WO2018014714A1 - Method for recognizing effective operation section in shovelling and loading process of loading machine - Google Patents

Method for recognizing effective operation section in shovelling and loading process of loading machine Download PDF

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Publication number
WO2018014714A1
WO2018014714A1 PCT/CN2017/091399 CN2017091399W WO2018014714A1 WO 2018014714 A1 WO2018014714 A1 WO 2018014714A1 CN 2017091399 W CN2017091399 W CN 2017091399W WO 2018014714 A1 WO2018014714 A1 WO 2018014714A1
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Prior art keywords
point
segment
large cavity
loader
pressure signal
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PCT/CN2017/091399
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French (fr)
Chinese (zh)
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侯亮
王少杰
卜祥建
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厦门大学
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Publication of WO2018014714A1 publication Critical patent/WO2018014714A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G06F2218/02—Preprocessing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G06F2218/08—Feature extraction

Definitions

  • the invention relates to a method for identifying an effective working section of an engineering vehicle, and more particularly to a method for identifying an effective working section of a loader shoveling process.
  • the loader uses hydraulic transmission to obtain high torque and large inertia load demand. Due to the harsh working environment, complicated working conditions, as well as equipment automation and information technology, how to ensure the engineering Mechanically reliable and efficient operation is a technical problem that needs to be solved urgently. In order to solve these problems, it is necessary to analyze the load spectrum of the loader, including the extraction of the work cycle, the analysis of the work phase and the identification of the working conditions.
  • the analysis of the operation phase plays a role in the work spectrum analysis, how to effectively segment, for the later working conditions Don't wait for a crucial relationship.
  • the loader operates in the 'V' type, 'I' type, 'L' type, 'T 'Type work, etc., according to the original work segment classification standard, mainly includes 6 working segments, namely no-load forward 1 , shovel 2, full-load retreat 3, full-load advance 4, unloading 5, no-load retreat 6 etc. 1 is shown.
  • the loader is generally separated from the pile before the initial excavation.
  • the object of the present invention is to overcome the deficiencies of the prior art and to provide a loader effective working segment identification method for defining an effective working segment and realizing a work spectrum based on characteristic information of an effective working segment.
  • a method for identifying an effective working section of a loader includes excavation, heavy-duty transportation, and unloading, and the steps are as follows:
  • the work segment in the work cycle is extracted according to the feature information of the predefined valid work segment, and the effective work segment is recognized.
  • step 2 The feature information of the effective work segment described in the above is a preset specific threshold value, and the segmentation points of the respective work segments are extracted by a specific threshold.
  • the effective working segment omits the no-load advancement and no-load of the standard working segment
  • Backward, heavy-duty transport includes full-load retreat and full-load advancement of the standard active section.
  • the minimum point before the pressure of the large cavity pressure contact material is defined as the starting time point of the excavation working section; the first maximum point of the pressure of the large cavity of the bucket is defined as the ending time point of the excavation working section;
  • the starting time of the heavy-duty transportation operation section is the end time of the excavation operation section; before the material is unloaded, the time point of the large-cavity pressure of the bucket is greater than the preset change threshold value is the end time point of the heavy-duty transportation operation section;
  • the starting time of the unloading operation section is the end time of the heavy-duty transportation operation section; after the material is unloaded, the minimum value point reached by the boom large-cavity pressure is defined as the end time point of the unloading operation section;
  • the valid job segment includes four segment points A1, A2, A3, and A4.
  • the extraction of the segmentation points of each work segment is specifically:
  • step 2.1 In the first step, the iterative filtering is performed on the large cavity pressure of the boom first, and then the signal obtained by the two iterative filtering is subjected to the minimum value point.
  • step 2.2 In the process, the iterative filtering and one hundred iterative filtering are performed on the large cavity pressure of the bucket respectively, and the first-order derivation of the values obtained by the two iterative filtering is obtained, and the rate of change is obtained; Data to obtain the maximum maximum point C .
  • the method of the invention solves the problem that the engineering machinery working section is difficult to identify, defines the effective working section, and divides the working phase of the loader, which is beneficial to realize the analysis of the working process, especially the analysis of the working condition identification.
  • the effective working segment identification of the working spectrum is realized; the identification of the effective working segment plays a foundation for the analysis of the working condition, the data analysis of the working spectrum and the coding.
  • the method of the invention is advantageous for realizing the refinement of the work spectrum data, facilitating the statistical analysis, and making the work spectrum data more regular.
  • Figure 1 is a schematic view of a standard working section of a loader in the prior art
  • Figure 2 is a schematic view showing an effective working section of the loader in the present invention
  • FIG. 3 is a schematic diagram of the basic frame of identification of the present invention.
  • FIG. 4 is a flow chart of an effective operating segment identification algorithm of the present invention.
  • Embodiments, a method for identifying an effective working segment of a loader refer to FIG. 2.
  • the effective working segment includes: excavation 10, heavy haul transport 40 Unloading 50
  • the effective working segment omits the no-load advancement of the standard working segment and the no-load retreat; the heavy-duty transport includes the full-load retreat of the standard action segment and the full-load advancement.
  • the effective working segment is mainly considered from the perspective of the value of the working segment. Because the standard operation section, no-load advancement, no-load retreat, etc. are small in use for working condition identification, intelligent shifting and vehicle performance testing, and the analysis value is small and the identification is difficult. Therefore, the present invention does not allow in the effective working section. Considering; similar working segments such as full load back, full load forward, etc. can be combined for consideration of heavy haul transport segments.
  • the main steps of the identification method of the present invention are as follows:
  • the work segment in the work cycle is extracted according to the feature information of the predefined valid work segment, and the effective work segment is identified.
  • the feature information of the valid work segment is a preset specific threshold, and the segment points of each work segment are extracted by a specific threshold.
