CN113124972A - Excavator material weighing method and system - Google Patents
Excavator material weighing method and system Download PDFInfo
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- CN113124972A CN113124972A CN202110268743.7A CN202110268743A CN113124972A CN 113124972 A CN113124972 A CN 113124972A CN 202110268743 A CN202110268743 A CN 202110268743A CN 113124972 A CN113124972 A CN 113124972A
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Abstract
The invention provides a method and a system for weighing materials of an excavator, relates to the technical field of methods for acquiring the weight of materials in an excavator bucket, and solves the technical problem that the calculation accuracy of the methods in the prior art on the weight value of the materials in the excavator bucket is low. The method comprises the steps of obtaining first supporting force of each posture of a large arm oil cylinder when the bucket is in no-load and obtaining second supporting force of each posture of the large arm oil cylinder when the bucket is in loading; acquiring angle parameters of each posture of the large arm; and determining the actual weight of the material in the bucket according to the acquired angle parameters of each posture of the large arm and the first supporting force and the second supporting force. The excavator material weighing device is used for perfecting the excavator material weighing function and meeting the requirement of people on accurate excavator material weight weighing.
Description
Technical Field
The invention belongs to the technical field of methods for acquiring the weight of materials in an excavator bucket, and particularly relates to a method and a system for weighing the materials of the excavator.
Background
An excavator, also known as an excavating machine, is an earth moving machine that excavates material above or below a bearing surface with a bucket and loads the material into a transport vehicle or unloads the material to a stockyard. The materials excavated by the excavator mainly comprise soil, coal, silt, soil subjected to pre-loosening and rocks.
The excavator weighing system can reflect information such as working height, working amplitude, excavation weight, load overload and the like on a human-computer interaction interface in real time by means of various signal sensors, so that the hoisting equipment is safely and effectively used by an operator within the range of design parameters. When the operation of the hoisting equipment is close to or exceeds the allowable safety range, the system sends out an audible and visual alarm to remind an operator to stop illegal operation, so that the accurate measurement or detection of the weight of the material of the excavator bucket has important significance, the monitoring of the working performance of the excavator is realized, and the operation or the use of the excavator by people is more reasonable.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a method for weighing materials of an excavator, which solves the technical problem that the method in the prior art has low calculation accuracy on the weight value of the materials in an excavator bucket. The technical scheme of the scheme has a plurality of technical beneficial effects, which are described as follows:
on the one hand, the scheme provides a method for weighing materials of an excavator, and the method comprises the following steps:
acquiring first supporting force of each posture of a large arm oil cylinder when a bucket is in no-load and acquiring second supporting force of each posture of the large arm oil cylinder when the bucket is in load;
acquiring angle parameters of each posture of the large arm;
and determining the actual weight of the material in the bucket according to the acquired angle parameters of each posture of the large arm and the first supporting force and the second supporting force.
Another aspect provides a system for excavator material weighing, the system comprising:
the acquisition module is used for acquiring first supporting force of each posture of the big arm oil cylinder when the bucket is in no-load state, acquiring second supporting force of each posture of the big arm oil cylinder when the bucket is in loading state and parameters of each posture of the big arm;
and the calculation module is used for determining the actual weight of the material in the bucket according to the acquired angle parameters of each posture of the big arm and the first supporting force and the second supporting force.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
according to the method provided by the scheme, the actual weight of the material of the excavator is solved by calculating the supporting force of the large arm when the excavator is in no-load or in loading, the actual weight of the material of the excavator is solved by using a mechanical basic principle instead of a friction force mode, when the material is calculated by using the friction force, the weight of the material cannot be accurately calculated due to the fact that the frequency of vibration or shaking of the excavator during excavation is high, the weight of the material is closely related to an excavator control system, and under the condition that the calculation is inaccurate, the condition of false alarm is easy to occur, and the use efficiency of the excavator is influenced.
