CN117647406A - Off-line detection method and system for excavator, electronic equipment and storage medium - Google Patents
Off-line detection method and system for excavator, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system, electronic equipment and a storage medium for detecting the offline of an excavator, wherein the method comprises the steps of acquiring external attitude data and internal state data of an excavator to be detected; based on built-in attitude sensor message definition information and a detected excavator message definition document contained in a detection task, external attitude data and internal state data of the detected excavator are calculated; the external attitude data and the internal state data after the calculation are corresponding to each other according to the time stamp and are used as detection data; dividing the detection data, and calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each divided detection data segment; the invention can effectively solve the problems of single offline detection data and low efficiency of the excavator.
Description
Technical Field
The invention relates to an excavator offline detection method, an excavator offline detection system, electronic equipment and a storage medium, and belongs to the technical field of engineering machinery detection.
Background
The engineering machinery industry represented by the excavator has the production characteristics of multiple varieties and small batches, and meanwhile, increasingly subdivided use scenes and personalized user requirements also require the excavator manufacturers to have strong product development capability. In order to ensure the research and development quality of products, the excavator manufacturers generally perform offline detection on the excavator after new products are manufactured in trial or mass production products are assembled, and perform the operations of complete machine debugging, parameter calibration, complete machine testing and the like after the detection is finished. At present, the offline detection mode of the excavator is more traditional, and is mostly verified by technological parameters, such as whether structural members interfere, whether the hydraulic pipeline layout is reasonable, whether wiring harness routing is correct, and output assembly verification information, and also a manufacturer detects the action characteristic value of the excavator and judges whether the excavator is qualified according to the value. However, the above methods cannot synchronously acquire quantized data of power, hydraulic pressure, electric and control systems of the excavator on the basis of acquiring attitude data of the excavator, and further cannot confirm the offline state of the excavator in all directions. Meanwhile, the corresponding relation between the parameter adjustment of the new product of the excavator and the characteristic value of the detected excavator is ignored, so that the new product can not be guided to be developed by utilizing the offline detection data of the new product of the excavator.
The invention discloses an offline detection method and system based on excavator detection video information, and discloses an offline detection method and system based on excavator detection video information, wherein the offline detection method and system extracts action stroke characteristic values of all parts according to the excavator detection video information, wherein the action stroke characteristic values comprise corresponding actions of lifting a movable arm, descending the movable arm, swinging an arm outwards, swinging an arm inwards, swinging an bucket outwards and swinging the bucket inwards, and judging whether the action stroke characteristic values of all the parts are qualified or not based on action stroke standard values of all the parts.
The invention discloses an excavator online debugging system and an excavator CN 213843818U, which comprise a detection module adopting an attitude sensor and a host module consisting of a control unit and a debugging unit. The control unit receives and stores the excavator state debugging information monitored by the detection module, and the feedback control adjustment of the excavator debugging project is performed based on the debugging information of the debugging unit in the subsequent debugging process, so that the real-time online monitoring analysis of the excavator to be debugged project is realized, the subsequent reprocessing is not needed, and the debugging time is obviously shortened; the display subunit can automatically adjust the proportionality coefficient according to the numerical value of the monitored parameter, so that all data are displayed in the same area, and the whole analysis is convenient.
The prior art has the following disadvantages: 1) The detection task management and data management work is not systematically carried out only aiming at the detection system and the detection flow of a single excavator, and effective detection statistical information cannot be formed; 2) When the detection project is developed, only the attitude information of the excavator, which has high correlation with the detection part, is detected, and other attitude information is ignored; 3) When the detection project is developed, only the posture information of the detected excavator is focused, the internal signals of the detected excavator are not acquired and analyzed, and the corresponding data of the external posture and the internal characteristics of the detected excavator and the characteristic values thereof cannot be acquired; 4) Only aiming at whether the characteristic value of the mass-produced product is qualified or not, the detection requirement of the brand new product excavator is not concerned.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an excavator offline detection method, an excavator offline detection system, electronic equipment and a storage medium, which can effectively solve the problems of single offline detection data and low efficiency of an excavator.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a method for detecting offline of an excavator, including:
acquiring external attitude data and internal state data of a detected excavator, wherein the external attitude data and the internal state data of the detected excavator contain timestamp information;
based on built-in attitude sensor message definition information and a detected excavator message definition document contained in a detection task, external attitude data and internal state data of the detected excavator are calculated, and each calculated data contains a timestamp for identifying time sequence information;
the external attitude data and the internal state data after the calculation are corresponding to each other according to the time stamp and are used as detection data;
dividing the detection data, and calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each divided detection data segment;
and (5) judging whether the characteristic values of the external posture and the internal characteristic data of the detected excavator are qualified, acquiring a judging result, and finishing detection.
