Loading weight calculation method and system applied to excavator

Abstract

The invention belongs to the technical field of excavator weighing, and particularly relates to a loading weight calculation method and system applied to an excavator. The method comprises the following steps: acquiring bucket image data collected by an image shooting device at the current moment; the current bucket position is determined according to the bucket image data; acquiring a handle control instruction at the current moment; determining the current operation state of the excavator according to the handle control instruction; according to the current bucket position and / or the current operation state, unloading and loading judgment is carried out, and an unloading and loading judgment result is obtained; if the unloading and loading judgment result shows that the excavator is in the unloading and loading state, the loading accumulated weight of the excavator is calculated, and the current accumulated weight is obtained. The bucket image and the excavator control action are combined to recognize the unloading and loading states, the states such as material arrangement similar to unloading and loading can be distinguished, manual operation weighing is not needed, errors caused by manual operation omission are avoided, and therefore the accuracy and reliability of loading weight accumulation are improved.

Description

Technical Field

[0001] This invention belongs to the field of excavator weighing technology, specifically relating to a method and system for calculating the loading weight of excavators. Background Technology

[0002] During loading operations, excavators need to weigh the material loaded each time to accumulate weight and thus compile operational statistics. Currently, this is mainly done either manually by the excavator operator during loading or automatically by recognizing combinations of loading actions, thus accumulating weight for statistical analysis.

[0003] However, in practice, it has been found that, apart from loading operations, the action combinations of other operations such as material handling that do not require weighing are quite similar to those of loading operations. Weighing by identifying the action combinations of loading operations can easily lead to misjudging these non-loading states as loading states, resulting in incorrect weighing operations and low accuracy and reliability of accumulated loading weight. On the other hand, manual control of loading weighing requires the excavator operator to frequently manually turn the weighing function on and off. In continuous loading operations, operator fatigue can easily lead to repeated weighing or missed operations, resulting in low accuracy and reliability of accumulated loading weight.

[0004] Therefore, improving the accuracy and reliability of excavator loading weight calculation is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for calculating the loading weight of excavators, aiming to improve the accuracy and reliability of excavator loading weight calculation.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a method for calculating the loading weight of an excavator, wherein the excavator is equipped with an image capturing device, and the method includes: The image capture device acquires bucket image data at the current moment; the bucket image data is image data from the top-down view of the excavator's bucket. The current bucket position is determined based on the bucket image data; Obtain the current handle control command; the handle control command is generated based on the handle control interaction operation of the excavator operator; The current operating status of the excavator is determined according to the control command of the handle; Based on the current bucket position and / or the current operating status, a judgment on unloading and loading is made to obtain the unloading and loading judgment result. If the unloading and loading judgment result indicates that the excavator is in the unloading and loading state, then the cumulative loading weight of the excavator is calculated to obtain the current cumulative weight.

[0007] As an optional implementation, in the first aspect of the invention, determining the current bucket position based on the bucket image data includes: The bucket image data is subjected to contour extraction processing to obtain a target contour region; the target contour region includes: the bucket contour region, or the bucket contour region and the truck body contour region; the truck body contour region is the truck body region of the receiving vehicle. The target contour region is subjected to pixel extraction processing to obtain a target pixel set; the target pixel set includes: a bucket pixel set, or a bucket pixel set and a carriage pixel set; If the target pixel set includes a bucket pixel set and a truck bed pixel set, and the bucket pixel set is a subset of the truck bed pixel set, then the current bucket position is determined to be a valid loading position; the valid loading position is the position where the entire bucket of the excavator is above the truck bed of the receiving vehicle. If the target pixel set includes a bucket pixel set and a truck bed pixel set, and the bucket pixel set is not a subset of the truck bed pixel set, then the current bucket position is determined to be an invalid loading position. If the target pixel set only includes the bucket pixel set, then the current bucket position is determined to be an invalid loading position.

[0008] As an optional implementation, in a first aspect of the invention, determining the current operating state of the excavator according to the handle control command includes: Get the current bucket status; If the current bucket state is open, then obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment to get the current total bucket weight, calculate the difference between the current total bucket weight and the pre-stored empty bucket weight to get the current material weight; If the current material weight is greater than or equal to a preset first weight threshold, then the current operating state of the excavator is determined to be unloading operation state; If the current bucket state is closed, or the current material weight is less than the first weight threshold, then the historical operation state is obtained, and the current operation state of the excavator is determined according to the historical operation state and the handle control command; the historical operation state is the operation state that the excavator was in at a previous moment.

[0009] As an optional implementation, in a first aspect of the invention, determining the current operating state of the excavator based on the historical operating state and the handle control command includes: If the historical operation state is the power-on initial state, and the control action represented by the handle control command matches the preset digging action, then the current operation state of the excavator is determined to be the digging operation state; the power-on initial state is the default state after the excavator is started. If the historical operation status is the excavation operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the first slewing state. If the historical operation state is the first rotation state, and the control action represented by the handle control command matches the preset unloading action, then the current operation state of the excavator is determined to be the unloading operation state. If the historical operation status is the unloading operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the second slewing status. If the historical operation state is the second rotation state, and the control action represented by the handle control command matches the preset digging action, then the current operation state of the excavator is determined to be the digging operation state.