According to the system provided by the invention, each designed operation module is provided with the method to obtain the weight value of the material, so that an accurate material value can be provided, the condition of false alarm caused by inaccurate calculation of the material value is avoided, and the use efficiency of the excavator is influenced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Figure 1 is an overall flow diagram of the method of the present invention for weighing excavator material;
FIG. 2 is a flow chart of a method of weighing excavator materials to obtain a first supporting force;
figure 3 is a schematic view of the excavator set angle of the present invention;
figure 4 is a schematic diagram of a mining machine arrangement of the present invention utilizing angle to solve for the large arm moment arm;
FIG. 5 is a schematic view of the excavator of the present invention during excavation;
FIG. 6 is a schematic diagram of a least square method processing transformation relation obtained in the method for weighing excavator materials;
figure 7 is a system block diagram of the present invention for excavator material weighing;
figure 8 is a block diagram of a preferred embodiment of the system for weighing excavator material of the present invention;
wherein:
1. a large arm; 2. a large arm cylinder; 3. a small arm; 4. a small arm cylinder; 5. a bucket; 6. a bucket cylinder; 7. a vehicle body.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. 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.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in practical implementation, and the type, quantity and proportion of the components in practical implementation can be changed freely, and the layout of the components can be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details. In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In an excavator, a large arm is also called a boom, and a small arm is also called an arm.
The method for weighing the excavator material in the figure 1 comprises the following steps:
s101, acquiring first supporting force of each posture of a big arm oil cylinder when the bucket is unloaded and acquiring second supporting force of each posture of the big arm oil cylinder when the bucket is loaded, for example, weighing system overall structure working device model calculation (determined according to the size or structure of the excavator, generally, the first supporting force can be acquired from the factory specifications of the excavator), no-load pressure calculation (first supporting force) and weight calculation (second supporting force), wherein the second supporting force is the supporting force of the big arm when the excavator is loaded, it needs to be pointed out that when the excavator supporting force is calculated, the pressure of a big arm oil cavity is known and is generally 0-50MPa, and the pressure value can be acquired in real time according to a pressure sensor on the excavator;
s102, acquiring angle parameters of each posture of the big arm, and acquiring the posture parameters when the bucket is determined to start non-idle load, wherein the posture parameters comprise angle parameters of different postures of the big arm, the small arm and the bucket of the excavator, angle parameters of a vehicle body and the like;
and S103, determining the actual weight of the material in the bucket according to the acquired angle parameters of each posture of the big arm, the first supporting force and the second supporting force. And determining the force arm and the supporting force according to the determined parameters of each posture, the first supporting force and the second supporting force, for example, through a lever principle model and a plane trigonometric function thereof, so that the actual weight of the material under load is solved through the principle of equal moment.
According to the method, the actual weight of the material of the excavator is solved by using a mechanical basic principle through calculating the supporting force of the large arm when the excavator is in no-load or in loading, but the weight of the material is solved in a friction force mode.
The following method for calculating the first supporting force and the second supporting force is exemplified, and it should be noted that the explanation is not to be understood as a specific limitation to the technical solution of the present invention, and specifically, the following method is used:
the method for acquiring the first supporting force of each posture of the large arm oil cylinder when the bucket is in no-load comprises the following steps:
s201, as shown in the figures 2, 3 and 4, the tilt angle sensors are respectively arranged on the vehicle body, the big arm, the small arm and the bucket rocker arm, and a first included angle of the gravity center angle of the bucket, a second included angle of the big arm and the vehicle body, a third included angle of the small arm and the big arm and a fourth included angle of the bucket and the small arm are obtained, wherein:
the first included angle is theta0The second included angle is theta2The third included angle is theta3And the fourth angle is theta4Angle theta of gravity center of bucket0: bucket (0)304) Angle between extension line passing through center of gravity of bucket and large arm angle theta2Angle theta of bucket rod3And bucket angle θ4The working range of the excavator is determined according to different types of excavators;
s202, acquiring a first length of a large arm, a second length of a small arm and a third length between a rotating shaft of the bucket and the gravity center of the bucket;
the above data is only a range of working angles of a plurality of excavators with different tonnage, and is not taken as a specific limitation on the model of a specific excavator, and is only used as an explanation, and should not be understood as a specific limitation of the method, as shown in fig. 6, wherein:
s203, determining a tool constant, such as a working device size constant of the excavator;
the first included angle is theta0The second included angle is theta2The third included angle is theta3And the fourth angle is theta4And the basic size of the working device, and determining the force arm-b of the large-arm oil cylinder by a plane geometric relation functionF(ii) a In the same way, deducing the gravity arm-b of the bucket0；
S204, determining the gravity arm of the bucket center of gravity and the arm of the large arm oil cylinder supporting force to determine a first supporting force. The method comprises the steps of obtaining an angle constant of a tool of the excavator, determining a gravity center force arm of the excavator bucket and a force arm of a large arm oil cylinder supporting force through a trigonometric function to determine a first supporting force, determining the first supporting force through a plurality of trigonometric algorithms, performing the supporting force of the large arm oil cylinder in no-load through relative angles of a large arm, a small arm and a vehicle body, and calculating the supporting force to be changed along with the change of the angle, so that the calculated supporting force of the large arm oil cylinder in no-load is more accurate, and the data determine the first supporting force through a moment balance model.