  • segmentation points of the respective working segments are as follows:
  • the minimum point before the boom cavity pressure contact material is defined as the starting time point of the excavation working section; the first maximum point of the bucket large cavity pressure is defined as the end point of the excavation working section;
  • the starting time of the heavy-duty transportation operation section is the end time of the excavation operation section; before the material is unloaded, the time point of the large-cavity pressure of the bucket is greater than the preset change threshold value is the end time point of the heavy-duty transportation operation section;
  • the starting time of the unloading operation section is the end time of the heavy-duty transportation operation section; after the material is unloaded, the minimum value point reached by the boom large-cavity pressure is defined as the end time point of the unloading operation section;
  • the valid job segment includes four segment points A1, A2, A3, and A4.
  • the pressure of the large cavity of the boom begins to increase drastically, and the pressure of the large cavity of the boom will give a minimum extreme point before the change. It is caused by the placement of the bucket before the shovel and the ground. At this time, the pressure value of the large cavity of the boom is smaller than that during normal driving. Therefore, the minimum value before the pressure change of the large cavity of the boom is defined as the starting time of the excavation section. point;
  • the end time of the excavation work section is when the bucket is full of material and is separated from the work surface. At this time, it is generally accompanied by a fighting action (generally 1-2) Times), the pressure of the large cavity of the bucket will have a maximum value at each bucket. After the bucket is completed, the pressure of the large chamber will drop smoothly. The first maximum point of the pressure of the large cavity of the bucket is defined as excavation. End of the job segment.
  • the starting time of the heavy-duty transport operation section is the end time of the excavation work section
  • the start time of the unloading operation section is the end time of the heavy-duty transportation operation section
  • the pressure value of the large cavity of the boom will be abruptly changed to a minimum value.
  • the minimum point at which the pressure of the large cavity of the boom is reached is the end of the unloading operation section. time.
  • the starting point and ending point of the excavation working segment are defined as A1 and A2, and A1A2 is used.
  • A2A3 represents the heavy-duty transport operation section
  • A3A4 represents the unloading operation section.
  • the segment extraction mainly adopts the method of iterative filtering and extremum point extraction, and the segmentation points of each working segment are extracted by setting a specific threshold, as shown in FIG. as follows:
  • Step 2.1 In the first step, the iterative filtering is performed on the large cavity pressure of the boom first, and the processing mainly makes the signal smoother and eliminates the burrs. Then, the signal obtained by the two iterative filtering is subjected to the minimum value point to obtain the minimum minimum point B. Then, the minimum value point around the smallest minimum value point B is obtained, and the minimum value point on the left side is the segmentation point A1, and the minimum value point on the right side is the segmentation point A4.
  • Step 2.2 In the process, the iterative filtering and one hundred iterative filtering are performed on the large cavity pressure of the bucket respectively, and the first-order derivation of the values obtained by the two iterative filtering is obtained, and the rate of change is obtained; Data to obtain the maximum maximum point C A hundred iterations of filtering can eliminate all the burrs that interfere with the maximum maximum point C. After completing the first-order derivation and obtaining the maximum maximum point C, the nearest maximum maximum point C is obtained. The first one-order derivative of the left and right is greater than the change point of 0.5, and the two points obtained are the effective working segment segment points A2 and A3.
  • Embodiments of the present invention provide a method for identifying an effective working segment of a loader, as shown in FIG. 4
  • the continuity between the working segments is defined, that is, the starting point of the excavation working segment is marked as A1; the starting point of the excavating working segment is marked as A2 for the starting point of the heavy-duty transport working segment; and the end of the heavy-duty transport working segment is the heavy unloading material.
  • the starting point of the job segment is marked as A3;
  • the end point of the heavy unloading section is marked A3.
  • the boom pressure signal is cleaned and calculated to obtain the minimum point B.
  • the starting point A1 and the end point of the working segment are calculated according to the minimum point B.
  • the specific steps include:
  • the A1, A2, A3, and A4 point information is obtained, and the effective job information is extracted.
  • the invention relates to a method for identifying an effective working segment of a loader, defining an effective working segment, and realizing the effective working segment identification of the working spectrum according to the characteristic information of the effective working segment, which is beneficial to realizing the refinement of the working spectrum data and facilitating statistical analysis. To make the work spectrum data more regular and have good industrial applicability.

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Abstract

The invention relates to a method for recognizing an effective operation section of a loading machine, the method comprising the following steps: 1) acquiring a rotating bucket big-cavity pressure signal and a movable-arm big-cavity pressure signal from a loading machine, and extracting the operating cycle of the rotating bucket big-cavity pressure signal and the movable-arm big-cavity pressure signal; and 2) according to the obtained operating cycle, carrying out operation section extraction on operation sections within the operating cycle according to predefined feature information about effective operation sections, so as to realize recognition of the effective operation sections. According to the invention, the effective operation sections are defined, and the division of operation stages of the loading machine facilitates realizing analysis, especially the analysis of recognition of a working condition, of the operation process. The recognition of the effective operation sections of an operation spectrum is realized according to feature information about the effective operation sections. The recognition of the effective operation sections lays the foundation for analysis of the working condition, data analysis of the operation spectrum and spectrum construction, etc. The method facilitates realizing refinement of the operation spectrum data, facilitates carrying out statistical analysis and enables the operation spectrum data to be more formalized.

Description

一种装载机铲装过程的有效作业段的识别方法 Method for identifying effective working section of loader shovel loading process 技术领域 Technical field
本发明涉及工程车辆有效作业段的识别方法，更具体地说，涉及一种装载机铲装过程的有效作业段的识别方法。  The invention relates to a method for identifying an effective working section of an engineering vehicle, and more particularly to a method for identifying an effective working section of a loader shoveling process.