[0010] As an optional implementation, in the first aspect of the present invention, the step of determining unloading and loading based on the current bucket position and / or the current operating state to obtain the unloading and loading determination result includes: Obtain the weighing mode selection instruction and determine the current weighing mode based on the weighing mode selection instruction; the weighing mode selection instruction is generated based on the excavator operator's mode selection interaction operation at a previous moment. If the current weighing mode is an image-assisted mode, then the unloading and loading judgment is made based on the current bucket position or the current working state, and the unloading and loading judgment result is obtained. If the current weighing mode is image priority mode, then the unloading and loading judgment is made based on the current bucket position and the current working status, and the unloading and loading judgment result is obtained. The step of determining unloading and loading based on the current bucket position or the current operating state to obtain the unloading and loading determination result includes: If the current bucket position is a valid loading position, or the current operating state is an unloading operating state, then an unloading and loading judgment result is generated to indicate that the excavator is in the unloading and loading state. The step of determining unloading and loading based on the current bucket position and the current operating status, and obtaining the unloading and loading determination result, includes: If the current bucket position is a valid loading position and the current operation state is unloading operation state, then an unloading and loading judgment result is generated to indicate that the excavator is in the unloading and loading state. The effective loading position is the position where the entire bucket of the excavator is above the cargo box of the receiving vehicle.

[0011] As an optional implementation, in the first aspect of the present invention, the step of calculating the cumulative weight of the excavator to obtain the current cumulative weight includes: Obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment to get the first total weight; If the first total weight is greater than or equal to the preset second weight threshold, then when the excavator exits the unloading and loading state, the total weight of the excavator's bucket body and the material in the bucket is obtained to obtain the second total weight. Calculate the difference between the first total weight and the second total weight to obtain the net unloading weight; The current cumulative weight is obtained by summing the unloaded net weight with the pre-stored historical cumulative weight; the historical cumulative weight is the total weight of materials unloaded and loaded by the excavator at a previous time.

[0012] A second aspect of the present invention discloses a loading weight calculation system for an excavator, the excavator being equipped with an image capturing device, the system comprising: The image data acquisition module is used to acquire the bucket image data at the current moment captured by the image capturing device; the bucket image data is the image data of the excavator's bucket from a top-down perspective; The bucket position determination module is used to determine the current bucket position based on the bucket image data; The control command acquisition module is used to acquire the control command of the handle at the current moment; the control command of the handle is generated based on the handle control interaction operation of the excavator operator; The operation status determination module is used to determine the current operation status of the excavator based on the control command of the handle; The unloading and loading judgment module is used to make unloading and loading judgments based on the current bucket position and / or the current operating status, and to obtain the unloading and loading judgment results. The cumulative weight calculation module is used to calculate the cumulative weight of the excavator if the unloading and loading judgment result indicates that the excavator is in the unloading and loading state, and obtain the current cumulative weight.

[0013] As an optional implementation, in a second aspect of the present invention, the specific method by which the bucket position determination module determines the current bucket position based on the bucket image data includes: The bucket image data is subjected to contour extraction processing to obtain a target contour region; the target contour region includes: the bucket contour region, or the bucket contour region and the truck body contour region; the truck body contour region is the truck body region of the receiving vehicle. The target contour region is subjected to pixel extraction processing to obtain a target pixel set; the target pixel set includes: a bucket pixel set, or a bucket pixel set and a carriage pixel set; If the target pixel set includes a bucket pixel set and a truck bed pixel set, and the bucket pixel set is a subset of the truck bed pixel set, then the current bucket position is determined to be a valid loading position; the valid loading position is the position where the entire bucket of the excavator is above the truck bed of the receiving vehicle. If the target pixel set includes a bucket pixel set and a truck bed pixel set, and the bucket pixel set is not a subset of the truck bed pixel set, then the current bucket position is determined to be an invalid loading position. If the target pixel set only includes the bucket pixel set, then the current bucket position is determined to be an invalid loading position.

[0014] As an optional implementation, in a second aspect of the present invention, the specific method by which the operation status determination module determines the current operation status of the excavator according to the handle control command includes: Get the current bucket status; If the current bucket state is open, then obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment to get the current total bucket weight, calculate the difference between the current total bucket weight and the pre-stored empty bucket weight to get the current material weight; If the current material weight is greater than or equal to a preset first weight threshold, then the current operating state of the excavator is determined to be unloading operation state; If the current bucket state is closed, or the current material weight is less than the first weight threshold, then the historical operation state is obtained, and the current operation state of the excavator is determined according to the historical operation state and the handle control command; the historical operation state is the operation state that the excavator was in at a previous moment.

[0015] As an optional implementation, in a second aspect of the invention, the specific method by which the operation status determination module determines the current operation status of the excavator based on the historical operation status and the handle control command includes: If the historical operation state is the power-on initial state, and the control action represented by the handle control command matches the preset digging action, then the current operation state of the excavator is determined to be the digging operation state; the power-on initial state is the default state after the excavator is started. If the historical operation status is the excavation operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the first slewing state. If the historical operation state is the first rotation state, and the control action represented by the handle control command matches the preset unloading action, then the current operation state of the excavator is determined to be the unloading operation state. If the historical operation status is the unloading operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the second slewing status. If the historical operation state is the second rotation state, and the control action represented by the handle control command matches the preset digging action, then the current operation state of the excavator is determined to be the digging operation state.