As some embodiments provided in the present application, a method for obtaining a second supporting force of each posture of a boom cylinder when a bucket is loaded includes:
and after the bucket is loaded, acquiring the pressure values and the area values of the large cavity and the small cavity of the large arm, and determining a second supporting force according to the pressure values and the area values. For example, the second supporting force in the loaded condition is directly calculated by the large and small cavity pressures of the large arm.
Summary of the first and second supporting forces:
the following is to help the technical solution of the present invention to be understood by those skilled in the art, and it should be noted that, the tonnage of the excavator is different, and the working angle of the big arm or the small arm or other mechanical structure parts is different.
The supporting force (large arm oil cylinder) is divided into no-load supporting force (first supporting force) and loaded supporting force (second supporting force), the no-load supporting force is acquired when the large arm, the small arm and the bucket move to a specific angle in no-load, then the no-load supporting force with the angle can be acquired by using a moment balance model, as shown in fig. 5, 25 degrees is the minimum angle of the large arm, 50 degrees is the maximum angle of the large arm, the concepts of the numerical values of the small arm and the bucket are the same as the large arm, the specific angle is acquired, and the moment balance model in the existing model is used for calculating to determine the first supporting force. The second supporting force is used for acquiring the pressure values and the area values of the large cavity and the small cavity of the large arm, and the pressure difference can be calculated.
After the first supporting force and the second supporting force are determined, the materials when the bucket is loaded are calculated, and the specific calculation is as follows:
the calculation formula of the actual weight of the material can calculate the weight of the material according to the moment balance relationship between the gravity moment of the material and the supporting force moment of the movable arm oil cylinder, wherein the weight is the first supporting force with load.
As part of the embodiment provided by the scheme, the method for determining the actual weight of the material in the bucket by acquiring the parameters, the first supporting force and the second supporting force of the big arm in each posture comprises the following steps:
after the bucket is loaded, the weight values of the materials corresponding to all the postures of the boom are obtained within preset time or unit time, and the conversion relation between a plurality of weight values of the materials and the time is determined, the conversion relation is shown in figure 5,
processing the material weight curve by using a least square method to obtain more accurate materialThe actual weight, during the excavation, the relative positions of the boom, the forearm and the bucket are changed in a time-reversed manner until the excavation is completed, so that the supporting force during the loading belongs to a variable, as shown in fig. 6, the change of the material is represented as a curve similar or approximate to a sine function, the x axis is time, the y axis is the change of the weight of the material, and a plurality of a and a are included in unit time1......anAnd b, b1......bnThe material weight curve is processed by using a least square method, and the actual weight of the material in the bucket is determined, specifically as follows:
in unit time (time for completing one-time excavation or a preset time period), acquiring the maximum weight value and the minimum weight value of the material corresponding to all the postures of the big arm;
determining a, a1......anAnd b, b1......bnProcessing the material weight curve by using a least square method to obtain accurate actual material weight;
the method comprises the steps of obtaining information of a material value difference value of a previous posture and a current posture of a material value in real time, determining the actual weight of the material, wherein in the excavation process, the driving speed of a mechanical structure which vibrates or shakes a bucket is not a constant value, or adopting a maximum material value and a minimum material value corresponding to acceleration, when the acceleration is zero, representing that the bucket completes one-time excavation, the speed is also a constant value, a value processed by a least square method corresponding to the posture is the actual weight of the material, in conclusion, the value processed by two multiplications can be used as the actual material value, and whether the actual material value is used as an evaluation standard is as follows:
