CN112302088A - Excavator protection system and method based on driving state monitoring - Google Patents
Excavator protection system and method based on driving state monitoring Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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Abstract
The invention discloses an excavator protection system and method based on driving state monitoring, which comprises a main controller, an operation control unit, a whole vehicle sensor unit, an engine control unit, an instrument, a driving state monitor, a camera, a data recorder, a GPS device and a remote monitoring center, wherein the main controller is connected with the operation control unit; the control unit and the whole vehicle sensor unit are respectively connected with the main controller, the main controller is respectively connected with the engine control unit, the instrument, the driving state monitor, the data recorder and the GPS device through the CAN bus, the GPS device is connected with the remote monitoring center, and the driving state monitor is connected with the camera. The invention realizes the recording, analysis and prompt of the driving state of the user by monitoring the abnormal operation, fatigue driving and system fault state of the user and combining the fault diagnosis database, and standardizes and improves the operation habit of the user and the safety and reliability of the whole equipment while providing data basis for fault diagnosis and prediction, responsibility judgment and after-sale service.
Description
Technical Field
The invention relates to an excavator protection system and method based on driving state monitoring, and belongs to the technical field of excavator control.
Background
At present, the excavator is widely used in various projects and capital construction projects. The working environment of the excavator is complex and changeable, the working condition is severe, and many drivers have bad driving and operating habits, for example, when the engine is frequently started, the damage to components such as a starting motor and a storage battery is easy to cause; the engine is directly flamed out at low-temperature high-speed operation or high-speed state, so that the problems of the turbocharger of the engine, such as failure and the like, are easily caused; in addition, under the abnormal alarm states of system pressure, temperature, liquid level and the like, fault operation is still carried out, and system components are damaged seriously; the method also comprises illegal operation behaviors such as fatigue driving, call making, smoking and the like.
For the above problems, currently, user operations can be limited through technical means, such as a system and method for protecting starting and stopping of a diesel engine of an excavator (CN201210256038.6) and a system and method for controlling safety of the excavator (CN 201310567692.3). However, the above scheme limits too many user operation conditions, especially more limits on the starting conditions of the engine, and the user cannot quickly start and operate the engine under emergency situations, such as sudden flood, emergency avoidance of roads, escape from dangerous areas and the like, thereby bringing potential safety hazards; meanwhile, a related data recording and analyzing method is lacked, so that a reliable data basis cannot be provided for fault diagnosis and prediction, responsibility judgment and after-sales service, and the operation habit of a driver cannot be corrected and improved effectively.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the excavator protection system and the excavator protection method based on the driving state monitoring, which can realize the recording, analysis and prompt of the driving state of the user by monitoring the abnormal operation, the fatigue driving and the system fault state of the user and combining the fault diagnosis database, further standardizes and improves the operation habits of the user while providing data bases for fault diagnosis and prediction, responsibility judgment and after-sale service, and improves the safety and the reliability of the whole machine equipment.
In order to achieve the purpose, the excavator protection system based on driving state monitoring comprises a main controller, an operation control unit, a whole vehicle sensor unit, an engine control unit, an instrument, a driving state monitor, a camera, a data recorder, a GPS device and a remote monitoring center, wherein the main controller is connected with the control unit;
the control unit and the whole vehicle sensor unit are respectively connected with the main controller, the main controller is respectively connected with the engine control unit, the instrument, the driving state monitor, the data recorder and the GPS device through the CAN bus, the GPS device is connected with the remote monitoring center, and the driving state monitor is connected with the camera.
As an improvement, the control unit comprises a key switch, an accelerator knob, a handle, a walking pedal and a safety locking rod, the control unit is respectively connected with the port of the main controller, and the main controller acquires the operation state of each control device.
As an improvement, the whole vehicle sensor unit comprises a pressure sensor, a temperature sensor, a pollution sensor and a whole vehicle horizontal inclination angle sensor in a hydraulic system, a power system and a lubricating system, and the pressure sensor, the temperature sensor, the pollution sensor and the whole vehicle horizontal inclination angle sensor are respectively connected with ports of a main controller, and the main controller collects data signals of the sensors.
As an improvement, the instrument is a touch display screen and is arranged on the right front side of the cab.
As an improvement, the camera is integrally installed above the instrument.
As an improvement, the driving state monitor is connected with the camera through a signal line and used for collecting and processing video data of the camera, sending prompt information to the instrument and sending abnormal information to the data recorder for storage.