[0016] As an optional implementation, in a second aspect of the present invention, the unloading and loading judgment module makes an unloading and loading judgment based on the current bucket position and / or the current operating state, and obtains the unloading and loading judgment result in the following specific ways: Obtain the weighing mode selection instruction and determine the current weighing mode based on the weighing mode selection instruction; the weighing mode selection instruction is generated based on the excavator operator's mode selection interaction operation at a previous moment. If the current weighing mode is an image-assisted mode, then the unloading and loading judgment is made based on the current bucket position or the current working state, and the unloading and loading judgment result is obtained. If the current weighing mode is image priority mode, then the unloading and loading judgment is made based on the current bucket position and the current working status, and the unloading and loading judgment result is obtained. The unloading and loading judgment module determines the unloading and loading based on the current bucket position or the current operating status, and obtains the unloading and loading judgment result in the following specific ways: If the current bucket position is a valid loading position, or the current operating state is an unloading operating state, then an unloading and loading judgment result is generated to indicate that the excavator is in the unloading and loading state. The unloading and loading judgment module makes an unloading and loading judgment based on the current bucket position and the current operating status, and the specific methods for obtaining the unloading and loading judgment result include: If the current bucket position is a valid loading position and the current operation state is unloading operation state, then an unloading and loading judgment result is generated to indicate that the excavator is in the unloading and loading state. The effective loading position is the position where the entire bucket of the excavator is above the cargo box of the receiving vehicle.

[0017] As an optional implementation, in the second aspect of the present invention, the cumulative weight calculation module calculates the cumulative weight of the excavator to obtain the current cumulative weight in the following specific ways: Obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment to get the first total weight; If the first total weight is greater than or equal to the preset second weight threshold, then when the excavator exits the unloading and loading state, the total weight of the excavator's bucket body and the material in the bucket is obtained to obtain the second total weight. Calculate the difference between the first total weight and the second total weight to obtain the net unloading weight; The current cumulative weight is obtained by summing the unloaded net weight with the pre-stored historical cumulative weight; the historical cumulative weight is the total weight of materials unloaded and loaded by the excavator at a previous time.

[0018] A third aspect of the present invention discloses another loading weight calculation system for excavators, wherein the excavator is equipped with an image capturing device, and the system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the loading weight calculation method for excavators disclosed in the first aspect of the present invention.

[0019] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked by a processor, are used to execute a method for calculating the loading weight of an excavator disclosed in the first aspect of the present invention.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: The system acquires bucket image data captured by the image acquisition device at the current moment and determines the current bucket position based on the image data. It also acquires the current handle control command and determines the excavator's current operating status based on the command. Then, based on the current bucket position and / or current operating status, it performs a loading / unloading judgment. If the excavator is in the loading / unloading state, it calculates the cumulative loading weight to obtain the current cumulative weight. By combining the bucket image with the excavator's control actions for automatic identification of the loading / unloading status, it can distinguish between similar states such as material handling, and eliminates the need for manual loading and weighing by the driver, avoiding errors caused by human error and thus improving the accuracy and reliability of the cumulative loading weight. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced 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.

[0022] Figure 1 This is a flowchart illustrating a method for calculating the loading weight of an excavator, as disclosed in an embodiment of the present invention. Figure 2 This is a schematic diagram of a loading weight calculation system for excavators disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of another loading weight calculation system for excavators disclosed in an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, or product may include a series of steps or units, or may not be limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or processes.

[0025] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0026] During loading operations, excavators need to weigh the material loaded each time to accumulate weight and thus compile operational statistics. Currently, this is mainly done either manually by the excavator operator during loading or automatically by recognizing combinations of loading actions, thus accumulating weight for statistical analysis.

[0027] However, in practice, it has been found that, apart from loading operations, the action combinations of other operations such as material handling that do not require weighing are quite similar to those of loading operations. Weighing by identifying the action combinations of loading operations can easily lead to misjudging these non-loading states as loading states, resulting in incorrect weighing operations and low accuracy and reliability of accumulated loading weight. On the other hand, manual control of loading weighing requires the excavator operator to frequently manually turn the weighing function on and off. In continuous loading operations, operator fatigue can easily lead to repeated weighing or missed operations, resulting in low accuracy and reliability of accumulated loading weight.

[0028] Therefore, improving the accuracy and reliability of excavator loading weight calculation is a pressing technical problem that needs to be solved.

[0029] To address the aforementioned technical problems, this invention discloses a method and system for calculating the loading weight of excavators, aiming to improve the accuracy and reliability of excavator loading weight calculation. Detailed descriptions follow.

