AU2022317506A1

AU2022317506A1 - Fault double-layer redundancy monitoring method, and fault double-layer redundancy early-warning method and system

Info

Publication number: AU2022317506A1
Application number: AU2022317506A
Authority: AU
Inventors: Ling Fu; Yanbin Liu; Xianzhi LUO; Chunliang XIAO; Li Yin; Yuzhu ZHANG
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2021-07-26
Filing date: 2022-07-26
Publication date: 2024-02-22
Also published as: CN113697679A; WO2023005917A1; CN113697679B

Abstract

A fault double-layer redundancy monitoring method, and a fault double-layer redundancy early-warning method and system. The fault double-layer redundancy monitoring method comprises: on the basis of sensor groups which are correspondingly grouped according to operation parameters and are on a hoisting device, obtaining sensor data of each operation parameter; in first-layer monitoring, on the basis of whether a relevant actual measured value in the sensor data satisfies a configured conversion relationship, determining whether the hoisting device is in a first faulty operating condition, wherein the conversion relationship comprises a geometric conversion relationship between operation parameters corresponding to the relevant actual measured value; and in second-layer monitoring, on the basis of whether an actual measured value, that corresponds to a moment, in the sensor data satisfies a moment balance relationship between operation parameters of the corresponding moment, determining whether the hoisting device is in a second faulty operating condition, wherein the hoisting device is not in the first faulty operating condition. The fault double-layer redundancy monitoring method, and the fault double-layer redundancy early-warning method and system can be used for device fault monitoring.

Description

FAULT DOUBLE-LAYER REDUNDANCY MONITORING METHOD, AND FAULT DOUBLE-LAYER REDUNDANCY EARLY-WARNING METHOD AND SYSTEM

Cross Reference to Related Applications

This application claims the benefit of Chinese Patent Application No. 202110843305.9,

filed on July 26, 2021, the contents of which are incorporated herein by reference.

Field of the Invention

The present invention relates to the technical field of engineering machinery control, in

particular to a fault double-layer redundancy monitoring method, a fault double-layer

redundancy early-warning method, a fault double-layer redundancy early-warning

system, an electronic device, engineering machinery, and a computer-readable storage

medium.

Background of the Invention

At present, in order to improve the counterweight using efficiency, improve the hoisting

capacity, and reduce the counterweight transportation and installation cost of crawler

cranes and other cranes with excellent hoisting capacity in the process of hoisting,

improving the traditional fixed counterweight into a front-back movable counterweight

with variable stroke comes into consideration. Compared with the fixed counterweight,

the movable counterweight may increase the hoisting capacity of the crane at a lower

equivalent counterweight. In a hoisting operation, it is generally required that the

movable counterweight can be suspended for use, at the same time there is a need for

the crane control system to flexibly adjust the position of the counterweight in time or

preferably in real time based on changes in the weight or moment of a load during the

hoisting process to match the proper stroke of the counterweight to maintain the center

of gravity of the crane at the center point of the slewing support to provide a balancing

moment to maintain stability of the hoisting system.

Safe and matched hoisting operations and counterweight movement control need to be based on accurate sensor data of the crane. Whereas conventional safety monitoring is typically done for the fixed counterweight, the counterweight of the device typically does not change during the hoisting operation, and the system safety margin basically does not change greatly and remains at a high level, so the hoisting operation will be easily restricted to a safe range. But for the movable counterweight, as the hoisting operation proceeds, the system adjusts the position of the counterweight according to the moment balance, the movement of the counterweight affects the system safety margin, when a sensor has a fault or sensor data is inaccurate, the system performs a counterweight movement operation according to the sensor data of the faulty element or the inaccurate sensor data, if in theory counterweight push-out (or outward pushing, possibly with respect to the slewing center) should be performed to maintain balance while counterweight retraction is actually performed, which would not only be unable to provide a sufficient safety margin for hoisting operations, but would also exacerbate a force imbalance and even lead to an overturning accident. What is even more worrying is that before the system loses its safety margin or emergency safety control ability, it is difficult for the system to identify and discover the sensor data that does not reach the threshold or the faulty sensor that does not alarm reaching the threshold. It can be seen that it is difficult to realize the basic safety guarantee of the crane with movable counterweight by using the conventional fixed counterweight monitoring method. Accordingly, there is a need to implement a multi-layer monitoring scheme suitable for a movable counterweight to identify whether there is a fault in a sensor or whether there is inaccuracy in sensor data to safeguard hoisting operations and to avoid overturning accidents as much as possible.

Summary of the Invention The objective of the present invention is to provide a fault double-layer redundancy monitoring method, and a fault double-layer redundancy early-warning method and system, which can avoid the control failure of moment balance maintenance caused by the failure or abnormality of sensors or sensor data of a hoisting device, thereby improving the monitoring safety and reliability, control accuracy and operation stability of the hoisting device.

