CN113006191A - Excavator, operation control method and device of excavator and storage medium - Google Patents
Excavator, operation control method and device of excavator and storage medium Download PDFInfo
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- CN113006191A CN113006191A CN202110286736.XA CN202110286736A CN113006191A CN 113006191 A CN113006191 A CN 113006191A CN 202110286736 A CN202110286736 A CN 202110286736A CN 113006191 A CN113006191 A CN 113006191A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses an excavator, an operation control method and device of the excavator and a storage medium, wherein the operation control method of the excavator comprises the following steps: acquiring operation data for representing the operation level of an operator; judging whether the operation data exceeds a standard range corresponding to the operation data; when the operation data exceeds the standard range, a prompt message corresponding to the operation data is generated, and the prompt message contains the correction mode of the operation action of the operator, so that the prompt message can be timely, clearly and pertinently sent, the operator can improve the operation action and improve the operation level according to the prompt, and the aims of reducing the oil consumption and improving the efficiency are fulfilled.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to an excavator, an operation control method and device of the excavator and a storage medium.
Background
At present, the operating levels of excavator operators are uneven, and under the same operating condition, the experienced excavator is higher in working efficiency and lower in oil consumption than a new excavator. When a new excavator is used for operating the excavator, the conditions of large and non-compliant action impact, more redundant actions (large action amplitude of an oil cylinder and a motor), high frequency of pressure-holding overflow and the like often exist, and at the moment, if the excavator cannot obtain timely and effective correction prompt, the oil consumption of the excavator is high, and the efficiency cannot be fully exerted.
Disclosure of Invention
In view of this, embodiments of the present invention provide an excavator, an operation control method and apparatus for the excavator, and a storage medium, so as to help an excavator driver to correct a bad operation behavior, thereby achieving the purposes of reducing oil consumption and improving efficiency.
According to a first aspect, an embodiment of the present invention provides an operation control method for an excavator, including:
acquiring operation data for representing the operation level of an operator;
judging whether the operation data exceeds a standard range corresponding to the operation data;
and when the operation data exceeds the standard range, generating a prompt message corresponding to the operation data, wherein the prompt message comprises a correction mode of the operation action of the operator.
According to the operation control method of the excavator, the operation data used for representing the operation level of the operating hand is obtained, when the operation data exceeds the standard range, the prompt message corresponding to the operation data is generated, the prompt message comprises the correction mode of the operation action of the operating hand, so that the prompt message can be timely, clearly and pertinently sent, the operating hand can improve the operation action and improve the operation level according to the prompt message, and the purposes of reducing oil consumption and improving efficiency are achieved.
With reference to the first aspect, in a first implementation manner of the first aspect, the operation data for characterizing the operation level of the operator includes: the method comprises the following steps of displacement of a movable arm oil cylinder of the excavator, displacement of a bucket rod oil cylinder of the excavator, displacement of a bucket oil cylinder of the excavator, acceleration of a movable arm of the excavator, acceleration of a bucket rod of the excavator, acceleration of a bucket of the excavator, loading rotary angle of the excavator, opening frequency of an overflow valve of the excavator and overflow flow of the excavator.
With reference to the first aspect, in a second implementation manner of the first aspect, when the operation data for representing the operation level of the operating hand is the acceleration of the bucket of the excavator and/or the acceleration of the boom of the excavator and/or the acceleration of the arm of the excavator, the modification is to improve the compliance of the operation action.
With reference to the first embodiment of the first aspect, in the third embodiment of the first aspect, when the operation data for representing the operation level of the manipulator is a displacement of a boom cylinder of the excavator and/or a displacement of a stick cylinder of the excavator and/or a displacement of a bucket cylinder of the excavator, the modification manner includes reducing the amplitude of the operation action and optimizing a loading height.
With reference to the first embodiment of the first aspect, in a fourth embodiment of the first aspect, when the operation data for representing the operation level of the manipulator is a loading swing angle of the excavator, the modification is to reduce the loading swing angle.
With reference to the first embodiment of the first aspect, in the fifth embodiment of the first aspect, when the operation data for indicating the operation level of the operator is an opening frequency of a relief valve of the excavator and/or an overflow flow rate of the excavator, the modification is to reduce the overflow.
According to a second aspect, an embodiment of the present invention provides an operation control device of an excavator, including:
the acquisition module is used for acquiring operation data for representing the operation level of an operator;
the judging module is used for judging whether the operation data exceeds a standard range corresponding to the operation data;
and the prompting module is used for generating a prompting message corresponding to the operation data when the operation data exceeds the standard range, wherein the prompting message comprises a correction mode of the operation action of the operator.
