the slope status in the three-dimensional slope model is updated in real time based on the real-time information collected from the site and the equipment to obtain the on-site working model. Based on the operation process of hydraulic excavators, the operation path in the operation process is extracted, and the repeated routes in the operation path are identified. The repeated routes refer to the overlapping trajectory segments formed in the working path of hydraulic excavators due to operation requirements, environmental constraints or efficiency optimization. Repeated routes are marked as overlapping paths. Based on the overlapping paths, a primary path is set in the work path. The primary path refers to the route that the hydraulic excavator first travels on the slope.

[0009] As a further aspect of the present invention, the method for dividing local trajectories includes: Based on the slope direction, the downhill direction is set as the positive direction, and the uphill direction is the opposite direction. The trajectory of one path is extracted, and the working posture of the hydraulic excavator is obtained during the operation of one path. The working posture includes lateral operation, same-direction operation, and reverse operation. Further, lateral operation means that the length direction of the hydraulic excavator body is perpendicular to the slope direction, same-direction operation means that the digging direction of the hydraulic excavator bucket is consistent with the positive direction of the slope, and reverse operation means that the digging direction of the hydraulic excavator bucket is consistent with the positive direction of the slope. The working posture is sequentially marked as the target state. All trajectory segments of the target state on a single path are obtained and marked as the target analysis trajectory. The unit length is set, and the continuous trajectory length in the target analysis trajectory is divided according to the unit length to obtain several local trajectories.

[0010] As a further aspect of the present invention, the method for calculating the inertia working factor includes: The local trajectory under the target state is obtained. Based on the working posture of the hydraulic excavator under the target state, the working parameters of the hydraulic excavator are collected using sensor equipment. The working parameters include the indentation depth and working angle. The sensor equipment includes tilt sensors and ultrasonic sensors. Match the target state with the working angle. If the target state is horizontal operation, mark the horizontal angle as the key angle. If the target operation posture is in the same direction or in the opposite direction, mark the vertical angle as the key angle. Obtain the operation parameters under each local trajectory, subtract the slope angle from the longitudinal angle in the operation parameters to obtain the angle difference Ci, where i represents the number of different local trajectories and i∈[1,n], indicating that there are n local trajectories in the target state. Then, simultaneously obtain the depression depth Wi and the lateral angle Hi in each local trajectory, and normalize the angle difference, depression depth and lateral angle respectively to obtain the difference coefficient XCi, depression coefficient XWi and lateral coefficient XHi. Identify the key angles of the target state and use the calculation formula. The working state coefficient Pi at local trajectory i is obtained, where, , and These are the proportional coefficients for the angle difference, the lateral angle, and the indentation depth, respectively. b0 represents the increment coefficient for the key angle. If the lateral angle is the key angle, then the value of b0 in the lateral angle is set to k, and the value of b0 in the angle difference is set to 1. If the longitudinal angle is the key angle, then the value of b0 in the angle difference is set to k, and the value of b0 in the lateral angle is set to 0. Take the average value of the working state coefficient Pi of all local trajectories under the target state, and mark the average value as the inertial working coefficient Pa of the target state.

[0011] As a further aspect of the present invention, when the trajectory length of the target analysis trajectory is less than or equal to the unit length, the corresponding target analysis trajectory is directly marked as a local trajectory; if the trajectory length of the target analysis trajectory is greater than the unit length, the target analysis trajectory is divided into several local trajectories according to the unit length.

[0012] As a further aspect of the present invention, the working angle includes a lateral angle and a longitudinal angle. The longitudinal angle refers to the angle between the longitudinal axis of the excavator body and the horizontal plane. The lateral angle refers to the angle between the lateral axis of the excavator body and the horizontal plane. The longitudinal axis refers to the axis along the length direction of the hydraulic excavator body, and the lateral axis refers to the axis along the width direction of the hydraulic excavator body. The indentation depth refers to the height to which the hydraulic excavator track sinks into the slope. The indentation depth is the average value measured by multiple sensors. When collecting the indentation depth using ultrasonic sensors, a ultrasonic sensors are symmetrically distributed on each side of the track frame. The axis of symmetry of the symmetrical distribution is the center line in the vertical direction of the track, and a is the threshold value.

