Loader shoveling operation cycle identification method and system

Abstract

The invention discloses a loader shoveling operation cycle identification method and system, and the method comprises the steps: calculating a plurality of characteristic parameters based on the obtained displacement data of a movable arm cylinder and the displacement data of a tipping bucket cylinder; comparing each characteristic parameter with a characteristic parameter threshold value corresponding to each characteristic parameter, and identifying the operation stage of the loader based on a comparison result to obtain an initial operation stage identification result; logic verification and correction are conducted on the initial operation stage recognition result based on preset sequential logic, a final operation stage recognition result is obtained, and the initial operation stage recognition result and the final operation stage recognition result both comprise operation stages and time intervals corresponding to the operation stages. Only the displacement data of the movable arm cylinder and the displacement data of the tipping bucket cylinder are needed, and the preset sequential logic is combined to perform operation cycle identification, so that misidentification caused by signal jitter, misoperation of a driver and the like can be effectively avoided, and the identification robustness is improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent construction machinery technology, specifically relating to a method and system for identifying the cyclic loading and unloading operations of a loader. Background Technology

[0002] Loaders are widely used machines in earthmoving projects. Their loading cycle typically includes stages such as insertion, loading, lifting, unloading, and return. Accurately identifying the time intervals of each operation stage is crucial for optimizing loader efficiency and reducing energy consumption.

[0003] Existing methods for identifying the loading cycle of loaders mainly suffer from the following problems: First, the reliance on multiple sensors and high cost. These methods require the comprehensive collection of various signals such as cylinder pressure, displacement, vehicle speed, and gear position. Although the recognition rate is high, the system is complex, with a large number of sensors, resulting in high hardware costs, inconvenient installation and maintenance, and complex data synchronization and fusion processing algorithms, which are not conducive to large-scale engineering applications. Second, the lack of temporal logic constraints leads to misidentification. Existing methods are mostly based on instantaneous threshold judgments, lacking consideration of the overall temporal logic of the operation process, which can lead to misidentification. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a method and system for identifying loader loading and unloading cycle. This method only requires boom cylinder displacement data and bucket cylinder displacement data, combined with preset timing logic, to identify the operation cycle. This effectively avoids misidentification caused by signal jitter, driver error, etc., and improves the robustness of identification.

[0005] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0006] In a first aspect, the present invention provides a method for identifying the cyclic loading operation of a loader, comprising:

[0007] Based on the obtained boom cylinder displacement data and tipping cylinder displacement data, several characteristic parameters are calculated.

[0008] Each feature parameter is compared with its corresponding feature parameter threshold, and the operation stage of the loader is identified based on the comparison results to obtain the initial operation stage identification result.

[0009] The initial task stage identification result is logically verified and corrected based on the preset time sequence logic to obtain the final task stage identification result. Both the initial task stage identification result and the final task stage identification result include the task stage and the time interval corresponding to the task stage.

[0010] In conjunction with the first aspect, optionally, the characteristic parameters include the boom cylinder displacement change rate V_boom(t), the bucket cylinder displacement change rate V_bucket(t), and the displacement difference between the boom cylinder and the bucket cylinder D_diff(t).

[0011] In conjunction with the first aspect, optionally, the formula for calculating the rate of change of boom cylinder displacement is:

[0012] V_boom(t) = [ (L_boom_norm(t) - L_boom_norm(t-Δt) ] / Δt,

[0013] In the formula, V_boom(t) is the rate of change of boom cylinder displacement at time t, L_boom_norm(t) is the boom cylinder displacement at time t, and L_boom_norm(t-Δt) is the boom cylinder displacement at time t-Δt.

[0014] The formula for calculating the displacement change rate of the tipping cylinder is:

[0015] V_bucket(t) = [ L_bucket_norm(t) - L_bucket_norm(t-Δt) ] / Δt,

[0016] In the formula, V_bucket(t) is the rate of change of the tipping cylinder displacement at time t, L_bucket_norm(t) is the displacement of the tipping cylinder at time t, and L_bucket_norm(t-Δt) is the displacement of the tipping cylinder at time t-Δt.

[0017] The formula for calculating the displacement difference between the boom cylinder and the tipping cylinder is as follows:

[0018] D_diff(t) = L_boom_norm(t) - L_bucket_norm(t),

[0019] In the formula, D_diff(t) is the displacement difference between the boom cylinder and the tipping cylinder at time t.