According to a third aspect, an embodiment of the present invention provides an excavator, including: the monitoring device is used for acquiring operation data for representing the operation level of an operator; the monitoring device, the memory and the processor are connected with each other in a communication manner, the memory stores computer instructions, and the processor executes the computer instructions to execute the operation control method of the excavator according to the first aspect or any one of the embodiments of the first aspect.
With reference to the third aspect, in a first embodiment of the third aspect, the monitoring apparatus includes: acceleration sensor, displacement sensor, angle sensor, flow sensor.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the operation control method of the excavator according to the first aspect or any one of the implementation manners of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 is a flowchart illustrating an excavator operation control method according to embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of an excavator operation control apparatus according to embodiment 2 of the present invention;
fig. 3 is a schematic structural diagram of an excavator operation control system according to embodiment 3 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment 1 of the invention provides an operation control method of an excavator. Fig. 1 is a flowchart illustrating an excavator operation control method according to embodiment 1 of the present invention. As shown in fig. 1, an excavator operation control method according to embodiment 1 of the present invention includes the steps of:
s101: operation data for characterizing an operation level of an operator is acquired.
In embodiment 1 of the present invention, operation data for representing the operation level of the operator can be acquired in real time during the operation of the excavator by the operator.
As a specific embodiment, the operation data for characterizing the operation level of the manipulator includes one or more of the following: the method comprises the following steps of displacement of a movable arm oil cylinder of the excavator, displacement of a bucket rod oil cylinder of the excavator, displacement of a bucket oil cylinder of the excavator, acceleration of a movable arm of the excavator, acceleration of a bucket rod of the excavator, acceleration of a bucket of the excavator, loading rotary angle of the excavator, opening frequency of an overflow valve of the excavator and overflow flow of the excavator. The operational data may thus provide a comprehensive measure of the level of operation of the backhoe.
Research shows that when the excavator is actually operated, the extending and retracting amplitudes (namely displacement) of the movable arm, the bucket rod and the bucket oil cylinder have great influence on the oil consumption and the efficiency of the excavator, the excavator with rich experience has relatively fixed extending and retracting amplitudes of the oil cylinders during operation, and the operation can not be carried out by using the full stroke of the three oil cylinders, so that the efficiency is improved, and the oil consumption is reduced; the acceleration of the movable arm, the bucket rod and the bucket is also an important parameter for representing the manual operation level of the excavator, when the acceleration of the oil cylinder is high, on one hand, the pressure fluctuation of a hydraulic system can be caused, instantaneous high pressure is generated, the oil consumption of the excavator is increased, meanwhile, the shaking of the excavator can be caused, the operation efficiency is reduced, three oil cylinders of an excavator hand with rich experience are smooth and soft in action during operation, large acceleration cannot occur, and the efficiency and the oil consumption are improved and reduced; the turning angle of loading also reflects the experience of the excavator driver, the experienced excavator driver can plan the positions among the earthwork, the excavator and the loading vehicle, and the turning angle of loading is reduced as much as possible, so that the efficiency is improved and the oil consumption is reduced; the opening frequency and the overflow flow of an overflow valve of the excavator are also important bases for measuring the manual operation level of the excavator, and the overflow hydraulic oil directly returns to the oil tank and cannot do work, the opening frequency of the overflow valve is higher, the overflow flow is higher, the more energy is wasted, and the oil consumption is naturally increased.
Specifically, the displacement of a boom cylinder of an excavator and/or the displacement of an arm cylinder of the excavator and/or the displacement of a bucket cylinder of the excavator can be obtained through a displacement sensor; the acceleration of a movable arm of the excavator and/or the acceleration of a bucket rod of the excavator and/or the acceleration of a bucket of the excavator can be acquired through an acceleration sensor; the loading rotary angle of the excavator can be acquired through an angle sensor; the opening frequency of the overflow valve of the excavator and/or the overflow flow of the excavator can be acquired through a flow sensor.
S102: and judging whether the operation data exceeds a standard range corresponding to the operation data.
In embodiment 1 of the present invention, a standard range corresponding to any one of operation data for representing the operation level of the operator can be set in advance. The standard ranges corresponding to different operational data may be the same or different. For example, a corresponding standard range is set for a boom cylinder displacement of the excavator, an arm cylinder displacement of the excavator, a bucket cylinder displacement of the excavator, a boom acceleration of the excavator, an arm acceleration of the excavator, a bucket acceleration of the excavator, a loading swing angle of the excavator, an opening frequency of an overflow valve of the excavator, and an overflow flow rate of the excavator, respectively.
S103: and when the operation data exceeds the standard range, generating a prompt message corresponding to the operation data, wherein the prompt message comprises a correction mode of the operation action of the operator.
In embodiment 1 of the present invention, the prompt message may be in a form of voice, or in a form of a buzzer alarm and a display screen text prompt.