[0013] As a further aspect of the present invention, the method for determining the risk warning signal includes: Obtain overlapping paths. When the hydraulic excavator is detected to be working on an overlapping path, collect the current working parameters in real time, process the working parameters according to the above method, and calculate the working state coefficient on the overlapping path. Identify the working posture on the overlapping path, obtain the corresponding inertial working coefficient based on the working posture, subtract the inertial working coefficient from the current working state coefficient to obtain the state difference, take the absolute value of the state difference, and compare the absolute value of the state difference with the offset threshold. If the state difference is less than or equal to the offset threshold, the current state of the hydraulic excavator is marked as a normal working posture. Conversely, if the absolute value of the state difference is greater than the offset threshold, the current state of the hydraulic excavator is marked as an abnormal working posture, and a risk warning signal is generated.

[0014] A safety early warning system for hydraulic excavators operating on slopes includes: The information acquisition module is used to acquire slope operation tasks and, based on the task location, collect basic operation information for the task location. The model setting module is used to build a three-dimensional slope model based on the basic operation information, and then set the operation process for the hydraulic excavator based on the three-dimensional slope model. The operation process includes the operation path and operation posture. The path processing module is used to obtain the job path and, based on the overlapping trajectory segments in the job path, divide the job path into primary path and overlapping path; The operation analysis module is used to obtain the working posture of the hydraulic excavator when working on a single path, select the trajectory line segment of each working posture, and divide the trajectory line segment under the notified working posture into multiple local trajectories according to the unit length, collect the working parameters under each local trajectory, and process the working parameters to obtain the inertial working coefficient of each working posture. The working parameters include the indentation depth and the working angle, and the working angle includes the lateral angle and the longitudinal angle. The overlap monitoring module is used to acquire the overlap path, detect the working posture and working parameters of the hydraulic excavator when working on the overlap path, calculate the working state coefficient during the current operation, obtain the corresponding inertial working coefficient of the current working posture, compare the inertial working coefficient with the working state coefficient, and determine the risk warning signal. The terminal display module is used to transmit the generated risk warning signal to the terminal device, so that the staff can check the current operation process of the hydraulic excavator based on the risk warning signal.

