Excavator workload metering method, electronic equipment and program product

Abstract

The invention provides an excavator workload metering method, electronic equipment and a program product, and can be applied to the technical field of engineering machinery. The method comprises a vehicle control unit applied to the excavator, the excavator comprises a movable arm, a bucket rod and a grabber, and the method comprises the steps that when the grabber grabs materials, the movable arm position and the first movable arm oil cylinder pressure of the movable arm are obtained, and the bucket rod position and the first bucket rod oil cylinder pressure of the bucket rod are obtained; based on the position of the movable arm, the second movable arm oil cylinder pressure of the movable arm in the no-load state is determined; based on the position of the bucket rod, second bucket rod oil cylinder pressure of the bucket rod in the no-load state is determined; and the grabbing weight is determined based on the first pressure difference between the first movable arm oil cylinder pressure and the second movable arm oil cylinder pressure and the second pressure difference between the first bucket rod oil cylinder pressure and the second bucket rod oil cylinder pressure. The grabbing weight is calculated through the pressure difference of the movable arm oil cylinder and the pressure difference of the bucket rod oil cylinder, and high-precision metering and real-time monitoring of the grabbing weight are achieved.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a method for measuring the workload of an excavator, electronic equipment, and software product. Background Technology

[0002] Determining the workload of an excavator refers to accurately measuring the actual amount of earthwork excavation, material handling, and other operations completed by the excavator within a specific time period using scientific and reasonable methods. This is usually quantified in units such as cubic meters or tons.

[0003] Grabbing excavators are widely used in complex field conditions such as logging, material loading and unloading, and earthmoving in mountainous areas. Because the working environment is mostly complex terrain such as mountains and forests, the materials being grabbed are of different shapes and have uneven weight distribution, making it difficult for the operator to accurately estimate the amount of work the excavator can handle.

[0004] Therefore, there is an urgent need for a technical solution that can accurately determine the amount of work that an excavator can grab, in order to improve the safety, efficiency and data traceability of excavator operations. Summary of the Invention

[0005] This application provides a method, electronic device, and program product for measuring the workload of an excavator, in order to solve the technical problem that existing grabbing excavators cannot accurately obtain their grabbing workload.

[0006] According to a first aspect disclosed in this application, this application provides a method for measuring the workload of an excavator, applied to the vehicle controller of an excavator, the excavator including a boom, stick, and gripper, the method comprising:

[0007] Take the first boom data and the first stick data of the grabbing excavator; wherein, the first boom data includes boom position and boom cylinder pressure, and the first stick data includes stick position and stick cylinder pressure;

[0008] Based on the boom position, determine the pressure of the second boom cylinder when the boom is unloaded;

[0009] Based on the stick position, determine the pressure of the second stick cylinder when the stick is unloaded;

[0010] The grab weight is determined based on the first pressure difference between the pressure of the first boom cylinder and the pressure of the second boom cylinder, and the second pressure difference between the pressure of the first stick cylinder and the pressure of the second stick cylinder.

[0011] In one feasible implementation, determining the gripping weight based on a first pressure difference between the pressures of the first boom cylinder and the second boom cylinder, and a second pressure difference between the pressures of the first stick cylinder and the second stick cylinder, includes:

[0012] The first pressure difference and the second pressure difference are input into a pre-constructed weighing function model to obtain the gripping weight output by the weighing function model; wherein, the weighing function model is constructed based on the functional relationship between the first pressure difference, the second pressure difference and the gripping weight.

[0013] In one feasible implementation, the method further includes:

[0014] The grabbing height of the grabber is determined based on the boom position and the stick position.

[0015] If the grabbing height exceeds the height of the loading / unloading vehicle, the grabbing weight will be included in the cumulative loading amount of the loading / unloading vehicle.

[0016] In one feasible implementation, determining the gripping height of the gripper at the boom position and the stick position includes:

[0017] The boom position and stick position are input into a pre-built three-dimensional simulation model, and the grabbing height of the grabber is obtained based on the three-dimensional simulation model; wherein, the three-dimensional simulation model is built based on the geometric dimension parameters of the excavator.