[0030] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for calculating the loading weight of an excavator, as disclosed in an embodiment of the present invention. Figure 1 The method shown can be applied to a loading weight calculation system, which can improve the accuracy and reliability of excavator loading weight calculation. The excavator is equipped with an image capture device, such as... Figure 1 As shown, the method for calculating the loading weight of an excavator disclosed in this embodiment of the invention includes, but is not limited to, the following operations: 101. Acquire the bucket image data at the current moment captured by the image capturing device; the bucket image data is the image data of the excavator's bucket from a top-down perspective; 102. Determine the current bucket position based on the bucket image data; 103. Obtain the current control handle command; the control handle command is generated based on the excavator operator's control handle interaction. 104. Determine the current operating status of the excavator based on the control commands from the joystick; 105. Based on the current bucket position and / or the current operating status, determine the unloading and loading, and obtain the unloading and loading determination result; 106. If the unloading and loading judgment result indicates that the excavator is in the unloading and loading state, then calculate the cumulative weight of the excavator to obtain the current cumulative weight.

[0031] It should be noted that the image capturing device can use a monocular camera. Furthermore, in order to enable the monocular camera to obtain better bucket vision and meet protection requirements, the monocular camera can be installed under the boom of the excavator.

[0032] In this embodiment of the invention, the current bucket image data captured by the image capturing device is acquired, and the current bucket position is determined based on the bucket image data; the current handle control command is acquired, and the current operating state of the excavator is determined based on the handle control command; then, unloading and loading are judged based on the current bucket position and / or the current operating state. If the excavator is in the unloading and loading state, the cumulative loading weight of the excavator is calculated to obtain the current cumulative weight. Combining the bucket image with the excavator control actions for automatic identification of the unloading and loading state can distinguish between states similar to material handling and unloading, and eliminates the need for manual operation by the driver to weigh the load, avoiding errors caused by human error, thereby improving the accuracy and reliability of the cumulative loading weight.

[0033] In an optional embodiment, determining the current bucket position based on bucket image data includes: Contour extraction processing is performed on the bucket image data to obtain the target contour region; the target contour region includes: the bucket contour region, or the bucket contour region and the truck body contour region; the truck body contour region is the truck body region of the receiving vehicle. The target contour region is processed by pixel extraction to obtain a target pixel set; the target pixel set includes: the bucket pixel set, or the bucket pixel set and the carriage pixel set; If the target pixel set includes the bucket pixel set and the truck bed pixel set, and the bucket pixel set is a subset of the truck bed pixel set, then the current bucket position is determined to be a valid loading position; the valid loading position is the position where the entire bucket of the excavator is above the truck bed of the receiving vehicle. If the target pixel set includes the bucket pixel set and the truck body pixel set, and the bucket pixel set is not a subset of the truck body pixel set, then the current bucket position is determined to be an invalid loading position. If the target pixel set only includes the bucket pixel set, then the current bucket position is determined to be an invalid loading position.

[0034] It should be noted that the process of extracting the target contour region from the bucket image data can be performed as follows: Median filtering is applied to the bucket image data for noise reduction to obtain denoised image data; then, a preset object detection model is used to perform contour detection on the denoised image data to obtain the target contour region. The bucket contour and the presence of a receiving vehicle's cargo box contour are identified from the captured bucket images. The object detection model can be the Faster R-CNN model, which detects the approximate range of the receiving vehicle's cargo box, with the detected target being a rectangle or rectangular-like shape (the cargo box shape may be distorted).

[0035] In this optional embodiment, the position of the bucket can be unloaded (whether it is in a valid loading position) is determined by comparing whether the bucket outline is contained within the outline of the truck body. When all the pixels of the bucket outline are contained within the pixels surrounded by the outline of the truck body, it is considered that the bucket is above the truck body and unloading can be carried out; otherwise, unloading cannot be carried out.

[0036] In yet another optional embodiment, determining the excavator's current operating status based on handle control commands includes: Get the current bucket status; If the current bucket is in the open state, obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment, get the current total bucket weight, calculate the difference between the current total bucket weight and the pre-stored empty bucket weight, and get the current material weight; If the current material weight is greater than or equal to the preset first weight threshold, then the excavator's current operating state is determined to be unloading operation state; If the current bucket is closed, or the current material weight is less than the first weight threshold, the historical operation status is obtained, and the current operation status of the excavator is determined based on the historical operation status and the control handle command; the historical operation status is the operation status that the excavator was in at a previous moment.

[0037] Normally, excavators need to load materials before unloading. However, in actual operation, if the handle signal and its threshold do not meet the conditions for transitioning to the operating state, a discrepancy may arise between the judged state and the actual state. For example, in a special case, if the excavator is loaded with a bucket of material and waiting to be loaded onto a truck, and then experiences an abnormal power outage and subsequent power-on, unloading can proceed directly without further digging. Therefore, when the bucket is open and the current material weight exceeds a preset threshold, the excavator can be directly determined to be in unloading mode, and the material can then be weighed.

[0038] In yet another optional embodiment, determining the excavator's current operating status based on historical operating status and handle control commands includes: If the historical operation status is the power-on initial status, and the control action represented by the handle control command matches the preset digging action, then the current operation status of the excavator is determined to be the digging operation status; the power-on initial status is the default status after the excavator starts. If the historical operation status is excavation operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the first slewing state. If the historical operation status is the first rotation status, and the control action represented by the handle control command matches the preset unloading action, then the current operation status of the excavator is determined to be the unloading operation status. If the historical operation status is unloading operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the second slewing state. If the historical operation status is the second rotation state, and the control action represented by the handle control command matches the preset digging action, then the current operation status of the excavator is determined to be the digging operation state.

