Method of identifying a difficulty level of an operating condition of a loader

Abstract

The identification method of the difficulty level of the operating condition of the loader, takes the excavating operation segments extracted by the operation segment as the main objects of study to identify the operating conditions, and finally get the difficulty level value of the operating condition. The identification of the difficulty level of the operating condition is beneficial to control the power output mode of diesel engine and realize the distribution according to demand; simultaneously, as the judgement basis of intelligent shift control strategy, it has great significance for intelligent shift, power mode control and improving operation performance of engineering vehicles. It is also beneficial to the improvement of the performance and the energy saving and emission reduction; at the same time, the identification of the difficulty level of the operating condition is used to realize the change of power regulation, improve the application scope of engineering machinery.

Claims

1. A method of identifying a difficulty level of an operating condition of a loader, wherein the method comprises: 1) obtaining a first signal of a pressure of a chamber of a moving arm and a second signal of a pressure of a chamber of a rotating bucket from the loader, cleaning the first signal and the second signal and using the first signal and the second signal to obtain at least one working cycle; 2) extracting at least one excavating operation segment based on the at least one working cycle; and 3) obtaining, according to predefined rules, an excavate time, a change rate of the excavate time, a maximum value of the pressure of the chamber of the moving arm, and a change rate of the maximum value of the pressure of the chamber of the moving arm in each of the at least one excavating operation segment to obtain the difficulty level of the operating condition.

2. The method of identifying the difficulty level of the operating condition of the loader according to claim 1, wherein; a minimum point of the pressure of the chamber of the moving arm formed before the loader contacts material is defined as a starting time of each of the at least one excavating operation segment, and a first maximum value point of the pressure of the chamber of the rotating bucket is defined as an end time of each of the at least one excavating operation segment.

3. The method of identifying the difficulty level of the operating condition of the loader according to claim 1, wherein, in the step 3), a fuzzy logic C-means clustering algorithm is configured to cluster analysis of the excavate time, the change rate of the excavate time, the maximum value of the pressure of the chamber of the moving arm and the change rate of the maximum value of the pressure of the chamber of the moving arm in each of the at least one excavating operation segment to obtain a characteristic excavate time t.sub.FCM.

4. The method of identifying the difficulty level of the operating condition of the loader according to claim 3, comprising: in each of the at least one excavating operation segment, assuming that a sequence of the excavate time is T=(t.sub.1, t.sub.2, . . . , t.sub.i, . . . , t.sub.n-1, t.sub.n: calculating a characteristic change rate of the excavate time u.sub.t in the excavating operation segment according to a formula: $u_{t} = \frac{.Math. t_{i} - t_{FCM} .Math.}{t_{FCM}},$ wherein i=1, 2, . . . , n; and calculating a cluster center value u.sub.FCM according to the characteristic change rate of the excavate time u.sub.t, wherein the cluster center value and u.sub.FCM is used as an evaluation value of the characteristic change rate of the excavate time.

5. The method of identifying the difficulty level of the operating condition of the loader according to claim 4, comprising: assuming that there is only one excavating operation segment in the excavate time of each of the at least one excavating operation segment, making all curves of the pressure of the chamber of the moving arm in the at least one excavating operation segment fit to a second-order parabolic curve according to a fitting function p=a+bt+ct.sup.2; according to the fitting function, calculating a characteristic maximum value p.sub.max of the pressure of the chamber of the moving arm and a time t to reach the characteristic maximum value p.sub.max of the pressure of the chamber of the moving arm; and calculating a characteristic change rate u.sub.p of the characteristic maximum value p.sub.max of the pressure of the chamber of the moving arm according to a formula: $u_{p} = \frac{.Math. p_{i} - p_{\max} .Math.}{p_{\max}},$ wherein i=1, 2, . . . , n, and p.sub.i is one value of the pressure of the chamber of the moving arm of each of the at least one excavating operation segment.

6. The method of identifying the difficulty level of the operating condition of the loader according to claim 5, wherein: the characteristic excavate time, the characteristic change rate of the excavate time, the characteristic maximum value of the pressure of the chamber of the moving arm and the characteristic change rate of the characteristic maximum value of the pressure of the chamber of the moving arm are respectively mapped to a radar chart of a unit circle to obtain a positive normalization value of the at least one excavating operation segment.