[0018] In one feasible implementation, the method further includes:

[0019] If the cumulative loading amount is greater than the full load weight of the loading and unloading vehicle, then the loading and unloading vehicle is determined to be overloaded.

[0020] If the loading and unloading vehicle is overloaded, a first alarm command is generated; wherein, the first alarm command is used to instruct the excavator to issue an overload alarm.

[0021] In one feasible implementation, the method further includes:

[0022] If the grasping weight is greater than the grasping weight limit of the gripper, then the gripper is determined to be overweight.

[0023] If the gripper is overloaded, a second alarm command is generated; wherein the second alarm command is used to instruct the excavator to issue an overload alarm.

[0024] In one feasible implementation, determining the second boom cylinder pressure in the unloaded state of the boom based on the boom position includes:

[0025] Based on the boom position and boom pressure mapping table, the second boom cylinder pressure corresponding to the boom position is determined; wherein, the boom pressure mapping table is used to indicate the boom cylinder pressure corresponding to different boom positions under no-load conditions.

[0026] In one feasible implementation, determining the second stick cylinder pressure under no-load conditions based on the stick position includes:

[0027] Based on the stick position and stick pressure mapping table, the second stick cylinder pressure corresponding to the stick position is determined; wherein, the stick pressure mapping table is used to indicate the stick cylinder pressure corresponding to different stick positions under no-load conditions.

[0028] According to a second aspect disclosed in this application, this application provides an excavator workload measuring device, applied to the vehicle controller of an excavator, the excavator including a boom, stick, and grabber, the device comprising:

[0029] The data acquisition module is used to acquire the boom position and first boom cylinder pressure of the boom, as well as the stick position and first stick cylinder pressure of the stick when the gripper grabs the material.

[0030] The pressure determination module is used to determine the pressure of the second boom cylinder when the boom is unloaded, based on the boom position; and to determine the pressure of the second stick cylinder when the stick is unloaded, based on the stick position.

[0031] The weight determination module is used to determine the grab weight based on the pressure difference between the pressure of the first boom cylinder and the pressure of the second boom cylinder, and the pressure difference between the pressure of the first stick cylinder and the pressure of the second stick cylinder.

[0032] According to a third aspect disclosed in this application, this application provides an electronic device, including a processor and a memory communicatively connected to the processor;

[0033] The memory stores computer-executed instructions;

[0034] The processor executes computer execution instructions stored in the memory to implement the method described in any one of the first aspects.

[0035] According to the fourth aspect disclosed in this application, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the method described in any one of the first aspects.

[0036] According to the fifth aspect disclosed in this application, this application provides a computer program product, including a computer program, which, when executed, is used to implement the method described in any one of the first aspects.

[0037] Compared with the prior art, this application has the following beneficial effects:

[0038] This application provides a method, electronic device, and program product for measuring the workload of an excavator. By collecting the hydraulic cylinder pressures of the boom and stick at corresponding positions in the grabbing and unloaded states of the excavator, and calculating the grabbing weight through the pressure difference between the boom cylinder and the stick cylinder, the method can quickly respond to weight changes during the grabbing process by collecting displacement and pressure signals in real time and performing dynamic analysis. This achieves high-precision measurement and real-time monitoring of the grabbing weight, providing reliable data support for excavator workload statistics, overload judgment, and operation efficiency optimization. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0040] Figure 1 This application provides a schematic diagram of the structure of a grabbing excavator according to an embodiment of the present application;

[0041] Figure 2 A schematic diagram illustrating the loading and unloading coordination between a grabbing excavator and a loading and unloading vehicle, provided as an embodiment of this application;

[0042] Figure 3 A flowchart illustrating a method for measuring the workload of an excavator provided in an embodiment of this application;

[0043] Figure 4 A flowchart illustrating another method for measuring excavator workload provided in this application embodiment;

[0044] Figure 5 A schematic diagram of the structure of an excavator workload measuring device provided in an embodiment of this application;