As an improvement, the data recorder is arranged above a bracket on the rear side of the cab and used for storing system driving violation data and video information.
As an improvement, the remote monitoring center is in wireless connection with the GPS device and is used for storing system driving violation data and video information.
In addition, the invention also provides a method for adopting the excavator protection system, which comprises the following steps:
1) the system starting, stopping, idling, walking and operating information is collected through the control unit and sent to the main controller to judge the abnormal operation state;
the system pressure, temperature, liquid level, pollution, inclination angle and engine parameter information are collected through a whole vehicle sensor unit and an engine control unit and are sent to a main controller to judge the system fault state;
collecting the state information of eyes closed, left-right anticipation, yawning, calling, smoking and off duty of a user through a camera and a driving state monitor, and sending the state information to a main controller for judging the fatigue driving state;
2) the main controller comprehensively analyzes the related information of the user abnormal operation, the system fault and the fatigue driving state based on the fault diagnosis database, and obtains a driving state report, wherein the driving state report comprises user operation habit analysis, fault diagnosis and prediction, after-sales service and standardized operation suggestions;
3) storing the violation data in a local data recorder and sending the violation data to a remote monitoring center through a GPS device;
4) and sending violation alarm prompt information to the driver through an instrument or a remote monitoring center.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention introduces a fatigue driving state monitoring technology, utilizes a high-definition camera to capture infrared images of human faces for analysis, realizes real-time recognition and early warning of fatigue and distraction states of drivers, and simultaneously stores video information to facilitate driving violation judgment and responsibility pursuit.
2. The invention can effectively provide data basis for product fault diagnosis and prediction, responsibility judgment and after-sale service by comprehensively monitoring and analyzing abnormal operation, fatigue driving and system fault state of the user based on the fault diagnosis database, thereby improving the safety and reliability of the whole equipment.
3. The invention improves the operation habit of the user in a standard way by prompting the alarm information through the driving state report, the instrument or the remote monitoring center, but not limiting the relevant conditions of starting and stopping the engine or the operation equipment by the user, so that the user can avoid danger or escape and avoid in an emergency, and the operation safety of the system is further improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.
As shown in fig. 1 and 2, an excavator protection system based on driving state monitoring includes a main controller, a control unit, a vehicle sensor unit, an engine control unit, an instrument, a driving state monitor, a camera, a data recorder, a GPS device, a remote monitoring center, and the like;
the control unit and the whole vehicle sensor unit are respectively connected with an input port of a main controller, and the main controller is respectively in communication connection with an engine control unit, an instrument, a driving state monitor, a data recorder and a GPS device through a CAN bus; the GPS device is connected with the remote monitoring center, and the driving state monitor is connected with the camera.
As an improvement of the embodiment, the control unit includes control devices such as a key switch, an accelerator knob, a handle, a walking pedal, a safety locking rod, etc., is installed inside the cab and is respectively connected with a port of the main controller, and the main controller collects operation states of the control devices, wherein the operation states include: the power-off, power-on and starting states are selected through a key switch, 6-8 gears (a standard excavation S mode), 1-5 gears ((a weak excavation and flat ground L mode) and 9-10 gears (a strong excavation H mode) are selected through an accelerator knob gear, the operation states of a movable arm, an arm, a bucket and rotation of the excavator are selected through a handle, the walking state of the excavator is selected through a walking pedal, and the on-off of a hydraulic pilot system is controlled through a safety locking rod so as to prevent misoperation.
As an improvement of the embodiment, the main controller collects state information of system start, stop, idle speed, walking, operation and the like through the control unit to judge abnormal operation, and the specific method comprises the following steps:
when a user operates the key switch to change from a power-off state to a starting state through a power-on state, the power-on state is maintained for more than 10 seconds, otherwise, the main controller considers that the user does not wait for enough time to complete the system power-on self-test in the power-on state, and possibly ignores potential system fault information, and then the main controller judges that the user is abnormally started without self-test;
when a user operates the key switch to turn from the power-on state to the starting state, in order to avoid the damage of the starting motor, the starting operation can not exceed 10 seconds each time; if the time exceeds 10 seconds, the main controller judges that the abnormal starting is overtime. If the engine fails to start, the key switch needs to be turned back to the power-off state, and the engine is tried after 30 seconds; if the time is less than 30 seconds, the main controller judges that the starting is frequently abnormal.