[0039] In this optional embodiment, if a digging action is detected in the initial power-on state, the system enters the digging operation state; in the digging operation state, if a boom rotation action is detected, the system enters the first rotation state; in the first rotation state, if a bucket opening and unloading action is detected, the system enters the unloading operation state; in the unloading operation state, if a boom rotation action is detected, the system enters the second rotation state; in the second rotation state, if a digging action is detected, the system enters the digging operation state.

[0040] Understandably, during normal operation, the transitions between different operational states are unidirectional and sequential. For example, transitioning from the digging operation state to the unloading operation state requires passing through the first slewing state; otherwise, small-scale material handling or in-situ loading and unloading might be mistaken for loading operations. It should be noted that the digging, slewing, and unloading actions are determined after processing such as time delays, time delays, and specific condition resets based on the current voltage, pilot pressure, or pilot stroke of the control handle, rather than simple action equivalence.

[0041] In another optional embodiment, unloading and loading are determined based on the current bucket position and / or the current operating status, and an unloading and loading determination result is obtained, including: Obtain the weighing mode selection command and determine the current weighing mode based on the weighing mode selection command; the weighing mode selection command is generated based on the excavator operator's mode selection interaction operation at a previous moment; If the current weighing mode is image-assisted mode, the unloading and loading judgment is made based on the current bucket position or the current working status, and the unloading and loading judgment result is obtained. If the current weighing mode is image priority mode, the unloading and loading judgment is made based on the current bucket position and the current working status, and the unloading and loading judgment result is obtained. The unloading and loading judgment is made based on the current bucket position or the current operating status, and the unloading and loading judgment results are obtained, including: If the current bucket position is a valid loading position, or the current operation status is unloading operation status, then generate an unloading and loading judgment result indicating that the excavator is in the unloading and loading status. Based on the current bucket position and current operating status, a decision is made regarding unloading and loading, resulting in the following: If the current bucket position is a valid loading position and the current operation status is unloading operation status, then generate an unloading and loading judgment result indicating that the excavator is in the unloading and loading status. The effective loading position is when the entire bucket of the excavator is above the cargo box of the receiving vehicle.

[0042] In this optional embodiment, considering the influence of environmental factors such as dust, weather, and nighttime lighting conditions, the accuracy of the image-based recognition of the material handling vehicle's cargo box outline cannot be guaranteed. Therefore, the excavator operator can choose whether the image recognition result serves as an auxiliary basis for judgment or as the decisive key basis, depending on the actual working environment.

[0043] In another optional embodiment, the cumulative weight of the excavator loaded onto the truck is calculated to obtain the current cumulative weight, including: Obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment, and get the first total weight; If the first total weight is greater than or equal to the preset second weight threshold, then when the excavator exits the unloading and loading state, the total weight of the excavator's bucket body and the material in the bucket is obtained to get the second total weight. Calculate the difference between the first total weight and the second total weight to obtain the net unloading weight; The current cumulative weight is obtained by summing the net unloading weight with the pre-stored historical cumulative weight; the historical cumulative weight is the total weight of materials unloaded and loaded by the excavator at previous times.

[0044] In this optional embodiment, if the current weight of the bucket and material exceeds a preset threshold, the weight is determined to be valid rather than empty. To minimize errors caused by sensor data drift and to account for the case of only unloading part of the material, after the excavator exits the unloading and loading state, the net weight of the material loaded this time is calculated by subtracting the total weight of the bucket material after unloading from the total weight of the bucket material before unloading, rather than the fixed bucket weight. This net weight is then added to the historical total weight of the material to complete the accumulation of unloading and loading weight.

[0045] Example 2 Please see Figure 2 , Figure 2 This is a schematic diagram of a loading weight calculation system for excavators disclosed in an embodiment of the present invention. Figure 2 The system shown can be used to perform the loading weight calculation method described in Embodiment 1. This system can improve the accuracy and reliability of excavator loading weight calculation. The excavator is equipped with an image capturing device, such as... Figure 2 As shown, the loading weight calculation system for excavators disclosed in this embodiment of the invention includes, but is not limited to: The image data acquisition module 201 is used to acquire the bucket image data of the current moment collected by the image capturing device; the bucket image data is the image data of the excavator bucket from a top-down perspective; Bucket position determination module 202 is used to determine the current bucket position based on bucket image data; The control command acquisition module 203 is used to acquire the control command of the handle at the current moment; the control command of the handle is generated based on the handle control interaction operation of the excavator operator; The operation status determination module 204 is used to determine the current operation status of the excavator based on the control commands of the handle; The unloading and loading judgment module 205 is used to make unloading and loading judgments based on the current bucket position and / or the current operating status, and to obtain the unloading and loading judgment results. The cumulative weight calculation module 206 is used to calculate the cumulative weight of the excavator if the unloading and loading judgment result indicates that the excavator is in the unloading and loading state, and obtain the current cumulative weight.

[0046] It should be noted that the image capturing device can use a monocular camera. Furthermore, in order to enable the monocular camera to obtain better bucket vision and meet protection requirements, the monocular camera can be installed under the boom of the excavator.