[0045] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0046] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0048] Determining excavator workload refers to accurately measuring the actual amount of earthwork excavation, material handling, and other operations completed by the excavator within a specific time period using scientific and reasonable methods. This is typically quantified in units such as cubic meters or tons. Excavator workload indicators directly reflect the excavator's actual contribution to the project and are a core basis for evaluating equipment utilization efficiency, production capacity, and operational effectiveness. They not only provide crucial data support for project progress management and resource allocation but also offer reliable evidence for cost accounting and labor settlement, safeguarding the economic interests of all parties and improving the level of project management sophistication.

[0049] Grab-and-grab excavators are widely used in complex field conditions such as logging, material handling, and earthmoving in mountainous areas. During operation, the excavator needs to use its grabber to grab materials such as timber and rocks and load them onto transport vehicles. Because the working environment is often complex terrain such as mountains and forests, and the materials being grabbed have varying shapes and uneven weight distribution, it is difficult for the operator to accurately estimate the amount of work the excavator can handle.

[0050] Because there is no accurate workload measurement and feedback system, excavator operators cannot determine the weight grabbed each time. When the grabber grabs excessively heavy materials (such as utility poles, asphalt blocks, etc.), it can easily lead to overloading, affecting the excavator's operational safety. Furthermore, it is impossible to accurately determine whether the cumulative workload exceeds the transport vehicle's full load capacity, resulting in the risk of overloading and posing a significant safety hazard.

[0051] Therefore, there is an urgent need for a technical solution that can accurately determine the amount of work that an excavator can grab, in order to improve the safety, efficiency and data traceability of excavator operations.

[0052] To address the aforementioned technical issues, this application proposes a method, electronic device, and program product for measuring excavator workload. By collecting the hydraulic cylinder pressures of the boom and stick at corresponding positions in the excavator's grabbing and unloaded states, and calculating the grabbing weight using the pressure difference between the boom and stick cylinders, high-precision measurement and real-time monitoring of the grabbing weight are achieved. This provides reliable data support for excavator workload statistics, overload judgment, and operational efficiency optimization.

[0053] The technical solutions of the excavator workload measurement method, electronic equipment, and program product provided in this application will be described in detail below through specific embodiments. It should be noted that the following embodiments may exist independently or in combination with each other; for the same or similar content, descriptions may not be repeated in different embodiments.

[0054] It should be noted that the excavator workload measurement method provided in this application embodiment is executed by the excavator's vehicle controller, and correspondingly, the excavator workload measurement device is also installed in the excavator's vehicle controller.

[0055] participate Figure 1 The excavator 100 includes a body 104, a stick 102, a boom 103, and a grabber 101.

[0056] Specifically, the boom 102 is an intermediate transmission component connecting the boom 103 and the gripper 101. It is driven by the extension and retraction of the hydraulic cylinder to enable the gripper 101 to swing further relative to the boom 103, thereby precisely controlling the curvature and depth of the gripping trajectory.

[0057] Specifically, the boom 103 is a key structural component connecting the machine body 104 and the stick 102. It is typically long and boom-shaped, and its extension and retraction are driven by hydraulic cylinders to achieve a large pitching motion, thereby adjusting the overall working height and range of the stick 102 and the grabber 101. The design of the boom 103 directly affects the working radius and grabbing height of the excavator 100.

[0058] Specifically, the gripper 101 is a multi-functional auxiliary device designed for material gripping and handling. It typically consists of a multi-lobed claw body made of high-strength alloy steel, a hydraulic drive system, and a rotating mechanism. The opening and closing of the claw lobes is controlled by the extension and retraction of the hydraulic cylinder, which can accurately grip irregularly shaped materials such as stones, wood, scrap metal, and concrete blocks, significantly improving the excavator 100's operating efficiency and adaptability in gripping operation scenarios.

[0059] Specifically, displacement sensors are installed at the boom 103 and the stick 102 to collect the positions of the boom 103 and the stick 102, respectively. The displacement accuracy of the sensors is 1 mm.