Further, when acquiring external attitude data and internal state data of the detected excavator, the adopted tool comprises an inclination sensor, a proximity switch, a flow sensor, a pressure sensor and a temperature sensor, and the external attitude data of the detected excavator comprises: the upper vehicle rotates relative to the chassis, the movable arm rotates relative to the upper vehicle, the bucket rod rotates relative to the movable arm, and the bucket rotates relative to the bucket rod; the detected excavator internal state data include, but are not limited to: boom cylinder large cavity pressure, main pump oil outlet flow and main pump oil suction pressure.
Further, the installation and related angle resolving method of the inclination sensor comprises the following steps:
recording the angle theta of a working device of the detected excavator under a specific posture A i ；
The inclination angle sensor of the working device is arranged on the side surfaces of the movable arm, the bucket rod and the bucket in a magnetic attraction or gluing mode;
operating the detected excavator to a specific posture A;
sending a reset message to the tilt sensor to reset the output value of the tilt sensor to 0, or recording the tilt sensor under the current postureSensor output θ A ；
And operating the detected excavator to move and synchronously calculating the angle of the working device.
Further, the angle of the resolving working device adopts the following formula:
θ＝θ i +Δθ sensor (1)
in the formula (1), theta is the angle of a working device of the detected excavator in the current state, and theta i For the angle delta theta of the working device of the detected excavator under the specific posture A sensor Is the angle variation of the inclination sensor.
Further, the segmenting the detection data, calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each segmented detection data segment, including:
acquiring gesture data with highest association degree with the detection action, and segmenting the detection data by using the gesture data;
when the change of the output value of the inclination sensor is smaller than the set value, the detection action is considered not to be started, and a series of gesture data at the stage of the detection action not started are averaged to be used as a key gesture data value theta key ；
Based on the key attitude data values, 6 key data points are determined on the corresponding attitude data curve, and each data point comprises a time stamp of t respectively 0 、t 1 、t 2 、t 3 、t 4 、t 5 ；
Using time stamp t 0 、t 1 、t 2 、t 3 、t 4 、t 5 All the detection data are segmented into [ t ] 0 ,t 1 ]、[t 1 ,t 2 ]、[t 2 ,t 3 ]、[t 3 ,t 4 ][ t ] 4 ,t 5 ]5 moieties, where [ t ] 0 ,t 1 ]To test the start-up phase, [ t ] 1 ,t 2 ]、[t 2 ,t 3 ][ t ] 3 ,t 4 ]To test the constant velocity phase, [ t ] 4 ,t 5 ]A test stopping stage;
and calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each detection data segment after the segmentation.
Further, when the characteristic values of the external attitude and the internal characteristic data of the detected excavator are subjected to qualification judgment, the qualification judgment is divided into 3 parts, wherein the starting stage [ t ] 0 ,t 1 ]And stop phase [ t ] 4 ,t 5 ]The characteristic value of (2) is directly compared with design data to make qualification judgment, and the test is in a constant speed stage [ t ] 1 ,t 2 ][t 2 ,t 3 ][t 3 ,t 4 ]The three groups of characteristic values of the model are averaged and then compared with design data to make qualification judgment.
Further, after the offline detection action is executed, subjective evaluation information is selected from a preset subjective evaluation information set in response to a manual selection signal, the subjective evaluation information comprises subjective evaluation detailed information and subjective evaluation numbers, the subjective evaluation detailed information comprises action description and anomaly description, wherein the action description comprises action description-main body and action description-action, the anomaly description comprises anomaly description-main body and anomaly description-description, and the corresponding subjective evaluation numbers are automatically associated after the subjective evaluation information is selected.
In a second aspect, the present invention provides an excavator offline detection system, including:
the system comprises an acquisition module, a detection module and a detection module, wherein the acquisition module is used for acquiring external attitude data and internal state data of the detected excavator, and the external attitude data and the internal state data of the detected excavator contain time stamp information;
the calculating module is used for calculating external attitude data and internal state data of the detected excavator based on built-in attitude sensor message definition information and detected excavator message definition documents contained in the detection task, and each piece of calculated data contains a time stamp for identifying time sequence information;
the corresponding module is used for corresponding the external attitude data and the internal state data after the calculation according to the time stamp to be used as detection data;
the computing module is used for segmenting the detection data, and computing the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each segmented detection data segment;
and the qualification judging module is used for qualification judging of the characteristic values of the external gesture and the internal characteristic data of the detected excavator, obtaining judging results and finishing detection.