[0020] In conjunction with the first aspect, optionally, the operation phase includes an idle phase, an insertion phase, a loading phase, a lifting phase, an unloading phase, and a return phase;

[0021] The step of comparing each feature parameter with its corresponding feature parameter threshold, and identifying the loader's operating stage based on the comparison results to obtain the initial operating stage identification result includes:

[0022] When V_boom(t) > Th_V_boom_low, V_bucket(t) < Th_V_bucket_low, and D_diff(t) < -Th_D_diff_low, it is determined that the loader is in the insertion stage, and the corresponding time interval is recorded, where Th_V_boom_low is the threshold of the displacement change rate of the first boom cylinder, Th_V_bucket_low is the threshold of the displacement change rate of the first bucket cylinder, and Th_D_diff_low is the threshold of the displacement difference between the first boom cylinder and the bucket cylinder;

[0023] When V_bucket(t) > Th_V_bucket_high, L_boom_norm(t) < Th_L_boom_low, and D_diff(t) is negative and in an increasing state, it is determined that the loader is in the loading stage, and the corresponding time interval is recorded, where Th_V_bucket_high is the threshold of the displacement change rate of the second bucket cylinder, Th_V_bucket_high > Th_V_bucket_low, and Th_L_boom_low is the displacement threshold of the first boom cylinder;

[0024] When V_boom(t) > Th_V_boom_high, and D_diff(t) changes from negative to positive and continues to increase, it is determined that the loader is in the lifting stage, and the corresponding time interval is recorded; where Th_V_boom_high is the threshold of the displacement change rate of the second boom cylinder, Th_V_boom_high > Th_V_boom_low;

[0025] When V_bucket(t) < -Th_V_bucket_high, and L_boom_norm(t) > Th_L_boom_high, it is determined that the loader is in the unloading stage, where Th_L_boom_high is the displacement threshold of the second boom cylinder, Th_L_boom_high > Th_L_boom_low;

[0026] When V_boom(t) < -Th_V_boom_high, and D_diff(t) continues to decrease and approaches the preset lower limit value, it is determined that the loader is in the return stage, and the corresponding time interval is recorded.

[0027] Combined with the first aspect, optionally, the logical verification and correction of the initial operation stage recognition result based on the preset timing logic to obtain the final operation stage recognition result includes:

[0028] If the relationship between the feature parameter corresponding to a certain work stage and the feature parameter threshold corresponding to the feature parameter continues for more than a preset time, then the work stage is confirmed as the correct identification result, and it and its corresponding time interval are taken as the final work stage identification result.

[0029] In conjunction with the first aspect, optionally, the timing logic is as follows: the idle phase, insertion phase, loading phase, lifting phase, unloading phase, and return phase occur sequentially, and the order is irreversible and cannot be skipped.

[0030] In conjunction with the first aspect, optionally, the step of logically verifying and correcting the initial job stage identification result based on preset temporal logic to obtain the final job stage identification result includes:

[0031] If the initial operation phase identification result determines that the next expected operation phase has not been identified within a preset time, but the boom cylinder displacement data or dump cylinder displacement data determines that the action corresponding to the next expected operation phase has occurred, then based on the mapping relationship between the absolute value of the displacement data and the operation phase, the loader is determined to be in the next expected operation phase, and the corresponding time interval is recorded as the final operation phase identification result.

[0032] In conjunction with the first aspect, optionally, the step of logically verifying and correcting the initial job stage identification result based on preset temporal logic to obtain the final job stage identification result includes:

[0033] If the order of the operation stages between the current initial operation stage identification result and the previous final operation stage identification result does not match the order of the operation stages in the timing logic, then the current initial operation stage identification result is determined to be incorrect, and the previous final operation stage identification result is used as the current final operation stage identification result.

[0034] Repeated execution uses the identification result of the previous final job stage as the identification result of the current final job stage, until the next correct stage or idle stage is identified.

[0035] In conjunction with the first aspect, optionally, the threshold values ​​of each characteristic parameter are related to the loader model, the materials being worked on, and / or the working mode.

[0036] Secondly, the present invention provides a loader loading operation cycle identification system, comprising:

[0037] Signal acquisition equipment is used to collect displacement data of boom cylinder and tipping cylinder;

[0038] A processor, connected to the signal acquisition device, is configured to perform the method described in any one of the first aspects.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0040] This invention provides a method and system for identifying the loading cycle of a loader. It only requires boom cylinder displacement data and bucket cylinder displacement data, combined with preset timing logic, to identify the cycle of the operation. This can effectively avoid misidentification caused by signal jitter, driver misoperation, etc., and improve the robustness of identification. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0042] Figure 1 This is a flowchart of a loader loading operation cycle identification method according to an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram showing the process curves of boom cylinder displacement and tipping cylinder displacement, as well as the division of operation stages, according to an embodiment of the present invention.