[0060] Specifically, pressure sensors are installed at the hydraulic cylinders of the boom 103 and the stick 102 to collect the cylinder pressure of the boom 103 and the cylinder pressure of the stick 102.

[0061] Specifically, an audible and visual alarm is installed on the machine body 104 to issue an alarm. This alarm is a multi-functional safety device integrating sound warnings and light prompts. It works simultaneously with a high-decibel buzzer (typically above 85dB) and a conspicuous high-brightness flashing light (such as a red LED). Upon detecting an abnormality, it immediately issues a strong dual alarm signal, both visually and aurally. This overcomes the limitations of a single sensing method, allowing the excavator operator to perceive the alarm information even in noisy working environments.

[0062] Specifically, a display screen is installed in the cab of the excavator 100 to display relevant information about the workload.

[0063] Figure 3 A flowchart illustrating a method for measuring excavator workload provided in this application is shown below. Figure 3 In some embodiments, the excavator workload measurement method includes the following steps:

[0064] S301, when the gripper grabs material, it acquires the boom position and the pressure of the first boom cylinder, as well as the stick position and the pressure of the first stick cylinder.

[0065] The system uses displacement and pressure sensors installed on the excavator's boom and stick to collect displacement and hydraulic pressure data of the excavator's gripper during the gripping operation. This data is then used to determine the gripping weight of the gripper.

[0066] Specifically, the boom and stick positions can be represented using coordinates. A local coordinate system is established for the excavator, and the boom and stick positions are represented by coordinate points in the coordinate system. For example, the boom position is represented by coordinates (x1, y1), and the stick position is represented by coordinates (x2, y2).

[0067] S302, based on the boom position, determine the pressure of the second boom cylinder when the boom is unloaded.

[0068] Specifically, the boom cylinder pressure when the boom is unloaded at that position is determined based on the boom position.

[0069] S303, based on the stick position, determine the pressure of the second stick cylinder when the stick is unloaded.

[0070] Specifically, the boom cylinder pressure when the boom is unloaded at that position is determined based on the boom position.

[0071] S304, based on the first pressure difference between the pressure of the first boom cylinder and the pressure of the second boom cylinder, and the second pressure difference between the pressure of the first stick cylinder and the pressure of the second stick cylinder, the grab weight is determined.

[0072] When the gripper grabs material, the hydraulic cylinder pressures of the boom and stick change. Therefore, the pressure difference between the boom's unloaded cylinder pressure and the current cylinder pressure determines the change in the boom's cylinder pressure during material grabbing. Similarly, the pressure difference between the stick's unloaded cylinder pressure and the current cylinder pressure determines the change in the stick's cylinder pressure during material grabbing. Finally, based on these pressure changes in the boom and stick cylinders, the gripping weight of the gripper is calculated.

[0073] In this embodiment, the hydraulic cylinder pressures of the boom and stick at corresponding positions of the excavator in both the grabbing and unloaded states are collected. The grabbing weight is calculated using the pressure difference between the boom and stick cylinders. By collecting displacement and pressure signals in real time and performing dynamic analysis, the excavator can quickly respond to weight changes during the grabbing process. This achieves high-precision measurement and real-time monitoring of the grabbing weight, providing reliable data support for excavator workload statistics, overload judgment, and operation efficiency optimization.

[0074] Furthermore, this embodiment eliminates systematic errors caused by mechanical weight, frictional resistance, and changes in working posture by using the difference between the pressure of the unloaded hydraulic cylinder and the pressure of the loaded hydraulic cylinder, significantly improving the accuracy and stability of the gripping weight measurement. Simultaneously, no additional complex weighing equipment is required; gripping weight measurement can be achieved solely using the displacement and pressure sensors installed on the excavator. This reduces hardware costs and installation / maintenance difficulties, while also avoiding interference with the excavator's original structure and performance caused by additional equipment.

[0075] exist Figure 3 Based on the embodiments shown, the following is combined with Figure 4 The technical solution for the above-mentioned method for measuring the workload of excavators will be further introduced.