In a third aspect, the present invention provides an electronic device, comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative according to the instructions to perform the steps of the method according to any one of the preceding claims.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described in the preceding claims.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a method, a system, electronic equipment and a storage medium for detecting the offline of an excavator, wherein external attitude information of the excavator to be detected is captured through an inclination sensor, internal state information of the excavator to be detected is captured through a flow sensor, a pressure sensor, a temperature sensor and a bus acquisition module of a signal acquisition device, the external attitude information of the excavator to be detected and the internal state information of the excavator to be detected are uniformly acquired and uploaded by the signal acquisition device, and each data comprises a time stamp (with time information). The invention provides an offline detection method compatible with a brand new product excavator, which is used for guiding new product development by utilizing the offline detection data of the brand new product excavator.
Drawings
Fig. 1 is a schematic diagram of a hardware architecture of an excavator offline detection system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of task management software provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of detection interaction software provided by an embodiment of the present invention;
fig. 4 and fig. 5 are schematic diagrams of a method for installing and resolving an inclination angle sensor of a working device according to an embodiment of the present invention;
fig. 6 and fig. 7 are schematic diagrams of a method for acquiring corresponding data of external gestures and internal characteristics of a detected excavator and analyzing characteristic values thereof according to an embodiment of the present invention;
fig. 8 is a schematic diagram of subjective evaluation information provided by an embodiment of the present invention;
fig. 9 is a schematic diagram of an overall workflow of an offline detection system according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1
The embodiment provides an excavator offline detection system, wherein hardware of the system comprises a task management terminal, a detection interaction terminal, a server, signal acquisition equipment and a sensor, and the hardware architecture is shown in figure 1.
1) Task management terminal: the system is used by a task manager to interact information with a server in a wired or wireless communication mode, and is responsible for adding, deleting, modifying, inquiring and detecting tasks, checking detection data, importing parameter adjustment information of the detected excavator and the like.
2) Detecting an interaction terminal: the method comprises the steps that a inspector interacts information with a server in a wireless communication mode, and is responsible for requesting a detection task from the server, receiving the detection task from the server, executing the detection task, uploading detection data to the server and the like;
3) And (3) a server: the system is responsible for storing information such as detection tasks, detection data, parameter adjustment of the detected excavator and the like, and sending relevant information to a task management terminal and a detection interaction terminal after receiving request information;
4) Signal acquisition equipment: the system comprises a bus acquisition module, an analog quantity acquisition module, a digital quantity acquisition module and the like, and is used for receiving and analyzing data from a bus diagnosis port and a sensor of the detected excavator and uploading the data to a detection interaction terminal in real time;
5) A sensor: the sensor comprises an inclination sensor, a proximity switch, a flow sensor, a pressure sensor, a temperature sensor and the like, and is responsible for acquiring external attitude data and internal state data of the detected excavator and uploading the data to the signal acquisition equipment. The external attitude data of the detected excavator comprises the following steps: the upper vehicle rotates relative to the chassis, the movable arm rotates relative to the upper vehicle, the bucket rod rotates relative to the movable arm, and the bucket rotates relative to the bucket rod; the internal state data includes: boom cylinder large cavity pressure, main pump oil outlet flow, main pump oil suction pressure, etc.
Aiming at the offline detection hardware architecture of the excavator, the embodiment provides task management software and detection interaction software (fig. 2 and 3). The task management software comprises functional modules for detecting task management, analyzing bus diagnostic port messages of the detected excavator, graphically displaying detection data, generating a detection report, managing a user, inputting parameter adjustment information of the detected excavator and the like. The detection interaction software comprises a functional module for logging in by an inspector, requesting a detection task, analyzing the detection task, controlling a sensor, collecting and analyzing detection signals, automatically analyzing quantitative parameters, inputting subjective evaluation, uploading detection data and the like.