[0044] Figure 3 This is a schematic diagram of a loader loading operation cycle identification system based on dual-cylinder displacement timing characteristics and logic correction according to an embodiment of the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0046] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0047] Example 1

[0048] This invention provides a method for identifying the cyclic loading operation of a loader, comprising the following steps:

[0049] (1) Based on the obtained boom cylinder displacement data and tipping cylinder displacement data, several characteristic parameters are calculated;

[0050] (2) Compare each feature parameter with the corresponding feature parameter threshold, and identify the operation stage of the loader based on the comparison results to obtain the initial operation stage identification result;

[0051] (3) Based on the preset time sequence logic, the initial operation stage identification result is logically verified and corrected to obtain the final operation stage identification result. Both the initial operation stage identification result and the final operation stage identification result include the operation stage and the time interval corresponding to the operation stage.

[0052] Based on the above scheme, only boom cylinder displacement data and dump cylinder displacement data are needed. Combined with preset timing logic, operation cycle identification can be performed, which can effectively avoid misidentification caused by signal jitter, driver misoperation, etc., and improve the robustness of identification.

[0053] In one specific embodiment of the present invention, the characteristic parameters include the boom cylinder displacement change rate V_boom(t), the bucket cylinder displacement change rate V_bucket(t), and the displacement difference between the boom cylinder and the bucket cylinder D_diff(t).

[0054] In one specific embodiment of the present invention, the formula for calculating the rate of change of boom cylinder displacement is:

[0055] V_boom(t) = [ (L_boom_norm(t) - L_boom_norm(t-Δt) ] / Δt,

[0056] In the formula, V_boom(t) is the rate of change of boom cylinder displacement at time t, L_boom_norm(t) is the boom cylinder displacement at time t, and L_boom_norm(t-Δt) is the boom cylinder displacement at time t-Δt.

[0057] The formula for calculating the displacement change rate of the tipping cylinder is:

[0058] V_bucket(t) = [ L_bucket_norm(t) - L_bucket_norm(t-Δt) ] / Δt,

[0059] Where, V_bucket(t) is the change rate of the tipping cylinder displacement at time t, L_bucket_norm(t) is, L_bucket_norm(t - Δt) is the tipping cylinder displacement at time t, and L_bucket_norm(t - Δt) is the tipping cylinder displacement at time t - Δt;

[0060] The calculation formula for the displacement difference between the boom cylinder and the tipping cylinder is:

[0061] D_diff(t) = L_boom_norm(t) - L_bucket_norm(t),

[0062] Where, D_diff(t) is the displacement difference between the boom cylinder and the tipping cylinder at time t.

[0063] In the specific implementation process, after obtaining the boom cylinder displacement data and the tipping cylinder displacement data, it is also necessary to preprocess the boom cylinder displacement data and the tipping cylinder displacement data. The preprocessing includes: using a first-order low-pass filter or a moving average filter to filter out high-frequency noise. The filter cut-off frequency is set according to the operating frequency of the hydraulic cylinder, usually 10 - 20Hz; normalizing the displacement signal to the interval [0, 1], where 0 corresponds to the cylinder being fully retracted and 1 corresponds to the cylinder being fully extended.

[0064] In a specific implementation manner of the present invention, the operation stage includes an idle stage, an insertion stage, a loading stage, a lifting stage, a discharging stage, and a return stage;

[0065] Comparing each characteristic parameter with the characteristic parameter threshold corresponding to each characteristic parameter, and identifying the operation stage of the loader based on the comparison result to obtain an initial operation stage identification result, including:

[0066] When V_boom(t) > Th_V_boom_low, V_bucket(t) < Th_V_bucket_low, D_diff(t) < -Th_D_diff_low, it is determined that the loader is in the insertion stage, and the corresponding time interval is recorded, where Th_V_boom_low is the first boom cylinder displacement change rate threshold, Th_V_bucket_low is the first tipping cylinder displacement change rate threshold, and Th_D_diff_low is the first displacement difference threshold between the boom cylinder and the tipping cylinder;

[0067] When V_bucket(t) > Th_V_bucket_high, L_boom_norm(t) < Th_L_boom_low, and D_diff(t) is negative and in a state of increasing negative values, it is determined that the loader is in the loading stage, and the corresponding time interval is recorded. Among them, Th_V_bucket_high is the threshold for the displacement change rate of the second tipper cylinder, Th_V_bucket_high>Th_V_bucket_low, and Th_L_boom_low is the threshold for the displacement of the first boom cylinder.