[0076] Figure 4 A flowchart illustrating another method for measuring excavator workload provided in this application is shown below. Figure 4 In some embodiments, the excavator workload measurement method includes the following steps:

[0077] S401, when the gripper grabs material, it acquires the boom position and the pressure of the first boom cylinder, as well as the stick position and the pressure of the first stick cylinder.

[0078] Step S401 is identical to step S301, and will not be repeated here.

[0079] S402, based on the boom position and boom pressure mapping table, determine the second boom cylinder pressure corresponding to the boom position; wherein, the boom pressure mapping table is used to indicate the boom cylinder pressure corresponding to different boom positions under no-load conditions.

[0080] Among them, the boom pressure mapping table, which is built in advance, can quickly query the boom cylinder pressure at the corresponding boom position under no-load conditions.

[0081] Specifically, the boom pressure mapping table can be obtained through data calibration. That is, when the excavator is unloaded, the position of the boom is continuously adjusted according to a preset step size based on the displacement sensor, and the corresponding boom cylinder pressure is collected by the pressure sensor at the same time as the position changes. Finally, the boom pressure mapping table is constructed based on the correspondence between the boom position and the boom cylinder pressure.

[0082] Specifically, the step size is set to 1mm, meaning that the boom is adjusted in 1mm increments at different positions.

[0083] S403, based on the stick position and stick pressure mapping table, determine the second stick cylinder pressure corresponding to the stick position; wherein, the stick pressure mapping table is used to indicate the stick cylinder pressure corresponding to different stick positions under no-load conditions.

[0084] Among them, by using a pre-built stick pressure mapping table, the stick cylinder pressure at the corresponding stick position under no-load conditions can be quickly queried based on the stick position.

[0085] Specifically, the boom pressure mapping table can be obtained through data calibration. This involves continuously adjusting the boom position according to a preset step size using displacement sensors while the excavator is unloaded, and collecting the corresponding boom cylinder pressure using pressure sensors as the position changes. Finally, a boom pressure mapping table is constructed based on the correspondence between the boom position and the boom cylinder pressure.

[0086] Specifically, the step size is set to 1mm, meaning that the stick is adjusted in 1mm increments at different positions.

[0087] S404, input the first pressure difference and the second pressure difference into the pre-built weighing function model to obtain the gripping weight output by the weighing function model; wherein, the weighing function model is constructed based on the functional relationship between the first pressure difference, the second pressure difference and the gripping weight.

[0088] Since the pressure difference between the gripping state and the unloaded state is determined by the weight of the gripped material, a weighing function model can be pre-constructed to reflect the functional relationship between the first pressure difference, the second pressure difference, and the gripped weight. This allows the weighing function model to quickly obtain the gripped weight based on the first and second pressure differences, improving the efficiency and accuracy of gripped weight calculation.

[0089] Specifically, the weighing function model can be obtained through the following methods: First, a large number of experiments are needed to collect data on the first and second pressure differences under different gripping weights to form a sample dataset. Next, the data is preprocessed to remove outliers and analyze its distribution characteristics. Then, mathematical methods, such as multiple linear regression and machine learning algorithms (such as support vector regression and neural networks), are used to fit and train the sample data to determine the functional relationship and parameters between the first and second pressure differences and the gripping weight. Finally, the model is evaluated and optimized using validation set data to ensure that the model has high accuracy and generalization ability, so that the gripping weight can be calculated quickly and accurately based on the real-time acquired first and second pressure differences.

[0090] S405 determines the grabbing height of the grabber based on the boom position and stick position.

[0091] The position of the grabber can be determined based on the position of the boom and the stick, and the grabber's grabbing height can then be determined accordingly.

[0092] Optionally, the grabbing height of the grabber is determined based on the boom position and stick position, including: inputting the boom position and stick position into a pre-built three-dimensional simulation model, and obtaining the grabbing height of the grabber based on the three-dimensional simulation model; wherein, the three-dimensional simulation model is built based on the geometric parameters of the excavator.