As a specific embodiment, when the operation data for characterizing the operation level of the operating hand is the acceleration of the bucket of the excavator and/or the acceleration of the boom of the excavator and/or the acceleration of the arm of the excavator, the modification mode includes reducing the amplitude of the operation action and optimizing the loading height. For example, when the acceleration values of three cylinders of a movable arm, an arm and a bucket exceed respective standard ranges, voice prompt 'please improve the motion flexibility, reduce the impact and save the fuel'.
As a specific embodiment, when the operation data for representing the operation level of the operator is displacement of a boom cylinder of an excavator and/or displacement of an arm cylinder of the excavator and/or displacement of a bucket cylinder of the excavator, the modification is to improve compliance of the operation action. For example, when the displacement values of the three cylinders of the movable arm, the arm and the bucket exceed respective standard ranges, the voice prompts 'please reduce the action amplitude or optimize the loading height, and save fuel'.
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the loading turning angle of the excavator, the modification is to reduce the loading turning angle. For example, when the value of the loading rotation angle exceeds the standard range, the voice prompts 'please reduce the loading rotation angle and save fuel'.
As a specific embodiment, when the operation data for representing the operation level of the operator is the opening frequency of the overflow valve of the excavator and/or the overflow flow rate of the excavator, the modification is to reduce the overflow. For example, when the opening frequency of the main overflow valve and the secondary overflow valve is too high, the overflow flow is too large and exceeds the standard range, the voice prompts 'please reduce the excavator overflow and save fuel'.
Therefore, according to the embodiment 1 of the invention, the bad operation record of the manipulator can be detected in time through real-time data detection and prompt, and the correction suggestion can be given effectively through voice prompt, so that the operation level of the excavator manipulator is improved.
According to the operation control method of the excavator provided by the embodiment 1 of the invention, the operation data used for representing the operation level of the operating hand is obtained, when the operation data exceeds the standard range, the prompt message corresponding to the operation data is generated, the prompt message comprises the correction mode of the operation action of the operating hand, so that the prompt message can be timely, clearly and pertinently sent, and the operating hand can improve the operation action and improve the operation level according to the prompt, so that the purposes of reducing oil consumption and improving efficiency are achieved.
Example 2
Embodiment 2 of the present invention provides an operation control device for an excavator, which corresponds to embodiment 1 of the present invention. Fig. 2 is a schematic structural view of an excavator operation control device according to embodiment 2 of the present invention. As shown in fig. 2, the excavator operation control apparatus according to embodiment 2 of the present invention includes an acquisition module 20, a determination module 22, and a presentation module 24.
Specifically, the obtaining module 20 is configured to obtain operation data for characterizing an operation level of an operator.
And the judging module 22 is configured to judge whether the operation data exceeds a standard range corresponding to the operation data.
And the prompt module 24 is configured to generate a prompt message corresponding to the operation data when the operation data exceeds the standard range, where the prompt message includes a correction mode of the operation action of the operator.
As a specific embodiment, the operation data for characterizing the operation level of the operator includes: the method comprises the following steps of displacement of a movable arm oil cylinder of the excavator, displacement of a bucket rod oil cylinder of the excavator, displacement of a bucket oil cylinder of the excavator, acceleration of a movable arm of the excavator, acceleration of a bucket rod of the excavator, acceleration of a bucket of the excavator, loading rotary angle of the excavator, opening frequency of an overflow valve of the excavator and overflow flow of the excavator.
As a specific embodiment, when the operation data for characterizing the operation level of the operating hand is the acceleration of the bucket of the excavator and/or the acceleration of the boom of the excavator and/or the acceleration of the arm of the excavator, the modification is to improve the compliance of the operation action.
As a specific embodiment, when the operation data for characterizing the operation level of the operator is displacement of a boom cylinder of the excavator and/or displacement of a stick cylinder of the excavator and/or displacement of a bucket cylinder of the excavator, the modification manner includes reducing the amplitude of the operation action and optimizing the loading height.
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the loading turning angle of the excavator, the modification is to reduce the loading turning angle.
As a specific embodiment, when the operation data for representing the operation level of the operator is the opening frequency of the overflow valve of the excavator and/or the overflow flow rate of the excavator, the modification is to reduce the overflow.
The details of the excavator operation control device can be understood by referring to the corresponding related description and effects in the embodiment shown in fig. 1, and are not described herein again.
Example 3
The embodiment of the invention also provides an excavator, which comprises a monitoring device, a processor and a memory, wherein the monitoring device is used for acquiring operation data for representing the operation level of an operator, and the processor and the memory can be connected through a bus or in other manners.