背景技术 Background technique
装载机作为一种工程机械，多采用液力传动，以便获得大扭矩、大惯量载荷需求，由于作业环境恶劣，作业工况复杂多变，以及设备自动化、信息化程度的不断提高，如何确保工程机械可靠、高效的运行，是目前亟待解决的技术难题。为了解决这些难题，就需要对装载机的作业谱进行分析，包括作业周期的提取、作业阶段分析和作业工况的识别等。 As a kind of construction machinery, the loader uses hydraulic transmission to obtain high torque and large inertia load demand. Due to the harsh working environment, complicated working conditions, as well as equipment automation and information technology, how to ensure the engineering Mechanically reliable and efficient operation is a technical problem that needs to be solved urgently. In order to solve these problems, it is necessary to analyze the load spectrum of the loader, including the extraction of the work cycle, the analysis of the work phase and the identification of the working conditions.
其中，作业阶段分析在作业谱分析中起到承前启后的作用，如何有效的进行分段，对于后面的作业工况识 别等起到至关重要的关系。 Among them, the analysis of the operation phase plays a role in the work spectrum analysis, how to effectively segment, for the later working conditions Don't wait for a crucial relationship.
装载机的作业方式有' V '型作业、' I '型作业、' L '型作业、' T '型作业等，按照原始的作业段分类标准主要包含 6 个作业段，即空载前进 1 、铲掘 2 、满载后退 3 、满载前进 4 、卸料 5 、空载后退 6 等，如附图 1 所示。装载机在初始铲掘前一般离料堆 10 米左右，由此开始向料堆空载前进，接近物料后动臂和转斗等联合动作，开始铲掘物料，物料铲满斗后倒挡后退回原处，接着转向后满载驶向自卸车，接近自卸车后动臂和转斗再联合动作，提斗并卸料，完成卸料后退出原处，接着进行下一次铲装过程。 The loader operates in the 'V' type, 'I' type, 'L' type, 'T 'Type work, etc., according to the original work segment classification standard, mainly includes 6 working segments, namely no-load forward 1 , shovel 2, full-load retreat 3, full-load advance 4, unloading 5, no-load retreat 6 etc. 1 is shown. The loader is generally separated from the pile before the initial excavation. 10 Around the meter, it began to move to the pile empty, close to the material after the boom and the bucket and other joint action, began to dig the material, the material shovel back to the bucket and then back to the original position, then turn to full dump to the dump truck After approaching the dump truck, the boom and the bucket are combined to move, lift and unload the material, and then exit the original position after the unloading, and then carry out the next shovel loading process.
由于原始作业分段标准是按照作业过程划分，分类数目多，造成识别难度大，部分分段信息重复且不重要。 Since the original job segmentation standard is divided according to the operation process, the number of classifications is large, which makes the identification difficult, and some segmentation information is repeated and not important.
发明内容 Summary of the invention
本发明的目的在于克服现有技术的不足，提供一种定义有效作业段，并依据有效作业段的特征信息实现作业谱的装载机有效作业段识别方法。 The object of the present invention is to overcome the deficiencies of the prior art and to provide a loader effective working segment identification method for defining an effective working segment and realizing a work spectrum based on characteristic information of an effective working segment.
本发明的技术方案如下： The technical solution of the present invention is as follows:
一种装载机有效作业段识别方法，有效作业段包括铲掘、重载运输、卸料，步骤如下： A method for identifying an effective working section of a loader, the effective working section includes excavation, heavy-duty transportation, and unloading, and the steps are as follows:
1 ）从装载机上获取转斗大腔压力信号、动臂大腔压力信号，清洗、计算转斗大腔压力信号、动臂大腔压力信号提取作业周期； 1 Obtaining the pressure signal of the large cavity of the bucket and the pressure signal of the large cavity of the boom from the loader, cleaning, calculating the pressure signal of the large cavity of the bucket, and extracting the working cycle of the pressure signal of the large cavity of the boom;
2 ）依据得到的作业周期，对作业周期内的作业段根据预定义的有效作业段的特征信息，进行作业段提取，实现有效作业段的识别。 2 According to the obtained work cycle, the work segment in the work cycle is extracted according to the feature information of the predefined valid work segment, and the effective work segment is recognized.
作为优选，步骤 2 ）中所述的有效作业段的特征信息为预设的特定阈值，通过特定阈值提取各个作业段的分段点。 Preferably, step 2 The feature information of the effective work segment described in the above is a preset specific threshold value, and the segmentation points of the respective work segments are extracted by a specific threshold.
作为优选，有效作业段省略标准作业段的空载前进、空载 后退，重载运输包括标准作用段的满载后退、满载前进。 Preferably, the effective working segment omits the no-load advancement and no-load of the standard working segment Backward, heavy-duty transport includes full-load retreat and full-load advancement of the standard active section.
作为优选，动臂大腔压力接触物料前的极小值点定义为挖掘作业段起始时间点；转斗大腔压力的第一个极大值点定义为挖掘作业段结束时间点； Preferably, the minimum point before the pressure of the large cavity pressure contact material is defined as the starting time point of the excavation working section; the first maximum point of the pressure of the large cavity of the bucket is defined as the ending time point of the excavation working section;
重载运输作业段起始时间为挖掘作业段结束时间点；卸载物料前，转斗大腔压力大于预设的变化阀值的时间点为重载运输作业段结束时间点； The starting time of the heavy-duty transportation operation section is the end time of the excavation operation section; before the material is unloaded, the time point of the large-cavity pressure of the bucket is greater than the preset change threshold value is the end time point of the heavy-duty transportation operation section;
卸料作业段起始时间为重载运输作业段结束时间点；卸载物料后，动臂大腔压力达到的极小值点定义为卸料作业段结束时间点； The starting time of the unloading operation section is the end time of the heavy-duty transportation operation section; after the material is unloaded, the minimum value point reached by the boom large-cavity pressure is defined as the end time point of the unloading operation section;
则有效作业段包括 A1 、 A2 、 A3 和 A4 四个分段点。 The valid job segment includes four segment points A1, A2, A3, and A4.