[0093] Among them, see Figure 1 As can be seen, in an excavator, the height of the grabber changes accordingly depending on the positions of the boom and stick. Therefore, by using a pre-built 3D simulation model based on the excavator's geometric parameters, the grabber position can be dynamically adjusted according to the input boom and stick positions, ultimately determining the grabber's position and thus obtaining its grabbing height.

[0094] S406 If the grabbing height exceeds the height of the loading / unloading vehicle, the grabbing weight will be included in the cumulative loading amount of the loading / unloading vehicle.

[0095] Among them, see Figure 2 If the height of the excavator 100's gripper exceeds the height of the loading / unloading vehicle 200, it indicates that the gripper is loading / unloading materials onto the vehicle 200, and the gripping weight at this time is included in the current cumulative load of the vehicle 200. Ground clearance is proposed as a valid measurement method for determining statistical validity, thereby enabling accurate calculation of the gripper's gripping weight within a work cycle, avoiding the inclusion of every weight in the workload, and ultimately achieving accurate statistics on the workload throughout the entire operation.

[0096] At the same time, this is taken as the weight of the material transferred in one work cycle, and it is added up as the workload of the excavator operator for the day.

[0097] S407 If the cumulative load exceeds the full load weight of the loading and unloading vehicle, the loading and unloading vehicle is determined to be overloaded.

[0098] If the cumulative loading amount exceeds the full load weight of the loading and unloading vehicle, it indicates that the loading and unloading vehicle is overloaded.

[0099] S408 If the loading / unloading vehicle is overloaded, a first alarm command is generated; the first alarm command is used to instruct the excavator to issue an overload alarm.

[0100] When the loading and unloading vehicle is overloaded, the vehicle controller generates a first alarm command and sends the first alarm command to the excavator's audible and visual alarm to instruct the audible and visual alarm to sound an alarm and remind the excavator driver that the loading and unloading vehicle is overloaded and should not be loaded with materials in the future.

[0101] S409, if the gripping weight exceeds the gripper's gripping weight limit, the gripper is determined to be overweight.

[0102] If the weight being gripped exceeds the gripper's maximum load capacity, it indicates that the gripper is overloaded.

[0103] S410, if the gripper is overloaded, a second alarm command is generated; the second alarm command is used to instruct the excavator to trigger an overload alarm.

[0104] When the grabber is overloaded, the vehicle controller generates a second alarm command and sends it to the excavator's audible and visual alarm to remind the excavator driver that the grabber is overloaded. To ensure the excavator's operational safety, some material should be released to prevent the grabber from becoming overloaded.

[0105] In this embodiment, by determining the grabbing weight of the excavator, overload alarms for the loading and unloading vehicle and overweight alarms for the grabber can also be implemented to provide warnings and reminders, thereby ensuring the safety of excavator operations.

[0106] Figure 5 This is a schematic diagram of the structure of an excavator workload measuring device provided in an embodiment of this application. (See attached diagram.) Figure 5 The excavator workload measuring device includes various functional modules for implementing the aforementioned excavator workload measuring method, and any functional module can be implemented by software and / or hardware.

[0107] In some embodiments, the excavator workload measuring device is applied to the excavator's vehicle controller. The excavator includes a boom, stick, and gripper. The device 500 includes a data acquisition module 501, a pressure determination module 502, and a weight determination module 503. Wherein:

[0108] The data acquisition module 501 is used to acquire the boom position and the pressure of the first boom cylinder, as well as the stick position and the pressure of the first stick cylinder, when the gripper grabs the material.

[0109] The pressure determination module 502 is used to determine the pressure of the second boom cylinder when the boom is unloaded, based on the boom position; and to determine the pressure of the second stick cylinder when the stick is unloaded, based on the stick position.

[0110] The weight determination module 503 is used to determine the grab weight based on the pressure difference between the pressure of the first boom cylinder and the pressure of the second boom cylinder, and the pressure difference between the pressure of the first stick cylinder and the pressure of the second stick cylinder.