[0068] When V_boom(t) > Th_V_boom_high, and D_diff(t) changes from negative to positive and continues to increase, it is determined that the loader is in the lifting stage, and the corresponding time interval is recorded; where Th_V_boom_high is the threshold of the displacement change rate of the second boom cylinder, and Th_V_boom_high > Th_V_boom_low;

[0069] When V_bucket(t) <- Th_V_bucket_high and L_boom_norm(t) > Th_L_boom_high, the loader is determined to be in the unloading stage, where Th_L_boom_high is the displacement threshold of the second boom cylinder and Th_L_boom_high > Th_L_boom_low.

[0070] When V_boom(t) <- Th_V_boom_high, and D_diff(t) continues to decrease and tends to the preset lower limit value, it is determined that the loader is in the return phase, and the corresponding time interval is recorded.

[0071] In one specific embodiment of the present invention, the step of logically verifying and correcting the initial job stage identification result based on preset temporal logic to obtain the final job stage identification result includes:

[0072] If the relationship between the feature parameter corresponding to a certain work stage and the feature parameter threshold corresponding to the feature parameter continues for more than a preset time, then the work stage is confirmed as the correct identification result, and it and its corresponding time interval are taken as the final work stage identification result.

[0073] Based on the above scheme, misidentification caused by signal jitter can be effectively avoided, thus improving the robustness of identification.

[0074] In one specific embodiment of the present invention, the timing logic is as follows: the idle phase, insertion phase, loading phase, lifting phase, unloading phase, and return phase occur sequentially, and the order is irreversible and cannot be skipped.

[0075] Based on the above scheme, error correction can be effectively achieved, preventing any attempt to "jump states".

[0076] In one specific embodiment of the present invention, the step of logically verifying and correcting the initial job stage identification result based on preset temporal logic to obtain the final job stage identification result includes:

[0077] If the initial operation phase identification result determines that the next expected operation phase has not been identified within a preset time, but the boom cylinder displacement data or dump cylinder displacement data determines that the action corresponding to the next expected operation phase has occurred, then based on the mapping relationship between the absolute value of the displacement data and the operation phase, the loader is determined to be in the next expected operation phase, and the corresponding time interval is recorded as the final operation phase identification result.

[0078] Based on the above scheme, it is possible to effectively fill in the gaps in the identification results of the initial operation stage and improve the robustness of identification.

[0079] In one specific embodiment of the present invention, the step of logically verifying and correcting the initial job stage identification result based on preset temporal logic to obtain the final job stage identification result includes:

[0080] If the order of the operation stages between the current initial operation stage identification result and the previous final operation stage identification result does not match the order of the operation stages in the timing logic, then the current initial operation stage identification result is determined to be incorrect, and the previous final operation stage identification result is used as the current final operation stage identification result.

[0081] The process repeats, using the previous final operation stage identification result as the current final operation stage identification result, until the current initial operation stage identification result shows an idle stage. For example, if the previous final operation stage identification result was the insertion stage, and the current initial operation stage identification result is the lifting stage, it means that the process jumps directly from the "insertion stage" to the "lifting stage" without skipping the "loading stage." Therefore, the previous final operation stage identification result (insertion stage) is used as the current final operation stage identification result until the next correct stage or an idle stage is identified.

[0082] The above scheme ensures that the sequence of stages conforms to the actual operational logic.

[0083] In one specific embodiment of the present invention, the threshold values ​​of each characteristic parameter are related to the loader model, the working material, and / or the working mode.

[0084] In the specific implementation process, appropriate feature parameter thresholds can be selected according to the loader model, the working material and / or the working mode to improve the recognition accuracy of the loader loading operation cycle recognition method and increase the applicability of the loader loading operation cycle recognition method in the embodiments of the present invention.

[0085] The following is combined with Figure 1 The present invention provides a detailed description of a specific embodiment of the loader loading operation cycle identification method in this invention.

[0086] 1. Hydraulic cylinder displacement signal acquisition (i.e., boom cylinder displacement data and tipping cylinder displacement data acquisition):

[0087] Displacement sensors are installed on the boom cylinder and the bucket cylinder. The original displacement signals L_boom(t) and L_bucket(t) of the displacement sensors at the boom cylinder and the bucket cylinder are collected in real time at a sampling frequency of not less than 100Hz and uploaded to the processor.