作为优选，各个作业段的分段点的提取具体为： Preferably, the extraction of the segmentation points of each work segment is specifically:
2.1 ）对动臂大腔压力进行极小值点求取，并求取最小的极小值点 B ；接着求取最邻近最小的极小值点 B 左右的极小值点，则左边的极小值点为分段点 A1 ，右边的极小值点为分段点 A4 ； 2.1) Calculate the minimum value of the large cavity pressure of the boom and obtain the minimum minimum point B; then find the nearest minimum minimum point B For the minimum value points on the left and right, the minimum value point on the left is the segmentation point A1, and the minimum value point on the right is the segmentation point A4;
2.2 ）然后对转斗大腔压力进行一阶求导，求取其变化率，再对转斗大腔压力求取最大极大值点 C ；然后求取最邻近最大极大值点 C 的左右第一个一阶导数大于预设极大阀值的变化点，则左边的变化点为分段点 A2 ，右边的变化点为分段点 A3 。 2.2) Then carry out the first-order derivation of the pressure of the large cavity of the bucket, obtain the rate of change, and then obtain the maximum maximum point C of the large cavity pressure of the bucket. Then, the left first first derivative of the nearest maximum maximum point C is greater than the change point of the preset maximum threshold, and the left change point is the segment point A2, and the right change point is the segment point. A3.
作为优选，步骤 2.1 ）中，先对动臂大腔压力进行两次迭代滤波，再对两次迭代滤波后得到的信号进行极小值点求取。 As a preference, step 2.1 In the first step, the iterative filtering is performed on the large cavity pressure of the boom first, and then the signal obtained by the two iterative filtering is subjected to the minimum value point.
作为优选，步骤 2.2 ）中，对转斗大腔压力分别进行两次迭代滤波和一百次迭代滤波，对两次迭代滤波得到的数值进行一阶求导，求取其变化率；对一百次迭代滤波后得到的数据求取最大极大值点 C 。 As a preference, step 2.2 In the process, the iterative filtering and one hundred iterative filtering are performed on the large cavity pressure of the bucket respectively, and the first-order derivation of the values obtained by the two iterative filtering is obtained, and the rate of change is obtained; Data to obtain the maximum maximum point C .
本发明的有益效果如下： The beneficial effects of the present invention are as follows:
本发明所述的方法解决工程机械作业段识别难的问题，定义有效作业段，装载机作业阶段的划分，有利于实现对作业过程的分析，特别是对作业工况识别的分析。并依据有效作业段的特征信息实现作业谱的有效作业段识别；有效作业段的识别为作业工况的分析、作业谱的数据分析及编谱等起到奠定基础的作用。本发明所述的方法有利于实现对作业谱数据的细化，便于进行统计分析，使作业谱数据更加规整化。 The method of the invention solves the problem that the engineering machinery working section is difficult to identify, defines the effective working section, and divides the working phase of the loader, which is beneficial to realize the analysis of the working process, especially the analysis of the working condition identification. According to the characteristic information of the effective working segment, the effective working segment identification of the working spectrum is realized; the identification of the effective working segment plays a foundation for the analysis of the working condition, the data analysis of the working spectrum and the coding. The method of the invention is advantageous for realizing the refinement of the work spectrum data, facilitating the statistical analysis, and making the work spectrum data more regular.
附图说明 DRAWINGS
图 1 是现有技术中，装载机的标准作业段示意图； Figure 1 is a schematic view of a standard working section of a loader in the prior art;
图 2 是本发明中，装载机的有效作业段示意图； Figure 2 is a schematic view showing an effective working section of the loader in the present invention;
图 3 是本发明的识别基本框架示意图； Figure 3 is a schematic diagram of the basic frame of identification of the present invention;
图 4 是本发明的有效作业段识别算法的流程图。 4 is a flow chart of an effective operating segment identification algorithm of the present invention.
具体实施方式 detailed description
以下结合附图及实施例对本发明进行进一步的详细说明。 The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
实施例，一种装载机有效作业段识别方法，参考图 2. ，其有效作业段：包括铲掘 10 、重载运输 40 、卸料 50 ；有效作业段省略标准作业段的空载前进、空载后退；重载运输包括标准作用段的满载后退、满载前进。有效作业段主要是从作业段的价值角度考虑。由于标准作业段中，空载前进、空载后退等对于工况识别、智能换挡和整车性能测试用途小、分析价值不大且识别难度大，因此，本发明在有效作业段中不予考虑；而对于满载后退、满载前进等相似的作业段则可以合并为重载运输段进行考虑。 Embodiments, a method for identifying an effective working segment of a loader, refer to FIG. 2. The effective working segment includes: excavation 10, heavy haul transport 40 Unloading 50 The effective working segment omits the no-load advancement of the standard working segment and the no-load retreat; the heavy-duty transport includes the full-load retreat of the standard action segment and the full-load advancement. The effective working segment is mainly considered from the perspective of the value of the working segment. Because the standard operation section, no-load advancement, no-load retreat, etc. are small in use for working condition identification, intelligent shifting and vehicle performance testing, and the analysis value is small and the identification is difficult. Therefore, the present invention does not allow in the effective working section. Considering; similar working segments such as full load back, full load forward, etc. can be combined for consideration of heavy haul transport segments.
本发明所述的识别方法，主要步骤如下： The main steps of the identification method of the present invention are as follows:
1 ）从装载机上获取转斗大腔压力信号、动臂大腔压力信号，清洗、计算转斗大腔压力信号、动臂大腔压力信号提取作业周期；其中，作业周期主要是指将装载机铲掘过程的每个作业循环段的划分。 1 Obtaining the pressure signal of the large cavity of the bucket and the pressure signal of the large cavity of the boom from the loader, cleaning, calculating the pressure signal of the large cavity of the bucket, and extracting the working cycle of the pressure signal of the large cavity of the boom; wherein the working cycle mainly refers to the shovel of the loader The division of each job cycle segment of the excavation process.