Because the excavator working device has no special position mark, the rotation axis of the excavator working device is difficult to be ensured to be parallel to the connecting line of hinge points at two ends of the working device when the inclination angle sensor is installed, so that the absolute angle of the sensor is unequal to the angle of the corresponding working device, namely the absolute angle of the sensor cannot be directly used for measuring the angle of the corresponding working device. In order to meet the external attitude acquisition requirements during the offline detection of different models of excavators, the embodiment provides a working device inclination sensor installation and related angle resolving mode (figures 4-5).
1) Recording the angle theta of a working device of the detected excavator under a specific posture A i ；
2) The inclination sensor of the working device is arranged on the side surfaces of the movable arm, the bucket rod and the bucket in a magnetic attraction or gluing mode, and the installation angle of the inclination sensor is not required in the installation process. Although the angle of the inclination sensor is not equal to the angle of the corresponding working device, the angle change amount of the inclination sensor is equal to the angle change amount of the working device because the inclination sensor is fixed on the corresponding working device;
3) The inspector manipulates the inspected excavator to move to a specific posture A;
4) An inspector sends a reset message to the tilt sensor through the bus acquisition equipment to reset the output value of the tilt sensor to 0, or records the output theta of the tilt sensor under the current posture by utilizing the detection interaction terminal A ；
5) Executing a detection project by a inspector, operating the detected excavator to act, and synchronously resolving the angle of the working device by detection interaction software.
θ＝θ i +Δθ sensor (1)
In the formula (1), theta is the angle of a working device of the detected excavator in the current state, and theta i For the angle delta theta of the working device of the detected excavator under the specific posture A sensor Is the angle variation of the inclination sensor.
After the offline detection hardware equipment is installed, the embodiment provides a method for extracting the bus message definition information of the detected excavator, acquiring the corresponding data of the external gesture and the internal characteristic of the detected excavator and analyzing the characteristic value thereof, and inputting subjective evaluation information, which is specifically described as follows:
because the bus protocols of different types of excavators are different, static message definition information cannot be used. In order to cover the offline detection requirements of various types of excavators, the embodiment provides a method for extracting the definition information of the detected excavator bus message. The task manager imports a DBC file in a standard format or an Excel message definition document containing keywords such as CAN message Wen Bote rate, message ID, signal name, start bit, bit length and the like. According to the message definition information in the fixed format, the embodiment extracts the message definition information contained in the imported file into the data file in the Json or xml format, and sends the message definition information to the detection interaction software as a part of the detection task.
In the course of performing the detection operation, the present embodiment provides a method for acquiring the external attitude and internal characteristic correspondence data of the detected excavator and analyzing the characteristic values thereof (fig. 6 to 7). The external attitude information of the detected excavator is captured by the inclination angle sensor, and the external attitude information specifically comprises a rotation angle of an upper vehicle relative to a chassis, a rotation angle of a movable arm relative to the upper vehicle, a rotation angle of a bucket rod relative to the movable arm and a rotation angle of a bucket relative to the bucket rod. The bus acquisition module of the flow sensor, the pressure sensor, the temperature sensor and the signal acquisition equipment captures the internal state information of the detected excavator, and specifically comprises the large cavity pressure of the movable arm oil cylinder, the oil outlet flow of the main pump, the oil suction pressure of the main pump and the like. The external attitude information of the detected excavator and the internal state information of the detected excavator are uniformly collected by the signal collecting equipment, and the motion attitude data of the detected excavator and the system data such as power, hydraulic pressure, electric power and the like are calculated based on built-in attitude sensor message definition information and detected excavator message definition documents contained in detection tasks. Each piece of data after the calculation contains a time stamp for identifying time sequence information, and the time sequence information is utilized to correspond the external attitude information and the internal characteristic information of the detected excavator, namely, all pieces of data correspond to the same time horizontal axis. In this embodiment, when the detected excavator goes offline for detection, each detection operation is repeated 5 times. According to the gesture data with the highest association degree with the detection action, determining key data points, further segmenting the data into 5 independent parts and analyzing characteristic values, wherein the specific description is as follows (fig. 7):
1) If the detected motion is that the movable arm is lifted and lowered, the gesture data with the highest association degree is that the movable arm is relative to the boarding angle, and the detected data are segmented by the gesture data;
2) Considering that the inclination angle sensor has a dynamic measurement error with a certain value, if the variation of the output value of the inclination angle sensor is less than 1.5 degrees, the detection action is considered not to be started. Averaging a series of movable arms at the non-starting stage of the detection action relative to the upper turning angle value to obtain a key attitude data value theta key 。
3) Based on the key pose data values, 6 key data points are determined on the corresponding pose data curves. Each data point contains a time stamp of t 0 、t 1 、t 2 、t 3 、t 4 、t 5 。
4) Because the external gesture and the internal characteristic data of the detected excavator contain time stamp information, the method utilizesThe above 6 time stamps split all detected data into t 0 ,t 1 ]、[t 1 ,t 2 ]、[t 2 ,t 3 ]、[t 3 ,t 4 ][ t ] 4 ,t 5 ]5 moieties, where [ t ] 0 ,t 1 ]To test the start-up phase, [ t ] 1 ,t 2 ]、[t 2 ,t 3 ][ t ] 3 ,t 4 ]To test the constant velocity phase, [ t ] 4 ,t 5 ]The test is stopped.