[0088] 2. Signal preprocessing:

[0089] A first-order low-pass filter or a moving average filter is used to filter out high-frequency noise in the original displacement signals (L_boom(t) and L_bucket(t)). The filter cutoff frequency is set according to the hydraulic cylinder's operating frequency, typically 10-20Hz. The filtered displacement signal is then normalized to the [0, 1] interval, where 0 corresponds to the cylinder fully retracted and 1 corresponds to the cylinder fully extended. The formula is as follows:

[0090] L_boom_norm(t) = (L_boom(t) – L_boom_min) / (L_boom_max – L_boom_min);

[0091] L_bucket_norm(t) = (L_ bucket(t) – L_ bucket _min) / (L_ bucket _max – L_ bucket _min);

[0092] Where L_boom_norm(t) represents the normalized boom cylinder displacement, L_boom(t) represents the unnormalized boom cylinder displacement, L_boom_max represents the maximum boom cylinder displacement, and L_boom_min represents the minimum boom cylinder displacement. Similarly, L_bucket_norm(t) represents the normalized bucket cylinder displacement, L_bucket(t) represents the unnormalized bucket cylinder displacement, L_bucket_max represents the maximum bucket cylinder displacement, and L_bucket_min represents the minimum bucket cylinder displacement.

[0093] 3. Feature parameter extraction:

[0094] In each processing cycle, three characteristic parameters are calculated: the rate of change of boom cylinder displacement, the rate of change of dump cylinder displacement, and the displacement difference between the boom cylinder and the dump cylinder. The formulas are as follows:

[0095] The formula for calculating the boom cylinder displacement change rate is: V_boom(t) = [ (L_boom_norm(t) - L_boom_norm(t-Δt) ] / Δt, where V_boom(t) represents the boom cylinder displacement change rate, which is used to reflect the speed at which the boom is raised or lowered;

[0096] The formula for calculating the rate of change of the tipping cylinder displacement is: V_bucket(t) = [ L_bucket_norm(t) - L_bucket_norm(t-Δt) ] / Δt, where V_bucket(t) represents the rate of change of the tipping cylinder displacement, and this parameter reflects the speed of tipping or retracting the bucket;

[0097] The formula for calculating the displacement difference between the boom cylinder and the bucket cylinder is: D_diff(t) = L_boom_norm(t) - L_bucket_norm(t), where D_diff(t) represents the displacement difference between the boom cylinder and the bucket cylinder. This parameter helps to determine the coordinated relationship between the actions of the two cylinders (boom cylinder and bucket cylinder).

[0098] 4. Compare with preset thresholds (i.e., compare each feature parameter with its corresponding threshold):

[0099] The threshold values ​​for each characteristic parameter are determined through historical data statistics or simulation. A set of dynamic thresholds is preset, which can be fine-tuned according to different machine models or materials being handled. In specific implementation, after the work cycle ends, the mean and variance of the characteristic parameters in each stage of the previous cycle are calculated and used as the benchmark for adjusting the thresholds in the next cycle. Different threshold sets are applied according to different modes selected by the driver, such as "light load," "medium load," and "heavy load." The specific comparison process is as follows:

[0100] When V_boom(t) > Th_V_boom_low, V_bucket(t) < Th_V_bucket_low, and D_diff(t) < -Th_D_diff_low, it is determined that the loader is in the insertion stage, and the corresponding time interval is recorded. Here, Th_V_boom_low is the threshold of the displacement change rate of the first boom cylinder, Th_V_bucket_low is the threshold of the displacement change rate of the first bucket cylinder, and Th_D_diff_low is the threshold of the displacement difference between the first boom cylinder and the bucket cylinder. At this time, the vehicle moves forward, and the boom may be slightly lifted to insert into the material pile, and the displacement difference between the boom cylinder and the bucket cylinder is a small negative value.

[0101] When V_bucket(t) > Th_V_bucket_high, L_boom_norm(t) < Th_L_boom_low, D_diff(t) is negative and in an increasing state of negativity, it is determined that the loader is in the loading stage, and the corresponding time interval is recorded. Here, Th_V_bucket_high is the threshold of the displacement change rate of the second bucket cylinder, Th_V_bucket_high > Th_V_bucket_low, and Th_L_boom_low is the threshold of the displacement of the first boom cylinder. At this time, the bucket cylinder extends rapidly for the loading operation.

[0102] When V_boom(t) > Th_V_boom_high and D_diff(t) changes from negative to positive and continues to increase, it is determined that the loader is in the lifting stage, and the corresponding time interval is recorded. Here, Th_V_boom_high is the threshold of the displacement change rate of the second boom cylinder, Th_V_boom_high > Th_V_boom_low.