When a user operates a key switch to start the engine in a cold day, in order to protect the engine and a hydraulic system, an accelerator knob needs to be rotated to a low-speed position within 3 gears, a no-load idling state is maintained, the water temperature of the engine is waited to exceed 40 ℃, the oil temperature of hydraulic oil exceeds 25 ℃, and otherwise, the main controller judges that no preheating abnormal starting exists.
When a user does not perform operation operations such as handle and walking and pedaling, the engine enters an idle running state (about 800 to 1000rpm), the problems of large oil consumption, accelerated abrasion, carbon deposition and the like of the engine can be caused by long-time idle running, and if the idle no-load running lasts for more than 10 minutes, the main controller judges that the engine is in an abnormal idle speed.
When a user operates a handle to enable a movable arm, an arm or a bucket cylinder to be in a pressure-holding state, a hydraulic component can be damaged for a long time, and if the pressure-holding state lasts for more than 20 seconds, the main controller judges that abnormal pressure-holding operation is performed.
When a user operates the walking pedal to move the excavator, the walking mechanism is damaged due to overheating when the user walks continuously for a long time, and if the continuous walking time exceeds 10 minutes, the main controller judges that the excavator walks abnormally.
When a user operates the safety locking rod to control the on-off of the hydraulic pilot system so as to prevent the risk of accidental touch of the operating rod, before starting the engine, the safety locking rod needs to be pulled to a locking position, otherwise, the main controller judges that the safety locking rod is abnormally operated; or after the engine is started, all the handles and the walking pedals need to be confirmed to be in the neutral position without action, the safety locking rod is pulled to the opening position, otherwise, the main controller judges that the safety locking rod is abnormally operated.
Before a user operates a key switch to turn to a power-off state to stop the engine, in order to cool and protect engine components such as a turbocharger and the like, an accelerator knob needs to be turned to a 1-gear low-speed idle running for 5 minutes, and otherwise, a main controller judges that the engine is abnormally stopped.
When a user selects different accelerator knob gears to work in a standard excavation S mode, a weak excavation and flat ground L mode or a strong excavation H mode, once the reference value of the economic oil consumption of the engine in the corresponding mode is exceeded, the main controller judges that the oil consumption is abnormal.
As an improvement of the embodiment, the whole vehicle sensor unit comprises sensors of pressure, temperature, pollution, liquid level and the like in a hydraulic system, a power system and a lubricating system, and also comprises a complete machine horizontal tilt angle sensor which is respectively connected with a port of a main controller, and the main controller acquires data signals of the sensors.
As an improvement of the embodiment, the engine control unit is arranged near the engine, is used as a control protection core of the engine, CAN realize control functions of starting, stopping, preheating, rotating speed regulation, energy conservation, protection and the like according to a control command, and is in communication connection with the main controller through a CAN bus.
The method comprises the following steps of collecting information such as system pressure, temperature, liquid level, pollution, inclination angle and engine parameters through a whole vehicle sensor unit and an engine control unit, and sending the information to a main controller to judge the fault state of the system, wherein the specific method comprises the following steps:
the method comprises the following steps that a main controller collects data signals of a hydraulic system, wherein the data signals comprise related pressure values, temperature values, hydraulic oil pollution values and liquid level values of mechanisms such as a pump, a valve, an oil cylinder, an oil tank and the like, and the main controller judges that the system fails once the pressure values and the temperature values are abnormal, the hydraulic oil pollution values exceed the standard and the hydraulic oil level is low by comparing the data signals with an alarm threshold value, and sends alarm prompts to corresponding fault information through an instrument;
the main controller collects data signals of the power system, wherein the data signals comprise information such as a fuel level value, a fuel temperature, a fuel pressure, a fuel filter blocking pressure value and an air filter blocking pressure value, and the main controller judges that the system fails once the fuel level value is low, the fuel temperature and the fuel pressure are abnormal, and the fuel filter blocking pressure value and the air filter blocking pressure value are abnormal by comparing with an alarm threshold value, and sends alarm prompt to corresponding failure information through an instrument;
the method comprises the following steps that a main controller collects lubricating system data signals including a lubricating pipeline blocking pressure value, once the pressure value exceeds the standard, the main controller judges that the system fails, and corresponding failure information is sent out to give an alarm prompt through an instrument;
the main controller collects signals of a horizontal inclination angle sensor of the whole excavator, the sensor adopts a double-shaft structure, is horizontally arranged at the bottom of a cab, can simultaneously measure horizontal angles in two directions, namely a pitch angle and a roll angle of the excavator can be measured, once the inclination angle exceeds 15 degrees, the main controller judges that the system fails, and sends alarm prompt to corresponding failure information through an instrument;
the main controller collects data signals of an engine control unit, and data including engine rotating speed, oil consumption, coolant temperature, coolant water level, engine oil pressure and the like and engine fault alarm codes are sent to the main controller and the instrument through a CAN bus, wherein the engine fault alarm codes are analyzed by the main controller and then sent to a user through a monitoring instrument, and the engine fault alarm codes specifically include general warning faults or severe shutdown fault alarm information.