acquiring lifting and descending parameters of the big arm and judging whether the big arm stops lifting or not, if not, restarting calculation, acquiring actual weight value (namely, a first value) of the material again until the big arm stops lifting, and if so, acquiring angle parameter of the big arm lifting and judging whether the angle parameter of the big arm lifting is larger than a preset angle value (the preset angle value is determined according to the mechanical structure of the excavator and is generally 5-15 degrees, and setting the preset angle value according to different structures), if not, acquiring the actual weight value (namely, a second value) again until the angle parameter of the big arm lifting is larger than and/or equal to the preset angle value, indicating that the bucket is still in the digging action at present and does not finish digging at present, if so, outputting the actual value of the material weight value, indicating that the bucket finishes digging at present, and taking the actual value of the material weight value at the moment corresponding to the posture as the evaluation of the actual material weight, the specific evaluation was as follows:
as shown in fig. 7, the boom lowering value or the bucket raising value corresponding to the actual value of the material weight value is obtained and locked, and the purpose of the determination is to determine whether to complete one-time excavation, and to accurately determine the boom lowering value and/or the bucket raising value and/or the boom raising value and the rotation angle, where it is noted that the determination is determined by the change of the mechanical structure or form or posture actually generated by the excavator, the actual material weight value determined by the transformation of the mechanical posture is more accurate, and more external factors are excluded, for example, the calculated deviation is larger due to vibration;
and judging whether the large arm descending value is greater than a large arm descending limit value and/or whether the bucket raising value is greater than a bucket raising limit value and/or whether the raising value of the small arm is greater than a small arm raising limit value and whether the rotation angle is greater than a rotation limit value, if not, locking or marking the actual value of the material weight value, and outputting, if so, unlocking the current material weight value, and weighing the next material.
In the method, the actual value of the material weight value is firstly locked, whether the average is used as the application or selection of the material actual value needs to be further determined, and then the judgment is carried out through the bucket outward raising value and/or the large arm descending value and the small arm outward raising value and the rotation angle limit value, so that the accuracy of data is provided.
Another aspect provides a system for excavator material weighing, the system comprising:
as shown in fig. 7, the obtaining module is configured to obtain a first supporting force of each posture of the boom cylinder when the bucket is unloaded, and obtain a second supporting force of each posture of the boom cylinder when the bucket is loaded, and parameters of each posture of the boom cylinder;
and the calculation module is used for determining the actual weight of the material in the bucket according to the acquired angle parameters of each posture of the big arm, the first supporting force and the second supporting force.
As some embodiments provided in the present disclosure, the obtaining module is further configured to obtain a first included angle of a gravity center angle of the bucket, a second included angle of the big arm and the car body, a third included angle of the small arm and the big arm, and a fourth included angle of the bucket and the small arm, and,
acquiring a first length of a large arm, a second length of a small arm, a third length between a rotating shaft of a bucket and the gravity center of the bucket, and acquiring an angle constant of an excavator tool to determine a first supporting force, wherein the data communication mode can be realized by adopting the mode of the prior art, and the description is omitted;
the obtaining module is further used for obtaining the loading information of the bucket and obtaining the large cavity pressure value and the small cavity pressure value and the area value of the large arm so as to determine the second supporting force. And acquiring the second supporting force, for example, acquiring the pressure values and the area values of the large cavity and the small cavity of the large arm after the bucket is loaded, and determining the second supporting force according to the pressure values and the area values.