[0111] In some embodiments, the weight determination module 503 is specifically used for:

[0112] The first pressure difference and the second pressure difference are input into a pre-built weighing function model to obtain the gripping weight output by the weighing function model; wherein, the weighing function model is constructed based on the functional relationship between the first pressure difference, the second pressure difference and the gripping weight.

[0113] In some embodiments, the device 500 further includes a weight statistics module 504, which is specifically used for:

[0114] The grabbing height of the grabber is determined based on the boom position and stick position;

[0115] If the grabbing height exceeds the height of the loading / unloading vehicle, the grabbing weight will be included in the cumulative loading amount of the loading / unloading vehicle.

[0116] In some embodiments, the data acquisition module 501 is specifically used for:

[0117] The boom position and stick position are input into a pre-built 3D simulation model, and the grab height of the grabber is obtained based on the 3D simulation model; the 3D simulation model is built based on the geometric parameters of the excavator.

[0118] In some embodiments, the device 500 further includes an overload alarm module 505, which is specifically used for:

[0119] If the cumulative loading amount exceeds the full load weight of the loading and unloading vehicle, then the loading and unloading vehicle is determined to be overloaded.

[0120] If the loading / unloading vehicle is overloaded, a first alarm command is generated; the first alarm command is used to instruct the excavator to issue an overload alarm.

[0121] In some embodiments, the overload alarm module 505 is further configured to:

[0122] If the weight being gripped exceeds the gripper's gripping weight limit, then the gripper is determined to be overloaded.

[0123] If the gripper is overloaded, a second alarm command is generated; the second alarm command is used to instruct the excavator to trigger an overload alarm.

[0124] In some embodiments, the pressure determination module 502 is specifically used for:

[0125] Based on the boom position and boom pressure mapping table, the boom cylinder pressure corresponding to the boom position is determined; wherein, the boom pressure mapping table is used to indicate the boom cylinder pressure corresponding to different boom positions under no-load conditions.

[0126] In some embodiments, the pressure determination module 502 is specifically used for:

[0127] Based on the stick position and stick pressure mapping table, the stick cylinder pressure corresponding to the stick position is determined; wherein, the stick pressure mapping table is used to indicate the stick cylinder pressure corresponding to different stick positions under no-load conditions.

[0128] The excavator workload measuring device 500 provided in this application embodiment is used to execute the technical solution provided in the aforementioned excavator workload measuring method embodiment. Its implementation principle and technical effect are similar to those in the aforementioned method embodiment, and will not be repeated here.

[0129] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing elements, entirely in hardware, or partially in software via processing elements and partially in hardware. For example, the data acquisition module 501 can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as program code in the device's memory, and its functions can be called and executed by a processing element. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the processor element or through software instructions.

[0130] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. (See attached diagram.) Figure 6 The electronic device 600 includes a processor 601 and a memory 602 communicatively connected to the processor 601;

[0131] Memory 602 stores computer-executed instructions;

[0132] The processor 601 executes computer execution instructions stored in the memory 602 to implement the aforementioned technical solution of the excavator workload measurement method.

[0133] In the aforementioned electronic device 600, the memory 602 and the processor 601 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines, such as bus connections. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be classified as address buses, data buses, control buses, etc., but this does not mean that there is only one bus or one type of bus. The memory 602 stores computer execution instructions for implementing the aforementioned excavator workload measurement method, including at least one software function module that can be stored in the memory 602 in the form of software or firmware. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602.

[0134] The memory 602 includes at least one type of readable storage medium, not limited to Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 602 stores programs, and the processor 601 executes the programs after receiving execution instructions. Furthermore, the software programs and modules within the memory 602 may also include an operating system, which may include various software components and / or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.) and can communicate with various hardware or software components to provide an operating environment for other software components.

[0135] Processor 601 can be an integrated circuit chip with signal processing capabilities. The aforementioned processor 601 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or processor 601 can be any conventional processor.