[0103] When V_bucket(t) < -Th_V_bucket_high and L_boom_norm(t) > Th_L_boom_high, it is determined that the loader is in the unloading stage. Here, Th_L_boom_high is the threshold of the displacement of the second boom cylinder, Th_L_boom_high > Th_L_boom_low.

[0104] When V_boom(t) < -Th_V_boom_high and D_diff(t) continues to decrease and approaches the preset lower limit value, it is determined that the loader is in the return stage, and the corresponding time interval is recorded. At this time, the boom descends rapidly to prepare for the next cycle.

[0105] 5. Perform sequential logic correction on the preliminary division results (i.e., the determination results in step 4):

[0106] Calibration mechanism 1 (anti-shake): After a job stage start signal is detected, the system enters a "transient confirmation period". Only when the relationship between the characteristic parameters corresponding to the job stage and the characteristic parameter thresholds corresponding to the characteristic parameters lasts for a preset time (such as 0.5 seconds), it is confirmed that the job stage is a correct recognition result, and it and its corresponding time interval are used as the final job stage recognition result.

[0107] Calibration mechanism 2 (filling gaps): If the next job stage is not detected for a long time (such as 3 seconds), but the displacement curve indicates that the action has occurred (for example, the boom displacement has increased significantly but the V_boom threshold has not been triggered), then according to the mapping relationship between the absolute value of the displacement data and the job stage, it is determined that the loader is in the next expected job stage, and the corresponding time interval is recorded as the final job stage recognition result.

[0108] Calibration mechanism 3 (error correction): If the job stage sequence between the current initial job stage recognition result and the previous final job stage recognition result does not match the job stage sequence in the timing logic, it is determined that the current initial job stage recognition result is incorrect, and the previous final job stage recognition result is used as the current final job stage recognition result; repeat the operation of using the previous final job stage recognition result as the current final job stage recognition result until the job stage in the current initial job stage recognition result is the idle stage. That is, any attempt to "jump states" (such as directly jumping from the "insertion stage" to the "lifting stage" without going through the "shoveling stage") will be vetoed by the timing logic, and the sensor data will be checked for abnormalities.

[0109] Taking a typical "insertion - shoveling - lifting - discharging - returning" cycle as an example, combined with the appendix Figure 2 for illustration:

[0110] 1) Time t0 - t1 (insertion stage):

[0111] Curve performance: The L_boom(t) curve rises slowly (i.e., V_boom(t) is a small positive value), and the L_bucket(t) curve remains stable at a low level.

[0112] Job stage recognition: V_boom(t) > Th_V_boom_low, V_bucket(t) < Th_V_bucket_low, D_diff(t) < -Th_D_diff_low,, initially determine that the loader is in the "insertion stage";

[0113] Logic verification: The previous job stage is the "idle stage", and after 0.5 seconds of confirmation, the job stage of the loader is officially determined to be the "insertion stage".

[0114] 2) Time t1 - t2 (shoveling stage):

[0115] Curve performance: The L_bucket(t) curve rises sharply, while L_boom(t) may fluctuate slightly or stagnate due to increased load, or it may increase slowly due to the driver's operation of lifting and loading the bucket at the same time.

[0116] Operation phase identification: V_bucket(t) > Th_V_bucket_high (i.e., a strong positive pulse of V_bucket(t)), L_boom_norm(t) < Th_L_boom_low, D_diff(t) is negative and in a state of increasing negative value, it is preliminarily determined that the loader is in the "shoveling phase".

[0117] Logical verification: If the previous operation stage is the "insertion stage" and after 0.5 seconds of confirmation, the loader's operation stage is officially determined to be the "loading stage".

[0118] 3) Time t2-t3 (lifting phase):

[0119] Curve performance: L_bucket(t) stops rising and remains stable, while the L_boom(t) curve begins to rise continuously with a steeper slope (V_boom(t) remains greater than the positive threshold).

[0120] Operation phase identification: V_boom(t) > Th_V_boom_high was detected, and D_diff(t) changed from negative to positive and continued to increase, which initially determined that the loader was in the "lifting phase".

[0121] Logical verification: If the previous operation stage is "loading stage" and after 0.5 seconds of confirmation, the loader's operation stage is officially determined to be "lifting stage".

[0122] 4) Time t3-t4 (unloading stage):

[0123] Curve performance: L_boom(t) flattens out at a high level, while the L_bucket(t) curve drops rapidly.

[0124] Operation phase identification: V_bucket(t) <-Th_V_bucket_high and L_boom_norm(t) >Th_L_boom_high (i.e., a strong negative pulse of V_bucket(t) is detected and L_boom_norm(t) remains high), which preliminarily determines that the loader is in the "unloading phase".