As shown in fig. 7, as an optimal embodiment of the present invention, after acquiring the first supporting force, the second supporting force and the boom angle parameter thereof, the material value is determined, which is briefly described as follows:
1. processing the transformation relation by a least square method to determine the actual weight value of the material;
2. determining whether the actual weight value of the most material is output as an output value or not by judging whether the large arm rises and/or whether the rising angle of the movable arm is larger than a preset value or not;
3. and further, judging whether the bucket completes one-time excavation or not so as to lock the actual weight value of the material.
And repeating the process to determine the weight value of the excavated materials of the bucket each time.
Another aspect provides a hardware device for weighing excavator materials, including:
a memory for storing non-transitory computer readable instructions; and
a processor for executing computer readable instructions and configured to perform a method as described above in part or in whole.
The hardware device formed by the method can calculate a relatively accurate actual material weight value, and determines a final value by judging and evaluating the material value processed by the least square method for many times.
And, after carrying out data communication with the main server, can send data to the terminal, the terminal can be cell-phone or computer or panel computer or ipad or other mobile terminal, managers can obtain the working condition of job site excavator in real time, more intelligent, and, the actual value of the material weight that obtains is also more accurate, can effectively avoid the condition of wrong report to the police to appear, for example, the actual weight of material does not reach warning default value, have for example, the mode of calculating the material weight with mechanical structure relative friction in the traditional approach, because of the shake or vibrations that excavator self produced in the excavation process, cause the material value that calculates finally to differ too big with the actual value, appear at least, operate irregular signalling.
On the other hand, as shown in fig. 4, the excavator comprises a bucket 5, a boom 1, a boom 3 and a vehicle body 7, and is further provided with part or all of the above hardware devices, the bucket 5, the boom 1, the boom 3 and the vehicle body 7 are respectively provided with an angle sensor, the angle sensors acquire angle information of the current postures of the bucket 5, the boom 1, the boom 3 and the vehicle body 7 and send the angle information to a controller, the boom 1 is connected with a boom cylinder 2, the boom 3 is connected with a boom cylinder 4, the bucket 5 is connected with a bucket cylinder 6, and the cylinders output as driving force.
It should be pointed out that, preferably, the included angle between the horizontal line of the vehicle body operation chamber and the extension lines of the large arm and the small arm is taken as the standard, and the mechanical structure of the excavator is not changed in the scheme, the mounting mode of the bucket, the large arm and the small arm and the vehicle body in the excavator can be taken as the standard according to the mounting mode of the prior art, or a rocker arm and a connecting rod are mounted between the bucket 5 and the small arm 3, an angle sensor is mounted on the rocker arm, or a coded disc is mounted at the rotating shaft connecting the rocker arm and the small arm 3.
The excavator can be an excavator with different tonnages or different types, the hardware device is installed, and the method is operated, so that the accurate weight value of the material can be obtained in real time.
As part of the embodiments provided by the scheme, a rocker arm is arranged between the bucket and the small arm, an angle sensor is arranged on the rocker arm, and the position of the sensor arranged on the bucket or the bucket cylinder is not limited in order to accurately monitor the angle between the bucket and the bucket cylinder.
The method and product provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the invention without departing from the inventive concept, and those improvements and modifications also fall within the scope of the claims of the invention.
Claims (10)
1. A method for weighing excavator materials, which is characterized by comprising the following steps:
acquiring first supporting force of each posture of a large arm oil cylinder when a bucket is in no-load and acquiring second supporting force of each posture of the large arm oil cylinder when the bucket is in load;
acquiring angle parameters of each posture of the large arm;
and determining the actual weight of the material in the bucket according to the acquired angle parameters of each posture of the large arm and the first supporting force and the second supporting force.
2. The method of claim 1, wherein the method of obtaining the first support force for each attitude of the boom cylinder when the bucket is empty comprises:
acquiring a first included angle of a gravity center angle of the bucket, a second included angle of the large arm and the vehicle body, a third included angle of the small arm and the large arm and a fourth included angle of the bucket and the small arm;
and acquiring the first length of the large arm, the second length of the small arm and the tool angle constant of the excavator to determine the first supporting force.