As an improvement of the embodiment, the instrument is a touch display screen, realizes the man-machine interaction functions of system data display, alarm prompt, parameter setting and the like, is arranged on the right front side of the cab, and the screen angle faces to a driver so as to facilitate operation; the camera is integrally arranged above the monitoring instrument, and the camera angle faces to the head area of a driver; the driving state monitor is arranged above the rear side bracket of the cab and is connected with a camera video signal line.
The method comprises the following steps of collecting state information of a user such as eye closure, left-right anticipation, yawning, calling, smoking, off duty and the like through a camera and a driving state monitor, and sending the state information to a main controller to judge the fatigue driving state, wherein the specific method comprises the following steps:
the camera is integrally installed above the monitoring instrument, the camera shooting angle faces the head of a driver, the camera is vertically aligned to the face of the driver to be 0 degree, the camera is horizontally aligned to the face of the driver to be 0 degree, the angle of the camera is adjusted within-30 degrees to-30 degrees of the angle between the camera and the face of the driver, the camera is used for capturing infrared images of faces, tracking eyeball changes, analyzing characteristics such as pupil changes and sending video data to the driving state monitor. The driving state monitor realizes real-time recognition of fatigue and distracted state of a driver through a camera video signal, and can recognize abnormal fatigue state and posture of the driver, specifically comprises eye closing, left-handed anticipation, yawning, calling, smoking, off-duty violation actions and the like, for example, eye closing time exceeds 40% in 3 seconds, calling time exceeds 2 seconds, left-handed anticipation time exceeds 80% in 4 seconds, head lowering time exceeds 80% in 4 seconds, smoking is detected, the driver is off-duty for 10 seconds and the like, the main controller judges fatigue driving of the user, sends prompt information to the monitoring instrument, and sends abnormal information to the data recorder for storage.
The main controller comprehensively analyzes the related information of the user abnormal operation, the system fault and the fatigue driving state based on the fault diagnosis database, and obtains a driving state report, wherein the driving state report comprises user operation habit analysis, fault diagnosis and prediction, after-sales service, standardized operation suggestions and the like. Storing the violation data in a local data recorder and sending the violation data to a remote monitoring center through a GPS device; and sending violation alarm prompt information to the driver through an instrument or a remote monitoring center.
The specific method comprises the following steps:
on the basis of combining user operation and driving habits, an intelligent expert fault diagnosis database is constructed on the basis of manufacturer professional data and failure models of important devices such as an excavator engine, a hydraulic pump valve and a sensor. The main controller carries out data reconstruction, relevance and causality analysis on system device faults, user abnormal operation and fatigue driving states on the basis of a fault diagnosis database, deduces faults of driving violation (namely faults caused by human factors) and faults of non-driving violation (namely faults caused by natural failure of the devices), and obtains a driving state report on the basis of time, man-machine interaction data and video information, wherein the driving state report comprises user operation habit analysis, fault diagnosis and prediction, after-sale service, standardized operation suggestions and the like. Meanwhile, the system records the data and video information of the illegal operation of the user through a data recorder and a remote monitoring center and sends an alarm prompt.