2 ）依据得到的作业周期对作业周期内的作业段根据预定义的有效作业段的特征信息，进行作业段提取，实现有效作业段的识别。本实施例中，所述的有效作业段的特征信息为预设的特定阈值，通过特定阈值提取各个作业段的分段点。 2 According to the obtained work cycle, the work segment in the work cycle is extracted according to the feature information of the predefined valid work segment, and the effective work segment is identified. In this embodiment, the feature information of the valid work segment is a preset specific threshold, and the segment points of each work segment are extracted by a specific threshold.
本发明中，各作业段的分段点如下： In the present invention, the segmentation points of the respective working segments are as follows:
动臂大腔压力接触物料前的极小值点定义为挖掘作业段起始时间点；转斗大腔压力的第一个极大值点定义为挖掘作业段结束时间点； The minimum point before the boom cavity pressure contact material is defined as the starting time point of the excavation working section; the first maximum point of the bucket large cavity pressure is defined as the end point of the excavation working section;
重载运输作业段起始时间为挖掘作业段结束时间点；卸载物料前，转斗大腔压力大于预设的变化阀值的时间点为重载运输作业段结束时间点； The starting time of the heavy-duty transportation operation section is the end time of the excavation operation section; before the material is unloaded, the time point of the large-cavity pressure of the bucket is greater than the preset change threshold value is the end time point of the heavy-duty transportation operation section;
卸料作业段起始时间为重载运输作业段结束时间点；卸载物料后，动臂大腔压力达到的极小值点定义为卸料作业段结束时间点； The starting time of the unloading operation section is the end time of the heavy-duty transportation operation section; after the material is unloaded, the minimum value point reached by the boom large-cavity pressure is defined as the end time point of the unloading operation section;
则有效作业段包括 A1 、 A2 、 A3 和 A4 四个分段点。 The valid job segment includes four segment points A1, A2, A3, and A4.
具体地，本实施例中，挖掘作业段起始时间为铲斗与物料接触时，动臂大腔压力开始剧烈变大，动臂大腔压力在变化前会有给最小的极值点，这是由于铲掘前铲斗放置与地面造成的，此时动臂大腔压力值比正常行驶时还小，因此定义动臂大腔压力剧烈变化前的极小值点为挖掘作业段起始时间点； Specifically, in the embodiment, when the starting time of the excavation work section is that the bucket is in contact with the material, the pressure of the large cavity of the boom begins to increase drastically, and the pressure of the large cavity of the boom will give a minimum extreme point before the change. It is caused by the placement of the bucket before the shovel and the ground. At this time, the pressure value of the large cavity of the boom is smaller than that during normal driving. Therefore, the minimum value before the pressure change of the large cavity of the boom is defined as the starting time of the excavation section. point;
挖掘作业段结束时间为铲斗装满物料脱离工作面时，此时一般伴随收斗动作（一般 1-2 次），转斗大腔压力在每次收斗时都会出现一个极大值，完成收斗后转斗大腔压力将平稳下降，定义转斗大腔压力的第一个极大值点为挖掘作业段结束时间。 The end time of the excavation work section is when the bucket is full of material and is separated from the work surface. At this time, it is generally accompanied by a fighting action (generally 1-2) Times), the pressure of the large cavity of the bucket will have a maximum value at each bucket. After the bucket is completed, the pressure of the large chamber will drop smoothly. The first maximum point of the pressure of the large cavity of the bucket is defined as excavation. End of the job segment.
重载运输作业段起始时间为挖掘作业段结束时间； The starting time of the heavy-duty transport operation section is the end time of the excavation work section;
重载运输作业段结束时间为铲斗举升准备卸载物料时，此时转斗即将产生翻斗动作，转斗大腔压力发生急速变化，定义转斗大腔压力的急速变化点为重载运输作业段结束时间。 When the end of the heavy-duty transportation operation section is to prepare the unloading material for the bucket lifting, the dumping action is about to occur in the bucket, and the pressure of the large cavity of the bucket changes rapidly. The rapid change point of the pressure of the large cavity of the bucket is the heavy-duty transportation operation. End of time.
卸料作业段起始时间为重载运输作业段结束时间； The start time of the unloading operation section is the end time of the heavy-duty transportation operation section;
卸料作业段结束时间为铲斗卸掉所有物料时，动臂大腔压力值会发生突变，达到一个极小值点，定义动臂大腔压力达到的极小值点为卸料作业段结束时间。 When the end of the unloading operation section is when the bucket removes all materials, the pressure value of the large cavity of the boom will be abruptly changed to a minimum value. The minimum point at which the pressure of the large cavity of the boom is reached is the end of the unloading operation section. time.
根据上述有效作业段的定义，将挖掘作业段的起点与终点定义为 A1 、 A2 ，并用 A1A2 代表挖掘作业段；同理， A2A3 代表重载运输作业段， A3A4 代表卸料作业段。 According to the definition of the above effective working segment, the starting point and ending point of the excavation working segment are defined as A1 and A2, and A1A2 is used. On behalf of the excavation work section; similarly, A2A3 represents the heavy-duty transport operation section, and A3A4 represents the unloading operation section.