[0047] In this embodiment of the invention, the current bucket image data captured by the image capturing device is acquired, and the current bucket position is determined based on the bucket image data; the current handle control command is acquired, and the current operating state of the excavator is determined based on the handle control command; then, unloading and loading are judged based on the current bucket position and / or the current operating state. If the excavator is in the unloading and loading state, the cumulative loading weight of the excavator is calculated to obtain the current cumulative weight. Combining the bucket image with the excavator control actions for automatic identification of the unloading and loading state can distinguish between states similar to material handling and unloading, and eliminates the need for manual operation by the driver to weigh the load, avoiding errors caused by human error, thereby improving the accuracy and reliability of the cumulative loading weight.

[0048] In an optional embodiment, the bucket position determination module 202 determines the current bucket position based on the bucket image data in the following specific ways: Contour extraction processing is performed on the bucket image data to obtain the target contour region; the target contour region includes: the bucket contour region, or the bucket contour region and the truck body contour region; the truck body contour region is the truck body region of the receiving vehicle. The target contour region is processed by pixel extraction to obtain a target pixel set; the target pixel set includes: the bucket pixel set, or the bucket pixel set and the carriage pixel set; If the target pixel set includes the bucket pixel set and the truck bed pixel set, and the bucket pixel set is a subset of the truck bed pixel set, then the current bucket position is determined to be a valid loading position; the valid loading position is the position where the entire bucket of the excavator is above the truck bed of the receiving vehicle. If the target pixel set includes the bucket pixel set and the truck body pixel set, and the bucket pixel set is not a subset of the truck body pixel set, then the current bucket position is determined to be an invalid loading position. If the target pixel set only includes the bucket pixel set, then the current bucket position is determined to be an invalid loading position.

[0049] It should be noted that the process of extracting the target contour region from the bucket image data can be performed as follows: Median filtering is applied to the bucket image data for noise reduction to obtain denoised image data; then, a preset object detection model is used to perform contour detection on the denoised image data to obtain the target contour region. The bucket contour and the presence of a receiving vehicle's cargo box contour are identified from the captured bucket images. The object detection model can be the Faster R-CNN model, which detects the approximate range of the receiving vehicle's cargo box, with the detected target being a rectangle or rectangular-like shape (the cargo box shape may be distorted).

[0050] In this optional embodiment, the position of the bucket can be unloaded (whether it is in a valid loading position) is determined by comparing whether the bucket outline is contained within the outline of the truck body. When all the pixels of the bucket outline are contained within the pixels surrounded by the outline of the truck body, it is considered that the bucket is above the truck body and unloading can be carried out; otherwise, unloading cannot be carried out.

[0051] In yet another optional embodiment, the specific method by which the operation status determination module 204 determines the current operation status of the excavator based on the handle control command includes: Get the current bucket status; If the current bucket is in the open state, obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment, get the current total bucket weight, calculate the difference between the current total bucket weight and the pre-stored empty bucket weight, and get the current material weight; If the current material weight is greater than or equal to the preset first weight threshold, then the excavator's current operating state is determined to be unloading operation state; If the current bucket is closed, or the current material weight is less than the first weight threshold, the historical operation status is obtained, and the current operation status of the excavator is determined based on the historical operation status and the control handle command; the historical operation status is the operation status that the excavator was in at a previous moment.

[0052] Normally, excavators need to load materials before unloading. However, in actual operation, if the handle signal and its threshold do not meet the conditions for transitioning to the operating state, a discrepancy may arise between the judged state and the actual state. For example, in a special case, if the excavator is loaded with a bucket of material and waiting to be loaded onto a truck, and then experiences an abnormal power outage and subsequent power-on, unloading can proceed directly without further digging. Therefore, when the bucket is open and the current material weight exceeds a preset threshold, the excavator can be directly determined to be in unloading mode, and the material can then be weighed.

[0053] In yet another optional embodiment, the specific method by which the operation status determination module 204 determines the current operation status of the excavator based on historical operation status and handle control commands includes: If the historical operation status is the power-on initial status, and the control action represented by the handle control command matches the preset digging action, then the current operation status of the excavator is determined to be the digging operation status; the power-on initial status is the default status after the excavator starts. If the historical operation status is excavation operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the first slewing state. If the historical operation status is the first rotation status, and the control action represented by the handle control command matches the preset unloading action, then the current operation status of the excavator is determined to be the unloading operation status. If the historical operation status is unloading operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the second slewing state. If the historical operation status is the second rotation state, and the control action represented by the handle control command matches the preset digging action, then the current operation status of the excavator is determined to be the digging operation state.

[0054] In this optional embodiment, if a digging action is detected in the initial power-on state, the system enters the digging operation state; in the digging operation state, if a boom rotation action is detected, the system enters the first rotation state; in the first rotation state, if a bucket opening and unloading action is detected, the system enters the unloading operation state; in the unloading operation state, if a boom rotation action is detected, the system enters the second rotation state; in the second rotation state, if a digging action is detected, the system enters the digging operation state.

[0055] Understandably, during normal operation, the transitions between different operational states are unidirectional and sequential. For example, transitioning from the digging operation state to the unloading operation state requires passing through the first slewing state; otherwise, small-scale material handling or in-situ loading and unloading might be mistaken for loading operations. It should be noted that the digging, slewing, and unloading actions are determined after processing such as time delays, time delays, and specific condition resets based on the current voltage, pilot pressure, or pilot stroke of the control handle, rather than simple action equivalence.