7. The method of identifying the difficulty level of the operating condition of the loader according to claim 6, comprising: after obtaining the positive normalization value, expressing the positive normalization value by the radar chart; calculating a cover area in the radar chart; and defining an ratio of the radar chart to an area of the unit circle as the difficulty level value.

8. The method of identifying the difficulty level of the operating condition of the loader according to claim 1, wherein each of the at least one working cycle comprises one of the at least one excavating operation segment, a heavy haul transportation work section and an unloading work section.

9. The method of identifying the difficulty level of the operating condition of the loader according to claim 1, wherein using the first signal and the second signal to obtain the working cycle comprises: obtaining a minimum value point B from the first signal; calculating a starting point A1 and an ending point A4 of each of the at least one working cycle according to the minimum value point B; obtaining a maximum value point C from the second signal; and calculating a first node A2 and a second node A3 of each of the at least one working cycle based on the maximum value point C, wherein the at least one excavating operation segment is between the starting point A1 and the first node A2.

10. The method of identifying the difficulty level of the operating conditions of the loader according to claim 8, wherein using the first signal and the second signal to obtain the working cycle comprises: obtaining a minimum value point B from the first signal; calculating a starting point A1 and an ending point A4 of each of the at least one working cycle according to the minimum value point B; obtaining a maximum value point C from the second signal; and calculating out a first node A2 and a second node A3 of each of the at least one working cycle based on the maximum value point C, wherein the at least one excavating operation segment is between the starting point A1 and the first node A2.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a basic framework of the identification method of the present invention;

(2) FIG. 2 is a schematic diagram of the evaluation of the operating conditions of the present invention;

(3) FIG. 3 is a flowchart of the identification method of the present invention;

(4) FIG. 4 is a schematic diagram of the work cycle of the identification method of the present invention;

(5) FIG. 5 is a radar chart showing the ease of operating conditions of the present invention.

(6) FIG. 6 is a flowchart of a work cycle extraction process of the identification method of the present invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

(7) The present invention is further described below with reference to the drawings and the preferred embodiments.

(8) The main steps of the method described in the present invention, as shown in FIG. 1, are as follows:

(9) 1) obtaining the signal of the pressure of the large chamber of the moving arm and the pressure of the large chamber of the rotating bucket from the loader;

(10) 2) cleaning and calculating the signal of the pressure of the large chamber of the moving arm and the pressure of the large chamber of the rotating bucket, and extracting the working cycle;

(11) 3) extracting the excavating operation segments based on the obtained working cycle;

(12) 4) obtaining the excavate time of the pressure of the large chamber of the moving arm, the change rate of the excavate time, the maximum value of the pressure of the large chamber of the moving arm and the change rate of maximum value of the pressure of the large chamber of the moving arm in the excavating operation segments, then the difficulty level index of the operating condition is obtained according to the presupposed rules.

(13) The working cycle, mainly meaning each working cycle segment of the loader excavation process, comprises: an excavating operation segment, a heavy haul transportation work section and an unloading work section (as shown in FIG. 4). Defining that the excavating segments are continuous, namely, the starting point of the excavating operation section is A1; the end point of the excavation section is the starting point of the heavy haul transportation work section which is labeled A2; the end point of the heavy haul transportation work section is the starting point of the unloading work section which is labeled A3; the end point of the heavy unloading work section is A4.

(14) The excavating operation section is defined as follows: the starting point of the excavating operation section is when the bucket is in contact with the material, the pressure of the large chamber of the moving arm begins to increase drastically, and the minimum value point is obtained before the change, which is due to the bucket placed on the ground before excavating. At this time the value of the pressure of the large chamber of the moving arm is smaller than that of normal driving. Therefore, the minimum value point of the pressure of the large chamber of the moving arm before the change is defined as the starting point of the excavation section; the end time of the excavation section is when the bucket is filled with the material and divorced from the working face, at this point generally with the received-bucket action (usually 1-2 times), the pressure of the large chamber of the rotating bucket will appear a maximum value when each received-bucket action, after the completion of the received-bucket action, the pressure of the rotating bucket large chamber will decrease steadily, the first maximum value point of the pressure of the large chamber of the rotating bucket is defined as the end time of the excavating operation section.