[0136] The electronic device 600 is used to execute the technical solution provided in the aforementioned excavator workload measurement method embodiment. Its implementation principle and technical effect are similar to those in the aforementioned method embodiment, and will not be repeated here.

[0137] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the technical solution of the excavator workload measurement method described above.

[0138] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The computer-readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0139] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium can be an integral part of the processor. Both the processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components within the control unit of an excavator's work measurement device.

[0140] This application also provides a computer program product, including a computer program, which, when executed, is used to implement the technical solution of the excavator workload measurement method described above.

[0141] In the above embodiments, those skilled in the art will understand that the above method embodiments can be implemented entirely or partially by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented entirely or partially in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless network, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

[0142] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0143] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

[0144] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for measuring the workload of an excavator, characterized in that, A vehicle controller for an excavator, the excavator including a boom, stick, and gripper, the method comprising: When the gripper grips the material, it obtains the boom position and the first boom cylinder pressure of the boom, as well as the stick position and the first stick cylinder pressure of the stick. Based on the boom position, determine the pressure of the second boom cylinder when the boom is unloaded; Based on the stick position, determine the pressure of the second stick cylinder when the stick is unloaded; The grab weight is determined based on the first pressure difference between the pressure of the first boom cylinder and the pressure of the second boom cylinder, and the second pressure difference between the pressure of the first stick cylinder and the pressure of the second stick cylinder.

2. The method according to claim 1, characterized in that, The grab weight is determined based on a first pressure difference between the pressures of the first boom cylinder and the second boom cylinder, and a second pressure difference between the pressures of the first stick cylinder and the second stick cylinder, including: The first pressure difference and the second pressure difference are input into a pre-constructed weighing function model to obtain the gripping weight output by the weighing function model; wherein, the weighing function model is constructed based on the functional relationship between the first pressure difference, the second pressure difference and the gripping weight.

3. The method according to claim 1, characterized in that, The method further includes: The grabbing height of the grabber is determined based on the boom position and the stick position. If the grabbing height exceeds the height of the loading / unloading vehicle, the grabbing weight will be included in the cumulative loading amount of the loading / unloading vehicle.

4. The method according to claim 3, characterized in that, Determining the grabbing height of the grabber based on the boom position and the stick position includes: The boom position and stick position are input into a pre-built three-dimensional simulation model, and the grabbing height of the grabber is obtained based on the three-dimensional simulation model; wherein, the three-dimensional simulation model is built based on the geometric dimension parameters of the excavator.

5. The method according to claim 3, characterized in that, The method further includes: If the cumulative loading amount is greater than the full load weight of the loading and unloading vehicle, then the loading and unloading vehicle is determined to be overloaded. If the loading and unloading vehicle is overloaded, a first alarm command is generated; wherein, the first alarm command is used to instruct the excavator to issue an overload alarm.

6. The method according to claim 1, characterized in that, The method further includes: If the grasping weight is greater than the grasping weight limit of the gripper, then the gripper is determined to be overweight. If the gripper is overloaded, a second alarm command is generated; wherein the second alarm command is used to instruct the excavator to issue an overload alarm.

7. The method according to any one of claims 1-6, characterized in that, Based on the boom position, determining the pressure of the second boom cylinder in the unloaded state includes: Based on the boom position and boom pressure mapping table, the second boom cylinder pressure corresponding to the boom position is determined; wherein, the boom pressure mapping table is used to indicate the boom cylinder pressure corresponding to different boom positions under no-load conditions.

8. The method according to any one of claims 1-6, characterized in that, Based on the stick position, determining the second stick cylinder pressure under no-load conditions includes: Based on the stick position and stick pressure mapping table, the second stick cylinder pressure corresponding to the stick position is determined; wherein, the stick pressure mapping table is used to indicate the stick cylinder pressure corresponding to different stick positions under no-load conditions.

9. An electronic device, characterized in that, Includes a processor and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 8.

10. A computer program product, characterized in that, Includes a computer program, which, when executed, is used to implement the method as described in any one of claims 1 to 8.

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