3. The method of claim 2, wherein determining a moment arm of a bucket center of gravity and a moment arm of a boom cylinder support force to determine the first support force comprises:
and when the bucket is in no load, acquiring the first length of the large arm, the second length of the small arm and the tool angle constant of the excavator, and determining the first supporting force according to a moment balance model.
4. The method of claim 1, wherein the method of obtaining the second support force for each attitude of the boom cylinder when the bucket is loaded comprises:
after the bucket is loaded, acquiring large and small cavity pressure values and area values of a large arm;
and determining the second supporting force according to the pressure value and the area value.
5. The method of claim 1, wherein the step of determining the actual weight of the material in the bucket from the acquired parameters at each attitude of the boom, the first support force and the second support force comprises:
after the bucket is loaded, acquiring material weight values corresponding to all postures of the boom within preset time or unit time, and determining the transformation relation between a plurality of material weight values and time or angles;
and (5) processing the matter transformation relation by using a least square method to determine the actual weight of the material.
6. The method of claim 5, wherein determining the actual weight of the material comprises:
and acquiring the lifting and descending parameters of the big arm and judging whether the big arm stops lifting, if not, acquiring the actual weight of the weight value of the material again until the big arm stops lifting, if so, acquiring the lifting angle parameter of the big arm and judging whether the lifting angle parameter of the big arm is greater than the preset angle value, if not, acquiring the actual weight of the material again until the lifting angle parameter of the big arm is greater than and/or equal to the preset angle value, and if so, outputting the actual weight of the material.
7. The method of claim 6, wherein outputting the current actual weight of the material comprises:
acquiring a big arm descending value or a bucket outward raising value or a small arm rotation angle corresponding to the actual weight of the output current material, and locking the big arm descending value or the bucket outward raising value or the small arm rotation angle;
judging whether the large arm descending value is greater than the large arm descending limit value, and/or whether the bucket raising value is greater than the bucket raising limit value, and/or whether the small arm raising value is greater than the small arm raising limit value, and/or whether the small arm rotation angle is greater than the rotation limit value, if not, marking the actual weight of the current material, and outputting, if so, unlocking the actual weight of the current material, and weighing the next material.
8. A system for excavator material weighing, the system comprising:
the acquisition module is used for acquiring first supporting force of each posture of the big arm oil cylinder when the bucket is in no-load state, acquiring second supporting force of each posture of the big arm oil cylinder when the bucket is in loading state and parameters of each posture of the big arm;
and the calculation module is used for determining the actual weight of the material in the bucket according to the acquired angle parameters of each posture of the big arm and the first supporting force and the second supporting force.
9. The system of claim 8, wherein the acquisition module is further configured to acquire a first angle of a center of gravity of the bucket, a second angle of the boom relative to the vehicle, a third angle of the forearm relative to the boom, and a fourth angle of the bucket relative to the boom, and,
obtaining a first length of the big arm, a second length of the small arm and a third length between the rotating shaft of the bucket and the gravity center of the bucket, obtaining an angle constant of the tool of the excavator, obtaining,
when the bucket is in no load, acquiring a third supporting force of the large arm, the small arm and the bucket moving to a preset angle;
the acquisition module is in data communication with a moment balance model, and the first supporting force is determined through the moment balance model;
the acquisition module is further used for acquiring carrying information of the bucket and acquiring large and small cavity pressure values and area values of the large arm to determine the second supporting force.
10. The system of claim 9, wherein the computing module is further configured to,
after the bucket is loaded, acquiring material weight values corresponding to all postures of the boom within preset time or unit time, and determining the transformation relation between a plurality of material weight values and time or angles;
processing the matter transformation relation by using a least square method to determine the actual weight of the material;
and acquiring the lifting and descending parameters of the big arm and judging whether the big arm stops lifting, if not, acquiring the actual weight of the weight value of the material again until the big arm stops lifting, if so, acquiring the lifting angle parameter of the big arm and judging whether the lifting angle parameter of the big arm is greater than the preset angle value, if not, acquiring the actual weight of the material again until the lifting angle parameter of the big arm is greater than and/or equal to the preset angle value, and if so, outputting the actual weight of the material.
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