(15) The present invention analyzes the excavation operation section and draws the following characteristics:

(16) (1) Due to the different state and different density of different materials, the time of single excavation operation is different, and the change rate of each excavation time is different. For example, fine sand and iron ore are contrasted when they are in the state of discrete particles. Due to the high density and large size of the iron ore and the difficulty of excavation, the time of single excavation operation is much higher, and the change rate of the excavate time is relatively large.
(2) Different materials have different density, which resulted in different value of the moving arm large chamber when it is full bucket in a single excavation operation. Compare fine sand with iron ore, the density of iron ore is obviously much better than that of fine sand, therefore, the maximum value of the pressure of the large chamber of the moving arm when full bucket is certainly larger.
(3) Different materials, due to a more difficult excavation, often appear unable to shovel full bucket situation. Because of the high density of iron ore and native soil, the probability of completing the full bucket is very small, especially the iron ore, half bucket is quite a bucket of the fine sand with the weight.
(4) Different drivers have different operation habits and different operation experience, which lead to different degree of shovel and different speed of excavation during the test process. It will also affect the length of the excavation time and the change rate of the excavation time in the excavation operation section. Based on the above characteristics, the present invention proposes an operating condition evaluation index, as shown in FIG. 2. Work difficulty is used to measure the complexity of operating conditions, and use the percentage value 0-100% to rate the level. The evaluation of operating condition is mainly composed of time index and pressure index. Wherein the time index includes the length of time and the change rate of the time, and the pressure index includes the extreme value of the pressure and the change rate of the pressure. The main object of the time index and the pressure index is the signal of the pressure of the large chamber of the moving arm in the excavation operation section. It is specifically expressed as the length of the time of the excavating operation segment and the change rate of the excavation operation time; the maximum value of the pressure of the large chamber of the moving arm in excavating operation segment and the change rate of the pressure to reach the maximum value process.

(17) As shown in FIG. 3, the method described in the present invention, firstly, the working cycle of the pressure signal is extracted. After the working cycle is obtained, the operation segment is further extracted and the signal of the excavating operation segment is obtained. Then analyze and identify as follows:

(18) The fuzzy logic C-means clustering algorithm is used to cluster analysis of the excavate time, the change rate of the excavate time, the maximum value of the pressure of the large chamber of the moving arm and the change rate of maximum value of the pressure of the large chamber of the moving arm.

(19) Assuming that the sequence of the excavate time length is T=(t.sub.1, t.sub.2, . . . , t.sub.i, . . . , t.sub.n-1, t.sub.n).

(20) According to the fuzzy logic C-means clustering algorithm, the length of the excavate time t.sub.FCM and the change rate of the excavate time u.sub.t in each section are obtained:

(21) $u_{t} = \frac{.Math. t_{i} - t_{FCM} .Math.}{t_{FCM}},$
wherein, i=1, 2, . . . n

(22) Calculation of cluster center value u.sub.FCM according to the change rate of the excavate time u.sub.t, and u.sub.FCM will be used as the evaluation value of the change rate of the excavate time.

(23) For the convenience of analysis, assuming that there is only one excavating operation in a excavating time, that is done with one shovel, and make all curves of the pressure of the large chamber of the moving arm in the excavating operation segments are second-order parabolic fitted, the fitting function is: p=a+bt+ct.sup.2;

(24) According to the fitting function, the maximum value p.sub.max of the pressure of the large chamber of the moving arm and the time t to reach the maximum value are obtained. The formula of maximum value change rate of the pressure of the large chamber of the moving arm is as follows:

(25) $u_{p} = \frac{.Math. p_{i} - p_{\max} .Math.}{p_{\max}},$
wherein, i=1, 2, . . . n;

(26) Wherein, u.sub.p is maximum value change rate of the pressure of the large chamber of the moving arm, p.sub.i is one pressure value of the pressure of the large chamber of the moving arm, p.sub.max is the maximum value of the pressure of the large chamber of the moving arm.

(27) According to the analysis of the excavate time, the change rate of the excavate time, the maximum value of the pressure of the large chamber of the moving arm and the change rate of maximum value of the pressure of the large chamber of the moving arm, it is found that the three parameters, the excavate time, the change rate of the excavate time, the maximum value of the pressure of the large chamber of the moving arm, are proportional to difficulty level of the operating condition, while the change rate of maximum value of the pressure of the large chamber of the moving arm is inversely proportional. In order to unify the relationship, the excavate time, the change rate of the excavate time, the maximum value of the pressure of the large chamber of the moving arm and the change rate of maximum value of the pressure of the large chamber of the moving arm is mapped to the radar chart of the unit circle, and the values are treated with positive normalization.