In order to achieve the above objective, an embodiment of the present invention

provides a fault double-layer redundancy monitoring method, including:

obtaining, on the basis of sensor groups which are correspondingly grouped according

to operation parameters and are on a hoisting device, sensor data of each operation

parameter;

in first-layer monitoring, determining, on the basis of whether a relevant actual

measured value in the sensor data satisfies a configured conversion relationship,

whether the hoisting device is in a first faulty operating condition, wherein the

conversion relationship includes a geometric conversion relationship between operation

parameters corresponding to the relevant actual measured value; and

in second-layer monitoring, determining, on the basis of whether an actual measured

value, that corresponds to a moment, in the sensor data satisfies a moment balance

relationship between operation parameters of the corresponding moment, whether the

hoisting device is in a second faulty operating condition, wherein the hoisting device is

not in the first faulty operating condition.

Specifically, the hoisting device is provided with a superlift mechanism, and in the step

of obtaining, on the basis of sensor groups which are correspondingly grouped

according to operation parameters and are on a hoisting device, sensor data of each

operation parameter,

the sensor groups are specifically correspondingly grouped according to the same

operation key parameters, and

the operation key parameters include any one of an operation parameter about the boom

attitude, an operation parameter about the counterweight stroke and an operation

parameter about the load magnitude.

Specifically, obtaining, on the basis of the sensor groups which are correspondingly

grouped according to the operation parameters and are on the hoisting device, the sensor

data of each operation parameter includes:

obtaining sensor data of an operation parameter about the boom attitude, wherein the sensor data includes angle-related actual measured values, and the operation parameters corresponding to the angle-related actual measured values include a first elevation angle of a main boom of the hoisting device, a second elevation angle of a superlift mast of the superlift mechanism and an included angle between the main boom and the superlift mast. Specifically, the hoisting device is further provided with a movable counterweight adjustment mechanism, and obtaining, on the basis of the sensor groups which are correspondingly grouped according to the operation parameters and are on the hoisting device, the sensor data of each operation parameter further includes: obtaining sensor data of an operation parameter about the counterweight stroke, wherein the sensor data includes stroke-related actual measured values, and the operation parameters corresponding to the stroke-related actual measured values include a third elevation angle of a counterweight support arm of the movable counterweight adjustment mechanism and a real-time counterweight stroke measured for the movable counterweight adjustment mechanism. Specifically, obtaining, on the basis of the sensor groups which are correspondingly grouped according to the operation parameters and are on the hoisting device, the sensor data of each operation parameter further includes: obtaining sensor data of an operation parameter about the load magnitude, wherein the sensor data includes acting-force-related actual measured values, and the operation parameters corresponding to the acting-force-related actual measured values include a measured tension at the head of the main boom, a first measured pressure at the root of the main boom and a second measured pressure at the bottom of a rear strut of the superlift mast. Specifically, determining, on the basis of whether a relevant actual measured value in the sensor data satisfies a configured conversion relationship, whether the hoisting device is in a first faulty operating condition includes: determining a converted measured value obtained from the actual measured value in the sensor data via the configured conversion relationship, and judging whether the converted measured value is the same as a second actual measured value in the sensor data, or judging whether the converted measured value belongs to a specified range of values corresponding to the second actual measured value, wherein the conversion relationship includes a geometric conversion relationship between an operation parameter corresponding to the first actual measured value and an operation parameter corresponding to the second actual measured value; if Yes is returned, determining that the hoisting device is not in the first faulty operating condition; if No is returned, determining that the hoisting device is in thefirst faulty operating condition.