[0056] In another optional embodiment, the unloading and loading judgment module 205 makes an unloading and loading judgment based on the current bucket position and / or the current operating status, and the specific method for obtaining the unloading and loading judgment result includes: Obtain the weighing mode selection command and determine the current weighing mode based on the weighing mode selection command; the weighing mode selection command is generated based on the excavator operator's mode selection interaction operation at a previous moment; If the current weighing mode is image-assisted mode, the unloading and loading judgment is made based on the current bucket position or the current working status, and the unloading and loading judgment result is obtained. If the current weighing mode is image priority mode, the unloading and loading judgment is made based on the current bucket position and the current working status, and the unloading and loading judgment result is obtained. The unloading and loading judgment module 205 makes unloading and loading judgments based on the current bucket position or the current operating status, and the specific methods for obtaining the unloading and loading judgment results include: If the current bucket position is a valid loading position, or the current operation status is unloading operation status, then generate an unloading and loading judgment result indicating that the excavator is in the unloading and loading status. The unloading and loading judgment module 205 makes a judgment on unloading and loading based on the current bucket position and the current operating status. The specific methods for obtaining the unloading and loading judgment result include: If the current bucket position is a valid loading position and the current operation status is unloading operation status, then generate an unloading and loading judgment result indicating that the excavator is in the unloading and loading status. The effective loading position is when the entire bucket of the excavator is above the cargo box of the receiving vehicle.

[0057] In this optional embodiment, considering the influence of environmental factors such as dust, weather, and nighttime lighting conditions, the accuracy of the image-based recognition of the material handling vehicle's cargo box outline cannot be guaranteed. Therefore, the excavator operator can choose whether the image recognition result serves as an auxiliary basis for judgment or as the decisive key basis, depending on the actual working environment.

[0058] In another optional embodiment, the cumulative weight calculation module 206 calculates the cumulative weight of the excavator after loading, and the specific method for obtaining the current cumulative weight includes: Obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment, and get the first total weight; If the first total weight is greater than or equal to the preset second weight threshold, then when the excavator exits the unloading and loading state, the total weight of the excavator's bucket body and the material in the bucket is obtained to get the second total weight. Calculate the difference between the first total weight and the second total weight to obtain the net unloading weight; The current cumulative weight is obtained by summing the net unloading weight with the pre-stored historical cumulative weight; the historical cumulative weight is the total weight of materials unloaded and loaded by the excavator at previous times.

[0059] In this optional embodiment, if the current weight of the bucket and material exceeds a preset threshold, the weight is determined to be valid rather than empty. To minimize errors caused by sensor data drift and to account for the case of only unloading part of the material, after the excavator exits the unloading and loading state, the net weight of the material loaded this time is calculated by subtracting the total weight of the bucket material after unloading from the total weight of the bucket material before unloading, rather than the fixed bucket weight. This net weight is then added to the historical total weight of the material to complete the accumulation of unloading and loading weight.

[0060] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of another loading weight calculation system for excavators disclosed in an embodiment of the present invention. Figure 3 The system shown can be used to perform the loading weight calculation method described in Embodiment 1. This system can improve the accuracy and reliability of excavator loading weight calculation. The excavator is equipped with an image capturing device, such as... Figure 3 As shown, the loading weight calculation system for excavators disclosed in this embodiment of the invention includes, but is not limited to: Memory 301 storing executable program code; Processor 302 coupled to memory 301; The processor 302 calls the executable program code stored in the memory 301 to execute some or all of the steps in the method for calculating the loading weight of an excavator as described in Embodiment 1 of the present invention.

[0061] Example 4 This invention discloses a computer storage medium storing computer instructions. When the computer instructions are invoked by a processor, they are used to execute some or all of the steps in the loading weight calculation method for excavators described in Embodiment 1 of this invention.

[0062] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0063] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0064] Finally, it should be noted that the technical content disclosed in the embodiments of the present invention is only a preferred embodiment of the present invention and is only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating the loading weight of an excavator, characterized in that, The excavator is equipped with an image capturing device, and the method includes: The image capture device acquires bucket image data at the current moment; the bucket image data is image data from the top-down view of the excavator's bucket. The current bucket position is determined based on the bucket image data; Obtain the current handle control command; the handle control command is generated based on the handle control interaction operation of the excavator operator; The current operating status of the excavator is determined according to the control command of the handle; Based on the current bucket position and / or the current operating status, a judgment on unloading and loading is made to obtain the unloading and loading judgment result. If the unloading and loading judgment result indicates that the excavator is in the unloading and loading state, then the cumulative loading weight of the excavator is calculated to obtain the current cumulative weight.

2. The method for calculating the loading weight of an excavator according to claim 1, characterized in that, Determining the current bucket position based on the bucket image data includes: The bucket image data is subjected to contour extraction processing to obtain a target contour region; the target contour region includes: the bucket contour region, or the bucket contour region and the truck body contour region; the truck body contour region is the truck body region of the receiving vehicle. The target contour region is subjected to pixel extraction processing to obtain a target pixel set; the target pixel set includes: a bucket pixel set, or a bucket pixel set and a carriage pixel set; If the target pixel set includes a bucket pixel set and a truck bed pixel set, and the bucket pixel set is a subset of the truck bed pixel set, then the current bucket position is determined to be a valid loading position; the valid loading position is the position where the entire bucket of the excavator is above the truck bed of the receiving vehicle. If the target pixel set includes a bucket pixel set and a truck bed pixel set, and the bucket pixel set is not a subset of the truck bed pixel set, then the current bucket position is determined to be an invalid loading position. If the target pixel set only includes the bucket pixel set, then the current bucket position is determined to be an invalid loading position.