5) And calculating the characteristic values of the external attitude and the internal characteristic data of the detected excavator under the detection action in each detection data segment after the segmentation, wherein the characteristic data related to the external attitude comprise a movable arm lifting and descending time, a rotation angle maximum change value, a bucket rod angle maximum change value and a bucket angle maximum change value, and the characteristic data related to the internal state comprise a movable arm oil cylinder maximum flow value, an oil cylinder maximum working pressure, a pressure rising and descending time, an engine rotation fluctuation amount and the like.
6) The qualification of the characteristic values of the detected data is divided into 3 parts, wherein the starting phase t 0 ,t 1 ]And stop phase [ t ] 4 ,t 5 ]The characteristic value of (2) is directly compared with design data to make qualification judgment, and the test is in a constant speed stage [ t ] 1 ,t 2 ][t 2 ,t 3 ][t 3 ,t 4 ]The three groups of characteristic values of the model are averaged and then compared with design data to make qualification judgment.
After the offline detection action is completed, in order to accurately record subjective feelings of a inspector, a subjective evaluation information input method is provided in this embodiment. The subjective evaluation information includes subjective evaluation detailed information and subjective evaluation number (fig. 8). The subjective-evaluation detailed information is composed of an action description and an abnormality description, wherein the action description includes an action description-body, an action description-action, and the abnormality description includes an abnormality description-body and an abnormality description-description. And the subjective evaluation information set is arranged in the detection interaction software, and the corresponding subjective evaluation numbers are automatically associated after the inspector selects the subjective evaluation detailed information.
In addition to the offline detection of the mass production excavator, in order to realize the requirement of guiding the development of new products by using the offline detection data of the brand-new product excavator, the embodiment provides an offline detection method compatible with the brand-new product excavator. After the new product of the first platform of the excavator is offline and the first offline detection is completed, the detected excavator enters a debugging and optimizing link, and a calibration value of a control program, a gap of a buffering matching area of the oil cylinder and the like are adjusted. And detecting the vehicle again after the optimization is completed. And recording parameter adjustment information of the detected excavator by using Json or xml documents containing keywords such as an optimization project, a numerical value before adjustment, a numerical value after adjustment and the like, and storing the file into an offline detection database. When other new products with the same tonnage or similar tonnage are developed, setting design parameters as the numerical values after the new products are adjusted.
The embodiment also provides a method for detecting the offline of the excavator, which is used for elaborating the whole working flow of the offline detection system, and the implementation steps are shown in fig. 9:
s1: when the detection task corresponding to the detected excavator does not exist in the task management software, executing the step S2; otherwise hold
Line step S3
S2: the task manager edits the detection task in the task management software and stores the relevant task data to the service
The server executes the step S4;
s3: the task manager inputs the parameter adjustment items of the detected excavator in the task management software, and related parameters
Storing the adjustment data to a server, and executing step S4;
s4: the inspector operates the inspection interaction terminal to receive an inspection task from the server;
s5: the inspector installs an inclination sensor, a flow/pressure/temperature sensor, a proximity switch and the like;
s6: executing the detection task by an inspector according to the requirement of the detection task;
s7: according to the captured external attitude and internal state information of the detected excavator, the detection interaction software automatically calculates the detected excavator
Detecting a characteristic value of the excavator;
s8: the inspector inputs subjective evaluation in the detection interactive software;
s9: the inspector operates the inspection interactive terminal to inspect the original signal, the characteristic value of the inspected excavator, subjective evaluation and the like
Uploading data to a server;
s10: when two groups of detection data before and after the parameter adjustment of the detected excavator exist in the server, the step S11 is executed,
otherwise, step S12 is performed.