[0125] Logical verification: If the previous operation stage is the "lifting stage" and after 0.5 seconds of confirmation, the loader's operation stage is officially determined to be the "unloading stage".

[0126] 5) Time t4-t5 (return phase):

[0127] Curve performance: L_bucket(t) recovers to a certain intermediate position, and the L_boom(t) curve drops rapidly (V_boom(t) remains below the negative threshold).

[0128] Operation phase identification: V_boom(t) < -Th_V_boom_high was detected, and D_diff(t) continued to decrease and approached the preset lower limit value, initially determining that the loader is in the "return phase";

[0129] Logical verification: If the previous operation stage is "unloading stage" and after 0.5 seconds of confirmation, the loader's operation stage is officially determined to be "return stage".

[0130] 6. Output of the time interval for each task phase:

[0131] Output a job cycle data (i.e., job stages, with the time interval corresponding to each job stage) containing timestamps, accurately marking the start and end times of each job stage.

[0132] In summary, this invention relies solely on the boom cylinder displacement signal and the dump cylinder displacement signal, solving the problems of high cost of multi-sensor fusion and misidentification caused by lack of timing logic constraints. It improves the accuracy and reliability of identification and provides a solid foundation for realizing advanced intelligent functions such as fuel consumption statistics, efficiency analysis, automatic loading, and intelligent speed regulation. It is suitable for real-time monitoring and control, provides a foundation for the intelligent and automated operation of loaders, and has extremely high application value.

[0133] Example 2

[0134] This invention provides a loader loading operation cycle identification system, such as... Figure 3 As shown, it includes:

[0135] Signal acquisition equipment is used to collect displacement data of boom cylinder and tipping cylinder;

[0136] The processor is connected to the signal acquisition device and configured to perform the method described in any one of Embodiment 1.

[0137] In practice, the loader loading operation cycle identification system also includes a display device, which is used to display the results after the processor has executed the code.

[0138] After acquiring the operation stages and their corresponding time intervals, it can be used for intelligent and automated control of loaders. For example, it can be correlated with CAN signals from the engine and battery to accurately calculate the fuel or electricity consumption ratio of each operation stage, such as "insertion" and "lifting," identify high-energy-consuming actions, analyze the operating modes of each driver, and guide drivers to adopt more energy-efficient operating methods. Furthermore, based on historical data and optimization algorithms, the entire vehicle can be intelligently and automatically controlled. For instance, it can identify future operation stages as feedforward signals for the control system, responding and controlling engine speed and hydraulic system power in advance. It can also provide key working condition perception for one-button automatic loading of loaders, achieving precise automated control.

[0139] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0141] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0142] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0143] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

[0144] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for identifying the cyclic loading operation of a loader, characterized in that, It includes: Based on the obtained boom cylinder displacement data and tipping cylinder displacement data, calculate a number of characteristic parameters; Compare each characteristic parameter with the corresponding characteristic parameter threshold, and based on the comparison result, identify the operation stage of the loader to obtain the initial operation stage identification result; Based on the preset timing logic, perform logical verification and correction on the initial operation stage identification result to obtain the final operation stage identification result. Both the initial operation stage identification result and the final operation stage identification result include the operation stage and the time interval corresponding to the operation stage.

2. The method for identifying the loader loading operation cycle according to claim 1, characterized in that: The characteristic parameters include the boom cylinder displacement change rate V_boom(t), the tipping cylinder displacement change rate V_bucket(t), and the displacement difference D_diff(t) between the boom cylinder and the tipping cylinder.

3. The method for identifying the loader loading operation cycle according to claim 2, characterized in that: The calculation formula for the boom cylinder displacement change rate is: V_boom(t) = [ (L_boom_norm(t) - L_boom_norm(t - Δt) ] / Δt, where V_boom(t) is the boom cylinder displacement change rate at time t, L_boom_norm(t) is the boom cylinder displacement at time t, and L_boom_norm(t - Δt) is the boom cylinder displacement at time t - Δt; The calculation formula for the tipping cylinder displacement change rate is: V_bucket(t) = [ L_bucket_norm(t) - L_bucket_norm(t - Δt) ] / Δt, where V_bucket(t) is the tipping cylinder displacement change rate at time t, L_bucket_norm(t) is, L_bucket_norm(t - Δt) is the tipping cylinder displacement at time t, and L_bucket_norm(t - Δt) is the tipping cylinder displacement at time t - Δt; The calculation formula for the displacement difference between the boom cylinder and the tipping cylinder is: D_diff(t) = L_boom_norm(t) - L_bucket_norm(t), where D_diff(t) is the displacement difference between the boom cylinder and the tipping cylinder at time t.