3. The method for calculating the loading weight of an excavator according to claim 1, characterized in that, Determining the current operating status of the excavator according to the control handle command includes: Get the current bucket status; If the current bucket state is open, then obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment to get the current total bucket weight, calculate the difference between the current total bucket weight and the pre-stored empty bucket weight to get the current material weight; If the current material weight is greater than or equal to a preset first weight threshold, then the current operating state of the excavator is determined to be unloading operation state; If the current bucket state is closed, or the current material weight is less than the first weight threshold, then the historical operation state is obtained, and the current operation state of the excavator is determined according to the historical operation state and the handle control command; the historical operation state is the operation state that the excavator was in at a previous moment.

4. The method for calculating the loading weight of an excavator according to claim 3, characterized in that, Determining the current operating status of the excavator based on the historical operating status and the control handle commands includes: If the historical operation state is the power-on initial state, and the control action represented by the handle control command matches the preset digging action, then the current operation state of the excavator is determined to be the digging operation state; the power-on initial state is the default state after the excavator is started. If the historical operation status is the excavation operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the first slewing state. If the historical operation state is the first rotation state, and the control action represented by the handle control command matches the preset unloading action, then the current operation state of the excavator is determined to be the unloading operation state. If the historical operation status is the unloading operation status, and the control action represented by the handle control command matches the preset slewing action, then the current operation status of the excavator is determined to be the second slewing status. If the historical operation state is the second rotation state, and the control action represented by the handle control command matches the preset digging action, then the current operation state of the excavator is determined to be the digging operation state.

5. The method for calculating the loading weight of an excavator according to claim 1, characterized in that, The step of determining unloading and loading based on the current bucket position and / or the current operating status, and obtaining the unloading and loading determination result, includes: Obtain the weighing mode selection instruction and determine the current weighing mode based on the weighing mode selection instruction; the weighing mode selection instruction is generated based on the excavator operator's mode selection interaction operation at a previous moment. If the current weighing mode is an image-assisted mode, then the unloading and loading judgment is made based on the current bucket position or the current working state, and the unloading and loading judgment result is obtained. If the current weighing mode is image priority mode, then the unloading and loading judgment is made based on the current bucket position and the current working status, and the unloading and loading judgment result is obtained. The step of determining unloading and loading based on the current bucket position or the current operating state to obtain the unloading and loading determination result includes: If the current bucket position is a valid loading position, or the current operating state is an unloading operating state, then an unloading and loading judgment result is generated to indicate that the excavator is in the unloading and loading state. The step of determining unloading and loading based on the current bucket position and the current operating status, and obtaining the unloading and loading determination result, includes: If the current bucket position is a valid loading position and the current operation state is unloading operation state, then an unloading and loading judgment result is generated to indicate that the excavator is in the unloading and loading state. The effective loading position is the position where the entire bucket of the excavator is above the cargo box of the receiving vehicle.

6. A method for calculating the loading weight of an excavator according to any one of claims 1 to 5, characterized in that, The calculation of the cumulative weight of the excavator after loading onto the truck to obtain the current cumulative weight includes: Obtain the total weight of the excavator's bucket body and the material in the bucket at the current moment to get the first total weight; If the first total weight is greater than or equal to the preset second weight threshold, then when the excavator exits the unloading and loading state, the total weight of the excavator's bucket body and the material in the bucket is obtained to obtain the second total weight. Calculate the difference between the first total weight and the second total weight to obtain the net unloading weight; The current cumulative weight is obtained by summing the unloaded net weight with the pre-stored historical cumulative weight; the historical cumulative weight is the total weight of materials unloaded and loaded by the excavator at a previous time.

7. A loading weight calculation system for excavators, characterized in that, The excavator is equipped with an image capturing device, and the system includes: The image data acquisition module is used to acquire the bucket image data at the current moment captured by the image capturing device; the bucket image data is the image data of the excavator's bucket from a top-down perspective; The bucket position determination module is used to determine the current bucket position based on the bucket image data; The control command acquisition module is used to acquire the control command of the handle at the current moment; the control command of the handle is generated based on the handle control interaction operation of the excavator operator; The operation status determination module is used to determine the current operation status of the excavator based on the control command of the handle; The unloading and loading judgment module is used to make unloading and loading judgments based on the current bucket position and / or the current operating status, and to obtain the unloading and loading judgment results. The cumulative weight calculation module is used to calculate the cumulative weight of the excavator if the unloading and loading judgment result indicates that the excavator is in the unloading and loading state, and obtain the current cumulative weight.

8. A loading weight calculation system for excavators, characterized in that, The excavator is equipped with an image capturing device, and the system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the loading weight calculation method for excavators according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked by the processor, are used to execute the loading weight calculation method for excavators according to any one of claims 1 to 6.

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