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CN-122013844-A - Excavator work volume metering method, electronic device and program product

CN122013844ACN 122013844 ACN122013844 ACN 122013844ACN-122013844-A

Abstract

The application provides an excavator working volume metering method, electronic equipment and a program product, which can be used in the technical field of engineering machinery. The method comprises the steps of obtaining a movable arm position and a first movable arm oil cylinder pressure of a movable arm and a first bucket arm oil cylinder pressure of the bucket arm when the grabber grabs materials, determining a second movable arm oil cylinder pressure of the movable arm in an idle state based on the movable arm position, determining a second bucket arm oil cylinder pressure of the bucket arm in the idle state based on the bucket arm position, and determining grabbing weight based on a first pressure difference of the first movable arm oil cylinder pressure and the second movable arm oil cylinder pressure and a second pressure difference of the first bucket arm oil cylinder pressure and the second bucket arm oil cylinder pressure. According to the application, the grabbing weight is calculated through the pressure difference of the movable arm oil cylinder and the pressure difference of the bucket rod oil cylinder, so that high-precision measurement and real-time monitoring of the grabbing weight are realized.

Inventors

  • Zuo ouyang
  • ZHANG LI

Assignees

  • 三一重机有限公司

Dates

Publication Date
20260512
Application Date
20260202

Claims (10)

  1. 1. An excavator work volume metering method, characterized by being applied to a whole vehicle controller of an excavator, wherein the excavator comprises a movable arm, a bucket rod and a grabber, and the method comprises the following steps: when the grabber grabs materials, acquiring a movable arm position and a first movable arm oil cylinder pressure of the movable arm, and a bucket rod position and a first bucket rod oil cylinder pressure of the bucket rod; determining a second boom cylinder pressure of the boom in an unloaded state based on the boom position; determining a second arm cylinder pressure of the arm in an empty state based on the arm position; and determining a grabbing weight based on a first pressure difference between the first boom cylinder pressure and the second boom cylinder pressure and a second pressure difference between the first arm cylinder pressure and the second arm cylinder pressure.
  2. 2. The method of claim 1, wherein determining a grab weight based on a first pressure differential of the first boom cylinder pressure and the second boom cylinder pressure, and a second pressure differential of the first stick cylinder pressure and the second stick cylinder pressure, comprises: inputting the first pressure difference and the second pressure difference into a pre-constructed weighing function model to obtain the grabbing weight output by the weighing function model, wherein the weighing function model is constructed based on the functional relation among the first pressure difference, the second pressure difference and the grabbing weight.
  3. 3. The method according to claim 1, wherein the method further comprises: determining a gripping height of the gripper based on the boom position and the stick position; And if the grabbing height exceeds the vehicle height of the loading truck, the grabbing weight is counted into the accumulated loading capacity of the loading truck.
  4. 4. The method of claim 3, wherein determining a gripping height of the gripper based on the boom position and the stick position comprises: Inputting the movable arm position and the bucket rod position into a pre-constructed three-dimensional simulation model, and obtaining the grabbing height of the grabber based on the three-dimensional simulation model, wherein the three-dimensional simulation model is constructed based on geometric dimension parameters of the excavator.
  5. 5. A method according to claim 3, characterized in that the method further comprises: If the accumulated load capacity is larger than the full load weight of the loading truck, determining that the loading truck is overloaded; And if the loading and unloading truck is overloaded, generating a first alarm instruction, wherein the first alarm instruction is used for indicating the excavator to carry out overload alarm.
  6. 6. The method according to claim 1, wherein the method further comprises: if the grabbing weight is larger than the grabbing limit weight of the grabber, determining that the grabber is overweight; And if the grabber is overweight, generating a second alarm instruction, wherein the second alarm instruction is used for indicating the excavator to carry out overweight alarm.
  7. 7. The method of any of claims 1-6, wherein determining a second boom cylinder pressure for the boom in an unloaded state based on the boom position comprises: And determining a second boom cylinder pressure corresponding to the boom position based on the boom position and a boom pressure mapping table, wherein the boom pressure mapping table is used for indicating the boom cylinder pressures corresponding to different boom positions in an idle state.
  8. 8. The method of any of claims 1-6, wherein determining a second stick cylinder pressure for the stick in an unloaded state based on the stick position comprises: And determining the second arm cylinder pressure corresponding to the arm position based on the arm position and an arm pressure mapping table, wherein the arm pressure mapping table is used for indicating the arm cylinder pressures corresponding to different arm positions in the idle state.
  9. 9. An electronic device comprising a processor, and a memory communicatively coupled to the processor; The memory stores computer-executable instructions; The processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1 to 8.
  10. 10. A computer program product comprising a computer program for implementing the method of any one of claims 1 to 8 when the computer program is executed.