[0015] Compared with existing technologies, the advantages of this invention are: This invention constructs a three-dimensional slope model based on basic operational information of the slope operation location and sets up an operational process including the operation path and posture. Then, according to the overlapping trajectory segments of the operation path, it divides the path into primary path and overlapping path. Next, it collects parameters such as the concavity depth and lateral and longitudinal working angles of the local trajectory under each working posture of the primary path. After processing, it obtains the inertial working coefficient. Finally, it detects the working posture and parameters of the overlapping path and calculates the working state coefficient. By comparing the inertial working coefficient, it determines the risk warning signal. This invention improves the scene adaptation accuracy through the three-dimensional model, reduces the warning problem caused by environmental deviation, and differentiates the path to accurately identify high risks of overlapping paths. It also uses multi-parameter correlation and quantitative evaluation to avoid blind spots of single parameters, further comprehensively ensuring the safety of slope operations. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the method structure of the present invention. Figure 2 This is a schematic diagram of the system structure of the present invention. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] Reference Figure 1 and Figure 2A safety early warning method for hydraulic excavators operating on slopes, the method specifically includes the following steps: Step 1: Obtain the slope operation task. Based on the task location, collect basic operation information for the task location, including the slope angle, soil moisture, and soil density. Based on the basic operation information, a three-dimensional simulation model of the slope is set up on the simulation software and marked as a three-dimensional slope model. First, according to the three-dimensional slope model, the operation process of the hydraulic excavator is set up. The operation process includes the operation path and operation posture. Furthermore, the simulation three-dimensional software in this embodiment is set to SolidWorks. At the same time, the operation process is set by those skilled in the art according to the parameters of the hydraulic excavator and the parameters of the three-dimensional slope model. Step 2: Based on the work process, the hydraulic excavator is operated according to the work process. At the same time, when the hydraulic excavator is detected to start working, the hydraulic excavator and the work site are monitored in real time to obtain real-time information of the site and real-time information of the equipment. The real-time information of the site refers to the real-time status of the work site, and the real-time information of the equipment refers to the real-time working posture of the hydraulic excavator at the work site. A three-dimensional slope model is obtained, and the slope status in the three-dimensional slope model is updated in real time based on the real-time information collected from the site and the equipment to obtain the on-site working model. Based on the operation process of hydraulic excavators, the operation path in the operation process is extracted, and the repeated routes in the operation path are identified. The repeated routes refer to the overlapping trajectory segments formed in the working path of hydraulic excavators due to operation requirements, environmental constraints or efficiency optimization. Repeated routes are marked as overlapping paths. Based on the overlapping paths, a primary path is set in the work path. The primary path refers to the route that the hydraulic excavator first travels on the slope. Furthermore, the trajectory segment position of the primary path includes the trajectory segment position of the overlapping path. Step 3: Obtain the primary path. Based on the working posture of the hydraulic excavator, determine the inertia coefficient for one operation. The specific methods for determining the inertia coefficient include: S1: Based on the slope direction, set the downhill direction as the positive direction, and the uphill direction as the opposite direction. Extract the trajectory of one path. During the operation of one path, obtain the working posture of the hydraulic excavator. The working posture includes lateral operation, same-direction operation, and reverse operation. Further, lateral operation means that the length direction of the hydraulic excavator is perpendicular to the slope direction, same-direction operation means that the bucket digging direction of the hydraulic excavator is consistent with the positive direction of the slope, and reverse operation means that the bucket digging direction of the hydraulic excavator is consistent with the positive direction of the slope. S2: Select any working posture, take this working posture as an example, and mark this working posture as the target state; All trajectory segments of the target state on a single path are obtained and marked as the target analysis trajectory. The unit length is set, and the continuous trajectory length in the target analysis trajectory is divided according to the unit length to obtain several local trajectories. The specific value of the unit length is set by those skilled in the art based on big data experience. In this embodiment, the specific value of the unit length is set to half the length of the hydraulic excavator track. It should be further explained that when the length of the target analysis trajectory is less than or equal to the unit length, the corresponding target analysis trajectory is directly marked as a local trajectory. If the length of the target analysis trajectory is greater than the unit length, the target analysis trajectory is divided into several local trajectories according to the unit length. S3: Obtain the local trajectory under the target state. Based on the working posture of the hydraulic excavator under the target state, use sensor equipment to collect the working parameters of the hydraulic excavator. The working parameters include the indentation depth and working angle. The sensor equipment includes tilt sensors and ultrasonic sensors. It should be further explained that the working angle includes the lateral angle and the longitudinal angle. The longitudinal angle refers to the angle between the longitudinal axis of the excavator body and the horizontal plane, and the lateral angle refers to the angle between the lateral axis of the excavator body and the horizontal plane. The longitudinal axis refers to the axis along the length of the hydraulic excavator body, and the lateral axis refers to the axis along the width of the hydraulic excavator body. The indentation depth refers to the height to which the hydraulic excavator track sinks into the slope, and the indentation depth is the average value measured by multiple sensors. Furthermore, when using ultrasonic sensors to collect the indentation depth, 'a' ultrasonic sensors are symmetrically distributed on each side of the track frame. The axis of symmetry of the symmetrical distribution is the center line in the vertical direction of the track, and 'a' is the threshold value. The specific value of 'a' is set by those skilled in the art based on big data experience. S4: Match the target state with the working angle. If the target state is horizontal operation, mark the horizontal angle as the key angle. If the target operation posture is in the same direction or in the opposite direction, mark the vertical angle as the key angle. Then, the operation parameters under each local trajectory are obtained. The longitudinal angle is subtracted from the slope angle in the operation parameters to obtain the angle difference Ci, where i represents the number of different local trajectories and i∈[1,n], indicating that there are n local trajectories in the target state. Then, the concavity depth Wi and the lateral angle Hi in each local trajectory are obtained at the same time. The angle difference, concavity depth and lateral angle are normalized respectively to obtain the difference coefficient XCi, concavity coefficient XWi and lateral coefficient XHi. In this embodiment, the normalization method adopts the linear normalization method. Identify the key angles of the target state and use the calculation formula. The working state coefficient Pi at local trajectory i is obtained, where, , and These are the proportional coefficients for the angle difference, lateral angle, and indentation depth, respectively. b0 represents the increment coefficient for the key angle. If the lateral angle is the key angle, then the value of b0 in the lateral angle is set to k, and the value of b0 in the angle difference is set to 1. If the longitudinal angle is the key angle, then the value of b0 in the angle difference is set to k, and the value of b0 in the lateral angle is set to 0. Furthermore... , , The specific value of k was obtained by those skilled in the art based on big data calculations; Take the mean value of the working state coefficient Pi of all local trajectories under the target state, and mark the mean value calculation result as the inertial working coefficient Pa of the target state; The remaining working postures are sequentially marked as target states and processed according to the above method to obtain the inertial working coefficient for each working posture. Step 4: Obtain the overlapping path. When the hydraulic excavator is detected to be working on the overlapping path, the current working parameters are collected in real time. At the same time, the working parameters are processed according to the above method, and the working status coefficient on the overlapping path is calculated. Identify the working posture on the overlapping path, obtain the corresponding inertial working coefficient based on the working posture, subtract the inertial working coefficient from the current working state coefficient to obtain the state difference, take the absolute value of the state difference, and compare the absolute value of the state difference with the offset threshold. If the state difference is less than or equal to the offset threshold, the current state of the hydraulic excavator is marked as a normal working posture. Conversely, if the absolute value of the state difference is greater than the offset threshold, the current state of the hydraulic excavator is marked as an abnormal working posture, and a risk warning signal is generated. The specific value of the offset threshold is set by those skilled in the art based on data experience. The generated risk warning signal is then transmitted to the terminal equipment, where staff will conduct a safety check on the current operation of the hydraulic excavator based on the risk warning signal.