在完成作业周期提取后，分别对各作业周期内的动臂大腔压力和转斗大腔压力进行分析处理，则各个作业段的分段点的提取具体为： After the completion of the work cycle extraction, the boom cavity pressure and the bucket large cavity pressure are analyzed and processed in each work cycle, and the segmentation points of each work segment are extracted as follows:
2.1 ）对动臂大腔压力进行极小值点求取，并求取最小的极小值点 B ；接着求取最邻近最小的极小值点 B 左右的极小值点，则左边的极小值点为分段点 A1 ，右边的极小值点为分段点 A4 ； 2.1) Calculate the minimum value of the large cavity pressure of the boom and obtain the minimum minimum point B; then find the nearest minimum minimum point B For the minimum value points on the left and right, the minimum value point on the left is the segmentation point A1, and the minimum value point on the right is the segmentation point A4;
2.2 ）然后对转斗大腔压力进行一阶求导，求取其变化率，再对转斗大腔压力求取最大极大值点 C ；然后求取最邻近最大极大值点 C 的左右第一个一阶导数大于预设极大阀值的变化点，则左边的变化点为分段点 A2 ，右边的变化点为分段点 A3 。 2.2) Then carry out the first-order derivation of the pressure of the large cavity of the bucket, obtain the rate of change, and then obtain the maximum maximum point C of the large cavity pressure of the bucket. Then, the left first first derivative of the nearest maximum maximum point C is greater than the change point of the preset maximum threshold, and the left change point is the segment point A2, and the right change point is the segment point. A3.
为了使提取的结果更准确，本实施例中，作业段提取主要采用迭代滤波与极值点求取的方法，通过设定特定阈值提取各个作业段的分段点， 如图4所示， 具体如下： In order to make the extracted result more accurate, in the embodiment, the segment extraction mainly adopts the method of iterative filtering and extremum point extraction, and the segmentation points of each working segment are extracted by setting a specific threshold, as shown in FIG. as follows:
步骤 2.1 ）中，先对动臂大腔压力进行两次迭代滤波，该处理主要是使信号更加平滑，消除毛躁点。再对两次迭代滤波后得到的信号进行极小值点求取，求取最小的极小值点 B ；接着求取最邻近最小的极小值点 B 左右的极小值点，则左边的极小值点为分段点 A1 ，右边的极小值点为分段点 A4 。 Step 2.1 In the first step, the iterative filtering is performed on the large cavity pressure of the boom first, and the processing mainly makes the signal smoother and eliminates the burrs. Then, the signal obtained by the two iterative filtering is subjected to the minimum value point to obtain the minimum minimum point B. Then, the minimum value point around the smallest minimum value point B is obtained, and the minimum value point on the left side is the segmentation point A1, and the minimum value point on the right side is the segmentation point A4.
步骤 2.2 ）中，对转斗大腔压力分别进行两次迭代滤波和一百次迭代滤波，对两次迭代滤波得到的数值进行一阶求导，求取其变化率；对一百次迭代滤波后得到的数据求取最大极大值点 C ，进行一百次迭代滤波，能够尽量消除所有干扰最大极大值点 C 的毛躁点。在完成一阶求导和求取最大极大值点 C 后，进行求取最邻近最大极大值点 C 的左右第一个一阶导数大于 0.5 的变化点，所得的两个点即为有效作业段分段点 A2 、 A3 。 Step 2.2 In the process, the iterative filtering and one hundred iterative filtering are performed on the large cavity pressure of the bucket respectively, and the first-order derivation of the values obtained by the two iterative filtering is obtained, and the rate of change is obtained; Data to obtain the maximum maximum point C A hundred iterations of filtering can eliminate all the burrs that interfere with the maximum maximum point C. After completing the first-order derivation and obtaining the maximum maximum point C, the nearest maximum maximum point C is obtained. The first one-order derivative of the left and right is greater than the change point of 0.5, and the two points obtained are the effective working segment segment points A2 and A3.
至此，得到全部的有效作业段分段点 A1 、 A2 、 A3 和 A4 ，根据这些分段点对作业周期内的数据进行提取分离，即可得到有效作业段。 At this point, all valid segment segments A1, A2, A3 and A4 are obtained. According to these segmentation points, the data in the work cycle is extracted and separated, and a valid work segment can be obtained.
实施例，本发明一种装载机有效作业段识别方法，如附图 4 所示，定义各作业段间为连续性，即：挖掘作业段起点标为 A1 ；挖掘作业段终点的为重载运输作业段的起点标为 A2 ；重载运输作业段终点的为重卸料作业段的起点标为 A3 ；重卸料作业段的终点标为 A3. 。 Embodiments of the present invention provide a method for identifying an effective working segment of a loader, as shown in FIG. 4 As shown, the continuity between the working segments is defined, that is, the starting point of the excavation working segment is marked as A1; the starting point of the excavating working segment is marked as A2 for the starting point of the heavy-duty transport working segment; and the end of the heavy-duty transport working segment is the heavy unloading material. The starting point of the job segment is marked as A3; The end point of the heavy unloading section is marked A3.