S11: outputting parameter adjustment, front and back according to the two groups of detection data before and after parameter adjustment and parameter adjustment information
Comparing and reporting the detection results of the two times;
s12: the task manager outputs a detection report of the detected excavator in task management software;
the embodiment provides a system and a method for detecting the offline of an excavator, wherein the system and the method improve the systematic management level of detection tasks and detection data through a task management terminal, a detection interaction terminal, a server, task management software and detection interaction software, and are beneficial to data mining work. Meanwhile, the system has universality, and can acquire corresponding data of external gestures and internal characteristics of the inspected diggers of different models, automatic extraction characteristics (external characteristics and internal characteristics) and fixed format subjective evaluation. In addition, the system is compatible with the offline detection method of the brand new product excavator, and the offline detection data of the brand new product excavator can be utilized to guide development of new products.
In the embodiment, the task management terminal, the detection interaction terminal, the server, the task management software and the detection interaction software are used for systematically managing detection tasks and detection data. The method for acquiring the corresponding data of the external gesture and the internal characteristic of the detected excavator and analyzing the characteristic value of the detected excavator is provided. The external attitude information of the detected excavator is captured through the inclination sensor, the internal state information of the detected excavator is captured by the bus acquisition module of the flow sensor, the pressure sensor, the temperature sensor and the signal acquisition equipment, the external attitude information of the detected excavator and the internal state information of the detected excavator are uniformly acquired and uploaded by the signal acquisition equipment, and each data contains a time stamp (with time information). And cutting the data through the key posture information, calculating the characteristic value of each detection data in each data segment, and judging whether the data are qualified or not. The method for resolving the angle sensor installation position and the related angle of the working device without accurate positioning is provided: the external gesture acquisition requirement when different models of excavators are in offline detection is met. In addition to the offline detection of the mass production excavator, the offline detection method compatible with the brand-new product excavator is provided, and the offline detection data of the brand-new product excavator is utilized to guide the development of new products.
Example 2
The embodiment provides a method for detecting the offline of an excavator, which comprises the following steps:
step 1, acquiring external attitude data and internal state data of a detected excavator, wherein the adopted tool comprises an inclination sensor, a proximity switch, a flow sensor, a pressure sensor and a temperature sensor, and the external attitude data and the internal state data of the detected excavator comprise timestamp information; the external attitude data of the detected excavator comprises: the upper vehicle rotates relative to the chassis, the movable arm rotates relative to the upper vehicle, the bucket rod rotates relative to the movable arm, and the bucket rotates relative to the bucket rod; the detected excavator internal state data comprises: boom cylinder large cavity pressure, main pump oil outlet flow, main pump oil suction pressure and the like;
the installation and related angle resolving method of the inclination angle sensor comprises the following steps:
recording the angle theta of a working device of the detected excavator under a specific posture A i ；
The inclination angle sensor of the working device is arranged on the side surfaces of the movable arm, the bucket rod and the bucket in a magnetic attraction or gluing mode;
operating the detected excavator to a specific posture A;
sending a reset message to the tilt sensor to reset the output value of the tilt sensor to 0, or recording the output theta of the tilt sensor under the current posture A ；
And operating the detected excavator to move and synchronously calculating the angle of the working device.
The angle of the resolving working device adopts the following formula:
θ＝θ i +Δθ sensor (1)
in the formula (1), theta is the angle of a working device of the detected excavator in the current state, and theta i For the angle delta theta of the working device of the detected excavator under the specific posture A sensor Is the angle variation of the inclination sensor.
Step 2, based on built-in attitude sensor message definition information and a detected excavator message definition document contained in a detection task, external attitude data and internal state data of the detected excavator are calculated, and each calculated data contains a timestamp for identifying time sequence information;
step 3, the external attitude data and the internal state data after the calculation are corresponding to each other according to the time stamp and are used as detection data;
step 4, segmenting the detection data, and calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each segmented detection data segment, wherein the characteristic values specifically comprise the following steps:
acquiring gesture data with highest association degree with the detection action, and segmenting the detection data by using the gesture data;
when the change of the output value of the inclination sensor is smaller than the set value, the detection action is considered not to be started, and a series of gesture data at the stage of the detection action not started are averaged to be used as a key gesture data value theta key ；
Based on the key attitude data values, 6 key data points are determined on the corresponding attitude data curve, and each data point comprises a time stamp of t respectively 0 、t 1 、t 2 、t 3 、t 4 、t 5 ；
Using time stamp t 0 、t 1 、t 2 、t 3 、t 4 、t 5 All the detection data are segmented into [ t ] 0 ,t 1 ]、[t 1 ,t 2 ]、[t 2 ,t 3 ]、[t 3 ,t 4 ][ t ] 4 ,t 5 ]5 moieties, where [ t ] 0 ,t 1 ]To test the start-up phase, [ t ] 1 ,t 2 ]、[t 2 ,t 3 ][ t ] 3 ,t 4 ]To test the constant velocity phase, [ t ] 4 ,t 5 ]A test stopping stage;
and calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each detection data segment after the segmentation.