[0019] A safety early warning system for hydraulic excavators operating on slopes includes: The information acquisition module is used to acquire slope operation tasks and, based on the task location of the slope operation task, collect basic operation information of the task location, and transmit the basic operation information to the model setting module. The model setting module is used to build a three-dimensional slope model based on the basic operation information, and then set the operation process for the hydraulic excavator based on the three-dimensional slope model. The operation process includes the operation path and operation posture. After that, a one-way communication connection is established between the model setting module and the path processing module. The path processing module is used to obtain the operation path. Based on the overlapping trajectory segments in the operation path, the operation path is divided into primary path and overlapping path. Then, the path processing module establishes a one-way communication connection with the operation analysis module and the overlap monitoring module respectively. The operation analysis module is used to obtain the working posture of the hydraulic excavator when working on a single path, select the trajectory line segment of each working posture, and divide the trajectory line segment under the notified working posture into multiple local trajectories according to the unit length. The operation parameters under each local trajectory are collected, and the operation parameters are processed to obtain the inertial working coefficient of each working posture. The operation parameters include the indentation depth and the working angle, and the working angle includes the lateral angle and the longitudinal angle. Then, a one-way communication connection is established between the operation analysis module and the overlap monitoring module. The overlap monitoring module is used to acquire the overlap path, detect the working posture and working parameters of the hydraulic excavator when working on the overlap path, calculate the working state coefficient during the current operation, obtain the corresponding inertial working coefficient of the current working posture, compare the inertial working coefficient with the working state coefficient, determine the risk warning signal, and transmit it to the terminal display module. The terminal display module is used to transmit the generated risk warning signal to the terminal device, so that the staff can check the current operation process of the hydraulic excavator based on the risk warning signal.