主要步骤如下： The main steps are as follows:
1 ）采集压力信号 100 ：从装载机上分别获取转斗大腔压力信号 211 、动臂大腔压力信号 201 ； 1) Collecting the pressure signal 100: Obtaining the pressure signal of the large cavity of the bucket from the loader 211, the pressure signal of the large cavity of the boom 201 ;
2 ）作业周期提取 200 ： 2) Job cycle extraction 200:
对动臂大腔压力信号进行清洗、计算获得极小值点 B ，依据极小值点 B 计算获得作业段的起点 A1 和终点 A4 The boom pressure signal is cleaned and calculated to obtain the minimum point B. The starting point A1 and the end point of the working segment are calculated according to the minimum point B. A4
具体步骤包括： The specific steps include:
2.1 对动臂大腔压力信号 201 进行两次迭代滤波 202 2.1 Two iterative filtering of the boom large cavity pressure signal 201 202
2.2 求极小值点 B203 2.2 Find the minimum point B203
2.3 求最邻近 B 的左右极小值点 204 2.3 Find the nearest left and right minimum points of B 204
2.4 得到 A1 、 A4 点； 2.4 Obtain A1 and A4 points;
对转斗大腔压力信号进行清洗、计算获得极大值点 C ，依据极大值点 C 计算获得作业段的节点 A2 和 A3 ： Clean the large cavity pressure signal of the bucket, calculate the maximum point C, and calculate the nodes A2 and A3 of the working segment according to the maximum point C. :
2.5 转斗大腔压力信号 211 进行两次迭代滤波 212 ，再进行一阶求导 213 2.5 Sweeping large cavity pressure signal 211 Perform two iterative filtering 212, and then perform first-order derivation 213
2.6 转斗大腔压力信号 211 进行一百次迭代滤波 214 ，求极大值点 C215 ； 2.6 The large cavity pressure signal of the hopper is subjected to one hundred iteration filtering 214, and the maximum point C215 is obtained;
2.7 求最邻近 C 的左右第一阶导数大于 0.5 的点 216 2.7 Find the point where the first and second derivatives of the nearest C are greater than 0.5 216
2.8 得到 A2 、 A3 点 2.8 Get A2, A3 points
3 ）有效作业提取 300 3) Effective job extraction 300
根据以上计算获得 A1 、 A2 、 A3 、 A4 点信息，提取有效作业信息。 According to the above calculation, the A1, A2, A3, and A4 point information is obtained, and the effective job information is extracted.
上述实施例仅是用来说明本发明，而并非用作对本发明的限定。只要是依据本发明的技术实质，对上述实施例进行变化、变型等都将落在本发明的权利要求的范围内。 The above-described embodiments are merely illustrative of the invention and are not intended to limit the invention. Variations, modifications, and the like of the above-described embodiments are intended to fall within the scope of the appended claims.
工业实用性 Industrial applicability
本发明涉及一种装载机有效作业段识别方法，定义有效作业段，并依据有效作业段的特征信息实现作业谱的有效作业段识别，有利于实现对作业谱数据的细化，便于进行统计分析，使作业谱数据更加规整化，具有良好的工业实用性。 The invention relates to a method for identifying an effective working segment of a loader, defining an effective working segment, and realizing the effective working segment identification of the working spectrum according to the characteristic information of the effective working segment, which is beneficial to realizing the refinement of the working spectrum data and facilitating statistical analysis. To make the work spectrum data more regular and have good industrial applicability.

Claims (10)

  1. 一种装载机有效作业段识别方法，其特征在于，包括以下步骤如下：A method for identifying an effective working segment of a loader, characterized in that the following steps are as follows:
    1 ）从装载机上获取转斗大腔压力信号、动臂大腔压力信号，清洗、计算转斗大腔压力信号、动臂大腔压力信号提取作业周期；1 Obtaining the pressure signal of the large cavity of the bucket and the pressure signal of the large cavity of the boom from the loader, cleaning, calculating the pressure signal of the large cavity of the bucket, and extracting the working cycle of the pressure signal of the large cavity of the boom;
    2 ）依据得到的作业周期，对作业周期内的作业段根据预定义的有效作业段的特征信息，进行作业段提取，实现有效作业段的识别；2 According to the obtained work cycle, the work segment in the work cycle is extracted according to the feature information of the predefined valid work segment, and the effective work segment is identified;
    有效作业段包括装载机的铲掘、重载运输、卸料。Effective working sections include the shovel of the loader, heavy haul transport, and unloading.
  2. 根据权利要求 1 所述的装载机有效作业段识别方法，其特征在于，步骤 2 ）中所述的有效作业段的特征信息为预设的特定阈值，通过特定阈值提取各个作业段的分段点。  The loader effective working segment identification method according to claim 1, wherein the step 2 The feature information of the effective work segment described in the above is a preset specific threshold value, and the segmentation points of the respective work segments are extracted by a specific threshold.
  3. 根据权利要求 1 所述的装载机有效作业段识别方法，其特征在于，有效作业段省略标准作业段的空载前进、空载后退，重载运输包括标准作业段 的满载后退、满载前进。  According to claim 1 The loader effective working segment identification method is characterized in that the effective working segment omits the no-load advancement and the no-load retreat of the standard working segment, and the heavy-duty transportation includes full-load retreat and full-load advancement of the standard working segment.
  4. 根据权利要求 2 所述的装载机有效作业段识别方法，其特征在于，动臂大腔压力接触物料前的极小值点定义为挖掘作业段起始时间点；转斗大腔压力的第一个极大值点定义为挖掘作业段结束时间点；According to claim 2 The loader effective working segment identification method is characterized in that the minimum value point before the boom large cavity pressure contact material is defined as the starting time point of the excavation working section; the first maximum value of the bucket large cavity pressure The point is defined as the end time of the mining work segment;
    重载运输作业段起始时间为挖掘作业段结束时间 点 ；卸载物料前，转斗大腔压力大于预设的变化阀值的时间点为重载运输作业段结束时间点；The starting time of the heavy transport transport segment is the end time of the excavation work segment. Before unloading the material, the time point at which the large cavity pressure of the bucket is greater than the preset change threshold is the end time of the heavy-duty transportation operation section;
    卸料作业段起始时间为重载运输作业段结束时间 点 ；卸载物料后，动臂大腔压力达到的极小值点定义为卸料作业段结束时间点；The start time of the unloading operation section is the end time of the heavy-duty transportation operation section. After unloading the material, the minimum point reached by the boom cavity pressure is defined as the end time of the unloading section;
    则有效作业段包括 A1 、 A2 、 A3 和 A4 四个分段点。The valid job segment includes four segment points A1, A2, A3, and A4.