(28) In this embodiment, assuming that the maximum length of time is 20 s, the normalized value is 1 when the length of time is greater than or equal to this value; otherwise the time length shall be divided by the maximum value to get the normalized value; the change rate of the excavate time, which is in line with the normalized value, is left untreated; divide the maximum pressure value by the largest pressure value to get the normalized value, for the maximum pressure of the moving arm large chamber is 20 Mpa; first divide the change rate of pressure by the maximum pressure value, then get the countdown, and the normalized value shall be 1 if the countdown is greater than the maximum, which is assumed as 3; otherwise the countdown shall be divided by 3 to get the normalized value. After unification, all the standard eigenvalues have the same influence on the evaluation of the difficulty of operation.

(29) The positive normalization value is obtained and expressed by radar chart. For further calculating the work difficulty value, the index of the difficulty level of the operating condition is obtained by calculating the cover area of each operating condition in the radar chart and defining the ratio of each radar chart to the unit circle area as the work difficulty value.

(30) FIG. 5 shows the method of radar graph representation described in the present invention, A in the drawing represents the length of time, B represents the change rate of the time, C represents the maximum value of the pressure, D represents the change rate of the pressure. The eigenvalues of the four difficulty levels of the operating condition are obtained according to the above method, which are marked on the drawing by the unit circle radar chart as shown in FIG. 5. The four eigenvalues form a quadrilateral ABCD, whose area is assumed to be S.sub.F, and the area of the unit circle is S.sub.UC. Then the difficulty level of the operating condition K can be expressed as:

(31) $K = \frac{S_{F}}{S_{UC}}$

(32) As shown in FIG. 6, the work cycle extraction of the identification method of the present invention comprises the following steps:

(33) (1) Acquisition of the pressure signal: obtaining the signal of the pressure of the large chamber of the moving arm and the pressure of the large chamber of the rotating bucket from the loader.

(34) (2) Extracting work cycle: cleaning, calculating the signal of the pressure of the large chamber of the moving arm to obtain the minimum value point B. The starting point A1 and the ending point A4 of the working section are obtained according to the calculation of the minimum point B.

(35) The specific steps comprise:

(36) 2.1 The signal of the pressure of the large chamber of the moving arm is iteratively filtered twice.

(37) 2.2 Find the minimum point B.

(38) 2.3 Find the left and the right minimum points that are nearest to B.

(39) 2.4 Get the points A1, A4.

(40) Cleaning, calculating the signal of the pressure of the large chamber of the rotating bucket to obtain the maximum value point C. Based on the maximum point C, the nodes A2 and A3 of the working section are obtained.

(41) 2.5 The signal of the pressure of the large chamber of the rotating bucket is iteratively filtered twice, and then take the first derivative of it.

(42) 2.6 The signal of the pressure of the large chamber of the rotating bucket is iteratively filtered one hundred times, and then fine the maximum value point C.

(43) 2.7 Find the point nearest to C of which the first derivative is greater than 0.5.

(44) 2.8 Get the points A2, A3.

(45) (3) Extract valid operation: according to the above calculation to obtain A1, A2, A3, A4 and effective operation information. Among them, the excavating operation segment is between A1 and A2.

(46) The above embodiments are only for illustrating the present invention, and are not intended to limit the present invention. The variations, modifications and the like of the above embodiments, according to the technical essence of the present invention, will fall within the scope of the claims of the present invention.

INDUSTRIAL APPLICABILITY

(47) The present invention provides a method of identifying the difficulty level of the operating conditions of a loader, which takes the excavating operation segments extracted by the operation segment as the main objects of study to identify the operating conditions, and finally get the difficulty level value of the operating condition. The identification of the difficulty level of the operating condition is used to realize the change of power regulation, improve the application scope of engineering machinery. One machine can be used in a variety of different operating conditions, which can achieve the machine multipurpose and improve the operation performance and intelligence level.

Method of identifying a difficulty level of an operating condition of a loader

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E02F9/2253

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E02F9/2004

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E02F9/2029

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Abstract

Claims

Description