[0020] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A safety early warning method for hydraulic excavators operating on slopes, characterized in that, The method specifically includes the following steps: Step 1: Obtain the slope operation task, and based on the task location, collect basic operation information of the task location. Build a three-dimensional slope model based on the basic operation information, and then set the operation process for the hydraulic excavator based on the three-dimensional slope model. The operation process includes the operation path and operation posture. Step 2: Based on the overlapping trajectory segments in the work path, divide the work path into primary paths and overlapping paths; Step 3: Obtain the working posture of the hydraulic excavator when working on a single path, select the trajectory line segment of each working posture, and divide the trajectory line segment under the notified working posture into multiple local trajectories according to the unit length. Collect the working parameters under each local trajectory, and process the working parameters to obtain the inertial working coefficient of each working posture. The working parameters include the indentation depth and working angle, and the working angle includes the lateral angle and the longitudinal angle. Step 4: Obtain the overlapping path, detect the working posture and working parameters of the hydraulic excavator when working on the overlapping path, calculate the working state coefficient during the current operation, obtain the corresponding inertial working coefficient for the current working posture, compare the inertial working coefficient with the working state coefficient, and determine the risk warning signal.

2. The method for safety early warning of hydraulic excavator operation on slopes according to claim 1, characterized in that, Basic operational information includes the slope angle, soil moisture, and soil density of the task location; Based on the basic operation information, a three-dimensional simulation model of the slope is set up in the simulation software and marked as a three-dimensional slope model. Then, according to the three-dimensional slope model, the operation process of the hydraulic excavator is set up, which includes the operation path and operation posture.

3. The method for safety early warning of hydraulic excavator operation on slopes according to claim 1, characterized in that, Methods for dividing primary paths and overlapping paths include: Based on the work process, the hydraulic excavator will work according to the work process. At the same time, when the hydraulic excavator is detected to start working, the hydraulic excavator and the work site will be monitored in real time to obtain real-time information of the site and real-time information of the equipment. The real-time information of the site refers to the real-time status of the work site, and the real-time information of the equipment refers to the real-time working posture of the hydraulic excavator at the work site. A three-dimensional slope model is obtained, and the slope status in the three-dimensional slope model is updated in real time based on the real-time information collected from the site and the equipment to obtain the on-site working model. Based on the operation process of hydraulic excavators, the operation path in the operation process is extracted, and the repeated routes in the operation path are identified. The repeated routes refer to the overlapping trajectory segments formed in the working path of hydraulic excavators due to operation requirements, environmental constraints or efficiency optimization. Repeated routes are marked as overlapping paths. Based on the overlapping paths, a primary path is set in the work path. The primary path refers to the route that the hydraulic excavator first travels on the slope.

4. A safety early warning method for hydraulic excavators operating on slopes according to claim 1, characterized in that, Methods for dividing local trajectories include: Based on the slope direction, the downhill direction is set as the positive direction, and the uphill direction is the opposite direction. The trajectory of one path is extracted, and the working posture of the hydraulic excavator is obtained during the operation of one path. The working posture includes lateral operation, same-direction operation, and reverse operation. Further, lateral operation means that the length direction of the hydraulic excavator body is perpendicular to the slope direction, same-direction operation means that the digging direction of the hydraulic excavator bucket is consistent with the positive direction of the slope, and reverse operation means that the digging direction of the hydraulic excavator bucket is consistent with the positive direction of the slope. The working posture is sequentially marked as the target state. All trajectory segments of the target state on a single path are obtained and marked as the target analysis trajectory. The unit length is set, and the continuous trajectory length in the target analysis trajectory is divided according to the unit length to obtain several local trajectories.

5. A safety early warning method for hydraulic excavator operation on a slope according to claim 4, characterized in that, The methods for calculating the inertia coefficient include: The local trajectory under the target state is obtained. Based on the working posture of the hydraulic excavator under the target state, the working parameters of the hydraulic excavator are collected using sensor equipment. The working parameters include the indentation depth and working angle. The sensor equipment includes tilt sensors and ultrasonic sensors. Match the target state with the working angle. If the target state is horizontal operation, mark the horizontal angle as the key angle. If the target operation posture is in the same direction or in the opposite direction, mark the vertical angle as the key angle. Obtain the operation parameters under each local trajectory, subtract the slope angle from the longitudinal angle in the operation parameters to obtain the angle difference Ci, where i represents the number of different local trajectories and i∈[1,n], indicating that there are n local trajectories in the target state. Then, simultaneously obtain the depression depth Wi and the lateral angle Hi in each local trajectory, and normalize the angle difference, depression depth and lateral angle respectively to obtain the difference coefficient XCi, depression coefficient XWi and lateral coefficient XHi. Identify the key angles of the target state and use the calculation formula. The working state coefficient Pi at local trajectory i is obtained, where, , and These are the proportional coefficients for the angle difference, the lateral angle, and the indentation depth, respectively. b0 represents the increment coefficient for the key angle. If the lateral angle is the key angle, then the value of b0 in the lateral angle is set to k, and the value of b0 in the angle difference is set to 1. If the longitudinal angle is the key angle, then the value of b0 in the angle difference is set to k, and the value of b0 in the lateral angle is set to 0. Take the average value of the working state coefficient Pi of all local trajectories under the target state, and mark the average value as the inertial working coefficient Pa of the target state.