  5. 根据权利要求 4 所述的装载机有效作业段识别方法，其特征在于，各个作业段的分段点的提取具体为：The method for identifying an effective working segment of a loader according to claim 4, wherein the extraction of the segmentation points of each of the working segments is specifically:
    2.1 ）对动臂大腔压力进行极小值点求取，并求取最小的极小值点 B ；接着求取最邻近最小的极小值点 B 左右的极小值点，则左边的极小值点为分段点 A1 ，右边的极小值点为分段点 A4 ；2.1) Calculate the minimum value of the large cavity pressure of the boom and obtain the minimum minimum point B; then find the nearest minimum minimum point B For the minimum value points on the left and right, the minimum value point on the left is the segmentation point A1, and the minimum value point on the right is the segmentation point A4;
    2.2 ）然后对转斗大腔压力进行一阶求导，求取其变化率，再对转斗大腔压力求取最大极大值点 C ；然后求取最邻近最大极大值点 C 的左右第一个一阶导数大于预设极大阀值的变化点，则左边的变化点为分段点 A2 ，右边的变化点为分段点 A3 。2.2) Then carry out the first-order derivation of the large cavity pressure of the bucket, obtain the rate of change, and then obtain the maximum maximum point C for the large cavity pressure of the bucket; then find the nearest maximum maximum point The first first derivative of C is greater than the change point of the preset maximum threshold, then the change point on the left is segmentation point A2, and the change point on the right is segmentation point A3.
  6. 根据权利要求 5 所述的装载机有效作业段识别方法，其特征在于，步骤 2.1 ）中，先对动臂大腔压力进行两次迭代滤波，再对两次迭代滤波后得到的信号进行极小值点求取。  The loader effective working segment identification method according to claim 5, wherein the step 2.1 In the first step, the iterative filtering is performed on the large cavity pressure of the boom first, and then the signal obtained by the two iterative filtering is subjected to the minimum value point.
  7. 根据权利要求 5 所述的装载机有效作业段识别方法，其特征在于，步骤 2.2 ）中，对转斗大腔压力分别进行两次迭代滤波和一百次迭代滤波，对两次迭代滤波得到的数值进行一阶求导，求取其变化率；对一百次迭代滤波后得到的数据求取最大极大值点 C 。  The loader effective working segment identification method according to claim 5, wherein the step 2.2 In the process, the iterative filtering and one hundred iterative filtering are performed on the large cavity pressure of the bucket respectively, and the first-order derivation of the values obtained by the two iterative filtering is obtained, and the rate of change is obtained; Data to obtain the maximum maximum point C .
  8. 根据权利要求 1 所述的装载机有效作业段识别方法，其特征在于， 定义各作业段间为连续性，即：挖掘作业段起点标为 A1 ；挖掘作业段终点的为重载运输作业段的起点标为 A2 ；重载运输作业段终点的为重卸料作业段的起点标为 A3 ；重卸料作业段的终点标为 A3. ；The method for identifying an effective working segment of a loader according to claim 1, wherein the continuity between the working segments is defined, that is, the starting point of the mining working segment is marked as A1. The starting point of the excavation section is marked as A2 for the heavy-duty transport section; the end of the heavy-duty transport section is marked as A3 for the heavy-duty operation section; and the end point of the heavy-loading operation section is marked A3. ;
    主要步骤如下：The main steps are as follows:
    1 ）采集压力信号：1) Collect pressure signal:
    从装载机上分别采集转斗大腔压力信号、动臂大腔压力信号；Collecting the pressure signal of the large cavity of the bucket and the pressure signal of the large cavity of the boom from the loader;
    2 ）作业周期提取：2) Job cycle extraction:
    对动臂大腔压力信号进行清洗、计算获得极小值点 B ，依据极小值点 B 计算获得作业段的起点 A1 和终点 A4The boom pressure signal is cleaned and calculated to obtain the minimum point B. The starting point A1 and the end point of the working segment are calculated according to the minimum point B. A4
    对转斗大腔压力信号进行清洗、计算获得极大值点 C ，依据极大值点 C 计算获得作业段的节点 A2 和 A3Clean the large cavity pressure signal of the bucket, calculate the maximum point C, and calculate the node A2 of the working segment according to the maximum point C. A3
    3 ）有效作业提取：3) Effective job extraction:
    根据以上计算获得 A1 、 A2 、 A3 、 A4 即可获得有效作业信息。According to the above calculation, A1, A2, A3, and A4 can be obtained to obtain valid job information.
  9. 根据权利要求 8 所述的装载机有效作业段识别方法，其特征在于， 所述 A1 和 A4 获得，包括以下步骤：The loader effective working segment identification method according to claim 8, wherein said A1 and A4 Obtained, including the following steps:
    2.1 对动臂大腔压力信号 201 进行两次迭代滤波 2022.1 Two iterative filtering of the boom large cavity pressure signal 201 202
    2.2 求极小值点 B2032.2 Find the minimum point B203
    2.3 求最邻近 B 的左右极小值点 2042.3 Find the nearest left and right minimum points of B 204
    2.4 得到 A1 、 A4 点。2.4 Get points A1 and A4.
  10. 根据权利要求 8 所述的装载机有效作业段识别方法，其特征在于， 所述 A2 和 A3 获得，包括以下步骤：The loader effective working segment identification method according to claim 8, wherein said A2 and A3 Obtained, including the following steps:
    2.5 转斗大腔压力信号 211 进行两次迭代滤波 212 ，再进行一阶求导 2132.5 Sweeping large cavity pressure signal 211 Perform two iterative filtering 212, and then perform first-order derivation 213
    2.6 转斗大腔压力信号 211 进行一百次迭代滤波 214 ，求极大值点 C215 ；2.6 The large cavity pressure signal of the hopper is subjected to one hundred iteration filtering 214, and the maximum point C215 is obtained;
    2.7 求最邻近 C 的左右第一阶导数大于 0.5 的点 2162.7 Find the point where the first and second derivatives of the nearest C are greater than 0.5 216
    2.8 得到 A2 、 A3 点。2.8 Get points A2 and A3.
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