And 5, judging the qualification of the characteristic values of the external attitude and the internal characteristic data of the detected excavator, obtaining a judging result and finishing detection.
Wherein the qualification decision is divided into 3 parts, wherein the startup phase [ t ] 0 ,t 1 ]And stop phase [ t ] 4 ,t 5 ]The characteristic value of (2) is directly compared with design data to make qualification judgment, and the test is in a constant speed stage [ t ] 1 ,t 2 ][t 2 ,t 3 ][t 3 ,t 4 ]The three groups of characteristic values of the model are averaged and then compared with design data to make qualification judgment.
Example 3
The embodiment provides an excavator offline detection system, including:
the system comprises an acquisition module, a detection module and a detection module, wherein the acquisition module is used for acquiring external attitude data and internal state data of the detected excavator, and the external attitude data and the internal state data of the detected excavator contain time stamp information;
the calculating module is used for calculating external attitude data and internal state data of the detected excavator based on built-in attitude sensor message definition information and detected excavator message definition documents contained in the detection task, and each piece of calculated data contains a time stamp for identifying time sequence information;
the corresponding module is used for corresponding the external attitude data and the internal state data after the calculation according to the time stamp to be used as detection data;
the computing module is used for segmenting the detection data, and computing the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each segmented detection data segment;
and the qualification judging module is used for qualification judging of the characteristic values of the external gesture and the internal characteristic data of the detected excavator, obtaining judging results and finishing detection.
Example 4
The embodiment provides an electronic device, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative according to the instructions to perform the steps of the method according to any one of embodiments 1 or 2.
Example 5
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of embodiments 1 or 2.
It is apparent that the scope of the present invention is not limited to these specific embodiments, and those skilled in the art can make equivalent modifications or substitutions to the relevant technical features without departing from the principle of the present invention, and the technical solutions after these modifications or substitutions will fall within the scope of the present invention. For example: modifying the installation and related angle resolving modes of the angle sensor of the working device; and acquiring the rotation angle of the upper vehicle of the detected excavator relative to the chassis by adopting the integrated navigation system. The invention can be applied to the excavator and is also applicable to the engineering machinery fields such as pile drivers, fellers and the like.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
It will be appreciated by those skilled in the art that embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the foregoing embodiments are merely for illustrating the technical solution of the present disclosure and not for limiting the scope thereof, and although the present disclosure has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes, modifications or equivalents may be made to the specific embodiments of the invention after reading the present disclosure, and these changes, modifications or equivalents are within the scope of the claims appended hereto.
Claims (10)
1. An excavator offline detection method is characterized by comprising the following steps:
acquiring external attitude data and internal state data of the detected excavator;
based on built-in attitude sensor message definition information and a detected excavator message definition document contained in a detection task, external attitude data and internal state data of the detected excavator are calculated, and each calculated data contains a timestamp for identifying time sequence information;
the external attitude data and the internal state data after the calculation are corresponding to each other according to the time stamp and are used as detection data;
dividing the detection data, and calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each divided detection data segment;
and (5) judging whether the characteristic values of the external posture and the internal characteristic data of the detected excavator are qualified, acquiring a judging result, and finishing detection.
2. The method for detecting the off-line of the excavator according to claim 1, wherein the means used in the acquisition of the external attitude data and the internal state data of the detected excavator comprises an inclination sensor, a proximity switch, a flow sensor, a pressure sensor and a temperature sensor, and the external attitude data of the detected excavator comprises: the upper vehicle rotates relative to the chassis, the movable arm rotates relative to the upper vehicle, the bucket rod rotates relative to the movable arm, and the bucket rotates relative to the bucket rod; the detected excavator internal state data include, but are not limited to: boom cylinder large cavity pressure, main pump oil outlet flow and main pump oil suction pressure.