4. The method for identifying the loader loading operation cycle according to claim 3, characterized in that: The operation stages include an idle stage, an insertion stage, a loading stage, a lifting stage, a discharging stage, and a return stage; The comparison of each characteristic parameter with the corresponding characteristic parameter threshold and the identification of the operation stage of the loader based on the comparison result to obtain the initial operation stage identification result includes: When V_boom(t) > Th_V_boom_low, V_bucket(t) < Th_V_bucket_low, D_diff(t) < -Th_D_diff_low, it is determined that the loader is in the insertion stage, and the corresponding time interval is recorded, where Th_V_boom_low is the first boom cylinder displacement change rate threshold, Th_V_bucket_low is the first tipping cylinder displacement change rate threshold, and Th_D_diff_low is the first displacement difference threshold between the boom cylinder and the tipping cylinder; When V_bucket(t) > Th_V_bucket_high, L_boom_norm(t) < Th_L_boom_low, and D_diff(t) is negative and in a state of increasing negative values, it is determined that the loader is in the loading stage, and the corresponding time interval is recorded. Among them, Th_V_bucket_high is the threshold for the displacement change rate of the second tipper cylinder, Th_V_bucket_high>Th_V_bucket_low, and Th_L_boom_low is the threshold for the displacement of the first boom cylinder. When V_boom(t) > Th_V_boom_high, and D_diff(t) changes from negative to positive and continues to increase, it is determined that the loader is in the lifting stage, and the corresponding time interval is recorded; where Th_V_boom_high is the threshold of the displacement change rate of the second boom cylinder, and Th_V_boom_high > Th_V_boom_low; When V_bucket(t) <- Th_V_bucket_high and L_boom_norm(t) > Th_L_boom_high, the loader is determined to be in the unloading stage, where Th_L_boom_high is the displacement threshold of the second boom cylinder and Th_L_boom_high > Th_L_boom_low. When V_boom(t) <- Th_V_boom_high, and D_diff(t) continues to decrease and tends to the preset lower limit value, it is determined that the loader is in the return phase, and the corresponding time interval is recorded.

5. The method for identifying the loader loading operation cycle according to claim 1, characterized in that: The step of logically verifying and correcting the initial task stage identification results based on preset time-series logic to obtain the final task stage identification results includes: If the relationship between the feature parameter corresponding to a certain work stage and the feature parameter threshold corresponding to the feature parameter continues for more than a preset time, then the work stage is confirmed as the correct identification result, and it and its corresponding time interval are taken as the final work stage identification result.

6. The method for identifying the loader loading operation cycle according to claim 1, characterized in that: The timing logic is as follows: the idle phase, insertion phase, loading phase, lifting phase, unloading phase, and return phase occur sequentially, and the order is irreversible and cannot be skipped.

7. The method for identifying the loader loading operation cycle according to claim 6, characterized in that: The step of logically verifying and correcting the initial task stage identification results based on preset time-series logic to obtain the final task stage identification results includes: If the initial operation phase identification result determines that the next expected operation phase has not been identified within a preset time, but the boom cylinder displacement data or dump cylinder displacement data determines that the action corresponding to the next expected operation phase has occurred, then based on the mapping relationship between the absolute value of the displacement data and the operation phase, the loader is determined to be in the next expected operation phase, and the corresponding time interval is recorded as the final operation phase identification result.

8. The method for identifying the loader loading operation cycle according to claim 6, characterized in that: The step of logically verifying and correcting the initial task stage identification results based on preset time-series logic to obtain the final task stage identification results includes: If the order of the operation stages between the current initial operation stage identification result and the previous final operation stage identification result does not match the order of the operation stages in the timing logic, then the current initial operation stage identification result is determined to be incorrect, and the previous final operation stage identification result is used as the current final operation stage identification result. Repeated execution uses the identification result of the previous final job stage as the identification result of the current final job stage, until the next correct stage or idle stage is identified.

9. The method for identifying the cyclic loading operation of a loader according to claim 1, characterized in that: The threshold values ​​for each characteristic parameter are related to the loader model, the materials being worked on, and / or the working mode.

10. A loader loading operation cycle recognition system, characterized in that, include: Signal acquisition equipment is used to collect displacement data of boom cylinder and tipping cylinder; A processor, connected to the signal acquisition device, is configured to perform the method of any one of claims 1-9.

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