Description

Excavator work volume metering method, electronic device and program product Technical Field The present application relates to the technical field of engineering machinery, and in particular, to a working capacity metering method for an excavator, an electronic device, and a program product. Background The determination of the workload of the excavator refers to accurately measuring the actual workload of the excavator, such as earth excavation, material handling and the like, which is completed in a specific time period by a scientific and reasonable method, and is usually quantified in units of cubic meters, tons and the like. The grabbing excavator is widely applied to complex field working conditions such as forest cutting, material loading and unloading, mountain land and stone work and the like, and as the working environment is mostly complex terrains such as mountain lands and forest areas, the grabbing materials are different in shape and uneven in weight distribution, and therefore a driver can hardly accurately estimate grabbing workload of the excavator. Therefore, a technical solution capable of accurately determining the grabbing workload of the excavator is needed to improve the safety, efficiency and data traceability of the excavator. Disclosure of Invention The application provides a working capacity metering method for an excavator, electronic equipment and a program product, which are used for solving the technical problem that the existing grabbing type excavator cannot accurately acquire grabbing working capacity. According to a first aspect of the disclosure, the present application provides a method for measuring working amount of an excavator, the excavator including a boom, an arm and a gripper, the method including: The method comprises the steps of obtaining first movable arm data and first bucket rod data of the grabbing excavator, wherein the first movable arm data comprise movable arm positions and movable arm oil cylinder pressures, and the first bucket rod data comprise bucket rod positions and bucket rod oil cylinder pressures; determining a second boom cylinder pressure of the boom in an unloaded state based on the boom position; determining a second arm cylinder pressure of the arm in an empty state based on the arm position; and determining a grabbing weight based on a first pressure difference between the first boom cylinder pressure and the second boom cylinder pressure and a second pressure difference between the first arm cylinder pressure and the second arm cylinder pressure. In one possible embodiment, determining the grasping weight based on a first pressure difference of the first boom cylinder pressure and the second boom cylinder pressure, and a second pressure difference of the first stick cylinder pressure and the second stick cylinder pressure, includes: inputting the first pressure difference and the second pressure difference into a pre-constructed weighing function model to obtain the grabbing weight output by the weighing function model, wherein the weighing function model is constructed based on the functional relation among the first pressure difference, the second pressure difference and the grabbing weight. In a possible embodiment, the method further comprises: determining a gripping height of the gripper based on the boom position and the stick position; And if the grabbing height exceeds the vehicle height of the loading truck, the grabbing weight is counted into the accumulated loading capacity of the loading truck. In one possible embodiment, determining the gripping height of the gripper at the boom position and the stick position includes: Inputting the movable arm position and the bucket rod position into a pre-constructed three-dimensional simulation model, and obtaining the grabbing height of the grabber based on the three-dimensional simulation model, wherein the three-dimensional simulation model is constructed based on geometric dimension parameters of the excavator. In a possible embodiment, the method further comprises: If the accumulated load capacity is larger than the full load weight of the loading truck, determining that the loading truck is overloaded; And if the loading and unloading truck is overloaded, generating a first alarm instruction, wherein the first alarm instruction is used for indicating the excavator to carry out overload alarm. In a possible embodiment, the method further comprises: if the grabbing weight is larger than the grabbing limit weight of the grabber, determining that the grabber is overweight; And if the grabber is overweight, generating a second alarm instruction, wherein the second alarm instruction is used for indicating the excavator to carry out overweight alarm. In one possible embodiment, determining a second boom cylinder pressure of the boom in an unloaded state based on the boom position includes: And determining a second boom cylinder pressure corresponding to the boom position based on the b