For example, engine start motor failure determination: the starting data of a key switch operated by a user, including starting duration, starting interval time, frequent abnormal starting alarm and the like, is analyzed, information such as system pressure, temperature, liquid level, pollution, inclination angle, engine parameters and the like is combined, the information is compared with starting motor manufacturer data and a failure model, and relevance analysis is carried out, namely if the user neglects information such as low fuel liquid level, fuel filter blockage, low storage battery voltage, alarm prompt of an engine control unit and the like, frequent abnormal starting operation is still carried out after starting failure, if frequent abnormal starting times and accumulated value exceed a starting motor failure model threshold value within specific time, the starting motor failure caused by illegal operation of the user is inferred. And simultaneously analyzing the use state of the related parts, such as providing storage battery fault prediction and maintenance suggestions according to the use time of the storage battery, voltage parameters, manufacturer data and a failure model.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A driving state monitoring-based excavator protection system is characterized by comprising a main controller, a control unit, a whole vehicle sensor unit, an engine control unit, an instrument, a driving state monitor, a camera, a data recorder, a GPS device and a remote monitoring center, wherein the main controller is connected with the control unit;
the control unit and the whole vehicle sensor unit are respectively connected with the main controller, the main controller is respectively connected with the engine control unit, the instrument, the driving state monitor, the data recorder and the GPS device through the CAN bus, the GPS device is connected with the remote monitoring center, and the driving state monitor is connected with the camera.
2. The excavator protection system based on driving state monitoring of claim 1, wherein the control unit comprises a key switch, an accelerator knob, a handle, a walking pedal and a safety locking rod, and is respectively connected with a port of the main controller, and the main controller acquires the operation state of each control device.
3. The excavator protection system based on driving state monitoring of claim 1, wherein the whole vehicle sensor unit comprises pressure, temperature, pollution and liquid level sensors and a complete machine horizontal tilt angle sensor in a hydraulic, power and lubricating system, and is respectively connected with a port of the main controller, and the main controller collects data signals of the sensors.
4. The excavator protection system based on driving state monitoring as claimed in claim 1, wherein the instrument is a touch type display screen installed at the right front side of the cab.
5. The excavator protection system based on driving state monitoring as claimed in claim 1, wherein the camera is integrally mounted above the instrument.
6. The excavator protection system based on driving state monitoring of claim 1, wherein the driving state monitor is connected with the camera through a signal line and used for collecting and processing video data of the camera, sending prompt information to the instrument and sending abnormal information to the data recorder for storage.
7. The excavator protection system based on driving state monitoring as claimed in claim 1 or 6, wherein the data recorder is installed above a rear bracket of the cab and used for storing system driving violation data and video information.
8. The excavator protection system based on driving state monitoring of claim 1, wherein the remote monitoring center is wirelessly connected with the GPS device, and the remote monitoring center is used for storing system driving violation data and video information.
9. A method of using the excavator protection system of any one of claims 1 to 8, comprising the steps of:
1) the system starting, stopping, idling, walking and operating information is collected through the control unit and sent to the main controller to judge the abnormal operation state;
the system pressure, temperature, liquid level, pollution, inclination angle and engine parameter information are collected through a whole vehicle sensor unit and an engine control unit and are sent to a main controller to judge the system fault state;
collecting the state information of eyes closed, left-right anticipation, yawning, calling, smoking and off duty of a user through a camera and a driving state monitor, and sending the state information to a main controller for judging the fatigue driving state;
2) the main controller comprehensively analyzes the related information of the user abnormal operation, the system fault and the fatigue driving state based on the fault diagnosis database, and obtains a driving state report, wherein the driving state report comprises user operation habit analysis, fault diagnosis and prediction, after-sales service and standardized operation suggestions;
3) storing the violation data in a local data recorder and sending the violation data to a remote monitoring center through a GPS device;
4) and sending violation alarm prompt information to the driver through an instrument or a remote monitoring center.
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Cited By (5)
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| CN114706289A (en) * | 2022-04-02 | 2022-07-05 | 三一重机有限公司 | Method, device, equipment, medium and work machine for controlling work machine |
| CN114960823A (en) * | 2022-06-21 | 2022-08-30 | 徐州徐工矿业机械有限公司 | Multifunctional electronic monitoring system of excavator |
| CN115097948A (en) * | 2022-08-23 | 2022-09-23 | 徐州硕博电子科技有限公司 | Excavator simulation system based on image analysis |
| CN115182407A (en) * | 2022-07-13 | 2022-10-14 | 中联重科股份有限公司 | Method and device for controlling arm support, controller and engineering machinery |
| CN115262687A (en) * | 2022-08-17 | 2022-11-01 | 山重建机有限公司 | Excavator monitor with face recognition login function and use method |
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| CN115182407A (en) * | 2022-07-13 | 2022-10-14 | 中联重科股份有限公司 | Method and device for controlling arm support, controller and engineering machinery |
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