3. The method for detecting the off-line of the excavator according to claim 2, wherein the method for installing and resolving the relevant angles of the inclination sensor comprises the steps of:
recording the angle theta of a working device of the detected excavator under a specific posture A i ；
The inclination angle sensor of the working device is arranged on the side surfaces of the movable arm, the bucket rod and the bucket in a magnetic attraction or gluing mode;
operating the detected excavator to a specific posture A;
sending a reset message to the tilt sensor to reset the output value of the tilt sensor to 0, or recording the output theta of the tilt sensor under the current posture A ；
And operating the detected excavator to move and synchronously calculating the angle of the working device.
4. The method for detecting the offline of the excavator according to claim 3, wherein the angle of the resolving work device adopts the following formula:
θ＝θ i +Δθ sensor (1)
in the formula (1), theta is the angle of a working device of the detected excavator in the current state, and theta i For the angle delta theta of the working device of the detected excavator under the specific posture A sensor Is the angle variation of the inclination sensor.
5. The method for detecting the offline of the excavator according to claim 1, wherein the step of segmenting the detection data, calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each segmented detection data segment comprises the following steps:
acquiring gesture data with highest association degree with the detection action, and segmenting the detection data by using the gesture data;
when the change of the output value of the inclination sensor is smaller than the set value, the detection action is considered not to be started, and a series of gesture data at the stage of the detection action not started are averaged to be used as a key gesture data value theta key ；
Based on the key attitude data values, 6 key data points are determined on the corresponding attitude data curve, and each data point comprises a time stamp of t respectively 0 、t 1 、t 2 、t 3 、t 4 、t 5 ；
Using time stamp t 0 、t 1 、t 2 、t 3 、t 4 、t 5 All the detection data are segmented into [ t ] 0 ,t 1 ]、[t 1 ,t 2 ]、[t 2 ,t 3 ]、[t 3 ,t 4 ][ t ] 4 ,t 5 ]5 moieties, where [ t ] 0 ,t 1 ]To test the start-up phase, [ t ] 1 ,t 2 ]、[t 2 ,t 3 ][ t ] 3 ,t 4 ]To test the constant velocity phase, [ t ] 4 ,t 5 ]A test stopping stage;
and calculating the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each detection data segment after the segmentation.
6. The method according to claim 1, wherein when the characteristic values of the external attitude and the internal characteristic data of the inspected excavator are subjected to qualification determination, the qualification determination is divided into 3 parts, wherein the start-up phase [ t ] 0 ,t 1 ]And stop phase [ t ] 4 ,t 5 ]The characteristic value of (2) is directly compared with design data to make qualification judgment, and the test is in a constant speed stage [ t ] 1 ,t 2 ][t 2 ,t 3 ][t 3 ,t 4 ]The three groups of characteristic values of the model are averaged and then compared with design data to make qualification judgment.
7. The method according to claim 1, wherein after the offline detection is completed, subjective evaluation information is selected from a preset subjective evaluation information set in response to a manual selection signal, the subjective evaluation information includes subjective evaluation detailed information and subjective evaluation numbers, the subjective evaluation detailed information includes an action description and an anomaly description, the action description includes an action description-main body, an action description-action, the anomaly description includes an anomaly description-main body and an anomaly description-description, and the corresponding subjective evaluation numbers are automatically associated after the subjective evaluation information is selected.
8. An excavator offline detection system, comprising:
the system comprises an acquisition module, a detection module and a detection module, wherein the acquisition module is used for acquiring external attitude data and internal state data of the detected excavator, and the external attitude data and the internal state data of the detected excavator contain time stamp information;
the calculating module is used for calculating external attitude data and internal state data of the detected excavator based on built-in attitude sensor message definition information and detected excavator message definition documents contained in the detection task, and each piece of calculated data contains a time stamp for identifying time sequence information;
the corresponding module is used for corresponding the external attitude data and the internal state data after the calculation according to the time stamp to be used as detection data;
the computing module is used for segmenting the detection data, and computing the characteristic values of the external gesture and the internal characteristic data of the detected excavator under the detection action in each segmented detection data segment;
and the qualification judging module is used for qualification judging of the characteristic values of the external gesture and the internal characteristic data of the detected excavator, obtaining judging results and finishing detection.
9. An electronic device, characterized in that: comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor being operative according to the instructions to perform the steps of the method according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized by: the program, when executed by a processor, implements the steps of the method of any of claims 1 to 7.
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