6. A safety early warning method for hydraulic excavator operation on a slope according to claim 4, characterized in that, When the length of the target analysis trajectory is less than or equal to the unit length, the corresponding target analysis trajectory is directly marked as a local trajectory. If the length of the target analysis trajectory is greater than the unit length, the target analysis trajectory is divided into several local trajectories according to the unit length.

7. A safety early warning method for hydraulic excavator operation on a slope according to claim 5, characterized in that, The working angles include lateral angles and longitudinal angles. The longitudinal angle refers to the angle between the longitudinal axis of the excavator body and the horizontal plane. The lateral angle refers to the angle between the lateral axis of the excavator body and the horizontal plane. The longitudinal axis refers to the axis along the length of the hydraulic excavator body, and the lateral axis refers to the axis along the width of the hydraulic excavator body. The indentation depth refers to the height to which the hydraulic excavator track sinks into the slope. The indentation depth is the average value measured by multiple sensors. When collecting the indentation depth using ultrasonic sensors, 'a' ultrasonic sensors are symmetrically distributed on each side of the track frame. The axis of symmetry of the symmetrical distribution is the center line in the vertical direction of the track, and 'a' is the threshold value.

8. A safety early warning method for hydraulic excavator operation on a slope according to claim 5, characterized in that, Methods for determining risk warning signals include: Obtain overlapping paths. When the hydraulic excavator is detected to be working on an overlapping path, collect the current working parameters in real time, process the working parameters according to the above method, and calculate the working state coefficient on the overlapping path. Identify the working posture on the overlapping path, obtain the corresponding inertial working coefficient based on the working posture, subtract the inertial working coefficient from the current working state coefficient to obtain the state difference, take the absolute value of the state difference, and compare the absolute value of the state difference with the offset threshold. If the state difference is less than or equal to the offset threshold, the current state of the hydraulic excavator is marked as a normal working posture. Conversely, if the absolute value of the state difference is greater than the offset threshold, the current state of the hydraulic excavator is marked as an abnormal working posture, and a risk warning signal is generated.

9. A safety early warning system for hydraulic excavators operating on slopes, the system incorporating the safety early warning method for hydraulic excavators operating on slopes as described in any one of claims 1-8, characterized in that, include: The information acquisition module is used to acquire slope operation tasks and, based on the task location, collect basic operation information for the task location. The model setting module is used to build a three-dimensional slope model based on the basic operation information, and then set the operation process for the hydraulic excavator based on the three-dimensional slope model. The operation process includes the operation path and operation posture. The path processing module is used to obtain the job path and, based on the overlapping trajectory segments in the job path, divide the job path into primary path and overlapping path; The operation analysis module is used to obtain the working posture of the hydraulic excavator when working on a single path, select the trajectory line segment of each working posture, and divide the trajectory line segment under the notified working posture into multiple local trajectories according to the unit length, collect the working parameters under each local trajectory, and process the working parameters to obtain the inertial working coefficient of each working posture. The working parameters include the indentation depth and the working angle, and the working angle includes the lateral angle and the longitudinal angle. The overlap monitoring module is used to acquire the overlap path, detect the working posture and working parameters of the hydraulic excavator when working on the overlap path, calculate the working state coefficient during the current operation, obtain the corresponding inertial working coefficient of the current working posture, compare the inertial working coefficient with the working state coefficient, and determine the risk warning signal. The terminal display module is used to transmit the generated risk warning signal to the terminal device, so that the staff can check the current operation process of the hydraulic excavator based on the risk warning signal.

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