As a specific implementation mode, the monitoring device comprises an acceleration sensor, a displacement sensor, an angle sensor and a flow sensor. And the movable arm, the arm and the bucket can be respectively provided with a displacement sensor and an acceleration sensor for monitoring the displacement and the acceleration of the oil cylinder of the movable arm, the arm and the bucket. The flow sensor can be arranged at the outlets of the main overflow valve and the secondary overflow valve and used for monitoring the opening frequency and the overflow flow of the overflow valves. The angle sensor is arranged on a front cross beam of the excavator rotary platform and used for detecting the loading rotary angle.
The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (e.g., the obtaining module 20, the judging module 22, and the prompting module 24 shown in fig. 2) corresponding to the excavator operation control method according to the embodiment of the present invention. The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, the operation control method of the excavator in the above method embodiment is realized.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory, and when executed by the processor, perform an operation control method of the excavator in the embodiment shown in fig. 1.
The details of the excavator can be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 2, and are not described herein again.
Specifically, in embodiment 3 of the present invention, an excavator performs an operation control method of the excavator as in the embodiment shown in fig. 1 by an excavator operation control system. Fig. 3 is a schematic structural diagram of an excavator operation control system according to embodiment 3 of the present invention, and as shown in fig. 3, the excavator operation control system includes an operation data detection module (i.e., the above monitoring device), an operation data collection module, an operation data processing module (i.e., the above determination module and prompt module), and an operator terminal prompt module.
Specifically, the operation data detection module includes: displacement and acceleration sensors of three oil cylinders of a movable arm, a bucket rod and a bucket; a turning angle sensor for getting on; and thirdly, flow sensors arranged at the outlets of the main overflow valve and the secondary overflow valve detect the opening frequency and the overflow flow of the overflow valves. And the data of the operation data collection module is used for receiving the data information collected by the sensor and sending the data information to the data processing module.
The operation data processing module has the functions of: analyzing the received data of each sensor, and comparing the data with a preset standard range of each operating parameter; and obtaining a corrected prompt instruction of the excavator operation mode when a certain operation parameter exceeds a standard range.
The manipulator terminal prompt module is used for: and (5) giving an instruction of a correction mode to the operator in a voice mode.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. An operation control method of an excavator, comprising:
acquiring operation data for representing the operation level of an operator;
judging whether the operation data exceeds a standard range corresponding to the operation data;
and when the operation data exceeds the standard range, generating a prompt message corresponding to the operation data, wherein the prompt message comprises a correction mode of the operation action of the operator.
2. The method of claim 1, wherein the operational data for characterizing the operational hand manipulation level comprises: the method comprises the following steps of displacement of a movable arm oil cylinder of the excavator, displacement of a bucket rod oil cylinder of the excavator, displacement of a bucket oil cylinder of the excavator, acceleration of a movable arm of the excavator, acceleration of a bucket rod of the excavator, acceleration of a bucket of the excavator, loading rotary angle of the excavator, opening frequency of an overflow valve of the excavator and overflow flow of the excavator.
3. The method of claim 2, wherein: when the operation data for representing the operation level of the operating hand is the acceleration of the bucket of the excavator and/or the acceleration of the movable arm of the excavator and/or the acceleration of the arm of the excavator, the modification is to improve the flexibility of the operation action.
4. The method of claim 2, wherein: when the operation data for representing the operation level of the operating hand is the displacement of a movable arm cylinder of the excavator and/or the displacement of an arm cylinder of the excavator and/or the displacement of a bucket cylinder of the excavator, the modification mode comprises the steps of reducing the amplitude of the operation action and optimizing the loading height.
5. The method of claim 2, wherein: and when the operation data for representing the operation level of the manipulator is the loading rotary angle of the excavator, the modification mode is to reduce the loading rotary angle.
6. The method of claim 2, wherein: when the operation data for representing the operation level of the operator is the opening frequency of the overflow valve of the excavator and/or the overflow flow of the excavator, the modification mode is to reduce the overflow.
7. An operation control device for an excavator, comprising:
the acquisition module is used for acquiring operation data for representing the operation level of an operator;
the judging module is used for judging whether the operation data exceeds a standard range corresponding to the operation data;
and the prompting module is used for generating a prompting message corresponding to the operation data when the operation data exceeds the standard range, wherein the prompting message comprises a correction mode of the operation action of the operator.
8. An excavator, comprising:
the monitoring device is used for acquiring operation data for representing the operation level of an operator;
a memory and a processor, wherein the monitoring device, the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the operation control method of the excavator according to any one of claims 1 to 6.
9. The excavator of claim 8 wherein the monitoring device comprises: acceleration sensor, displacement sensor, angle sensor, flow sensor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing the computer to execute the operation control method of an excavator according to any one of claims 1 to 6.
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