Specifically,wherein the configured conversion relationship includes that the sum of the first elevation angle, the second elevation angle and the included angle is a specified angle or belongs to a specified range of values corresponding to the specified angle. Specifically, determining, on the basis of whether a relevant actual measured value in the sensor data satisfies a configured conversion relationship, whether the hoisting device is in afirst faulty operating condition includes: reading actual measured values, corresponding to the first elevation angle, the second elevation angle and the included angle, in the sensor data; and judging, according to the configured conversion relationship, whether the sum of the actual measured values corresponding to the first elevation angle, the second elevation angle and the included angle is the specified angle or belongs to a specified range of values corresponding to the specified angle. Specifically, wherein the specified range of values is obtained by: determining a sensor error amount of the arranged angle sensors; and configuring a range of values from a first value to a second value as the specified range of values, wherein, the first value is the difference between the specified angle and the sensor error amount, the second value is the sum of the specified angle and the sensor error amount. Specifically, wherein the configured conversion relationship includes that the absolute value of the difference between the converted counterweight stroke obtained by calculating the third elevation angle and the real-time counterweight stroke belongs to the specified range of values. Specifically, determining, on the basis of whether a relevant actual measured value in the sensor data satisfies a configured conversion relationship, whether the hoisting device is in afirst faulty operating condition includes: reading actual measured values, corresponding to the third elevation angle and the real time counterweight stroke, in the sensor data, and determining a converted measured value of the converted counterweight stroke through the actual measured value corresponding to the third elevation angle; and judging, according to the configured conversion relationship, whether the absolute value of the difference between the actual measured value corresponding to the real time counterweight stroke and the converted measured value belongs to the specified range of values. Specifically, wherein the configured conversion relationship includes that the absolute value of the difference between a first load weight and a second load weight belongs to a specified range of values, wherein the first load weight is obtained by converting the measured tension with a first trigonometric function relationship, and the second load weight is obtained by converting the first measured pressure with a second trigonometric function relationship. Specifically, determining, on the basis of whether a relevant actual measured value in the sensor data satisfies a configured conversion relationship, whether the hoisting device is in afirst faulty operating condition includes: reading actual measured values, corresponding to the measured tension and the first measured pressure, in the sensor data, and determining converted measured values corresponding to the first load weight and the second load weight respectively; and judging, according to the configured conversion relationship, whether the absolute value of the difference between the converted measured values corresponding to the first load weight and the second load weight belongs to the specified range of values. Specifically, the fault double-layer redundancy monitoring method further includes: in intermediate-layer monitoring, judging whether a magnitude level matching relationship is a matching relationship corresponding to a steady state of the hoisting device, wherein, the magnitude level matching relationship is a matching relationship between a magnitude level of a third load weight and a magnitude level of the first load weight, or a matching relationship between a magnitude level of the third load weight and a magnitude level of the second load weight, and the magnitude level of the third load weight is obtained by the second measured pressure, and the hoisting device is not in the first faulty operating condition; if Yes is returned, determining that the hoisting device is not in a third faulty operating condition; and if No is returned, determining that the hoisting device is in the third faulty operating condition. Specifically, determining, on the basis of whether the actual measured value, that corresponds to the moment, in the sensor data satisfies the moment balance relationship between the operation parameters of the corresponding moment, whether the hoisting device is in the second faulty operating condition includes: judging whether the absolute value of the difference between a load-end moment and a counterweight-end moment belongs to a specified range of values corresponding to a moment balance state of the hoisting device, wherein, the load-end moment is obtained by calculating an angle-related actual measured value and an acting-force-related actual measured value, and the counterweight-end moment is obtained by calculating a stroke-related actual measured value; if Yes is returned, determining that the hoisting device is not in a second faulty operating condition; and if No is returned, determining that the hoisting device is in the second faulty operating condition.

An embodiment of the present invention provides a fault double-layer redundancy early-warning method, which includes the aforementioned fault double-layer redundancy monitoring method, and further includes: determining that the hoisting device is in any one of faulty operating conditions; and stopping the hoisting device from performing hoisting operation, and performing configured early warning. An embodiment of the present invention provides a fault double-layer redundancy early-warning system, including: an obtaining module, configured to obtain, on the basis of sensor groups which are correspondingly grouped according to operation parameters and are on a hoisting device, sensor data of each operation parameter; a first-layer monitoring module, configured to determine, on the basis of whether a relevant actual measured value in the sensor data satisfies a configured conversion relationship, whether the hoisting device is in a first faulty operating condition in first layer monitoring, wherein the conversion relationship includes a geometric conversion relationship between operation parameters corresponding to the relevant actual measured value; and a second-layer monitoring module, configured to determine, on the basis of whether an actual measured value, that corresponds to a moment, in the sensor data satisfies a moment balance relationship between operation parameters of the corresponding moment, whether the hoisting device is in a second faulty operating condition in second-layer monitoring, wherein the hoisting device is not in the first faulty operating condition. Specifically, the fault double-layer redundancy early-warning system further includes: an early-warning module, configured to determine that the hoisting device is in any one of faulty operating conditions, and stop the hoisting device from performing hoisting operation, and perform configured early warning. In yet another aspect, an embodiment of the present invention provides an electronic device, including: at least one processor; and a memory connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the method described above by executing the instructions stored in the memory. In yet another aspect, an embodiment of the present invention provides engineering machinery, wherein the engineering machinery is provided with the aforementioned electronic device. In yet another aspect, an embodiment of the present invention provides a computer readable storage medium, storing computer instructions, wherein the computer instructions, when running on a computer, cause the computer to perform the aforementioned method. According to the invention, the correlation between the monitoring modules of various parameters in a control system corresponding to the sensors is established based on whether the relevant actual measured values are indicative of the characteristic of a geometric mapping between the corresponding operation parameters, so that the first layer monitoring is formed, which can monitor the first faulty operating condition caused by conditions such as element or sensor data, and avoid various safety control failures caused by abnormal data used by the system; on the basis of the first-layer monitoring, it is determined that there is no first faulty operating condition, during the second-layer monitoring, the actual measured value is used to judge the moment balance relationship, which can avoid the failure to find the second faulty operating condition with overturning risk caused by structural abnormality, abnormal counterweight control or abnormal load control in time, realize the network redundancy monitoring means and system products with interactive correlation of multi-sensor detection points, and can determine faults and perform fault early warning in time and reliably, so as to assist in accurate and efficient hoisting operation, improve the safety margin after the failure of detection elements, monitoring networks or systems, and avoid overturning accidents as much as possible. The present invention specifically constructs the correlation of the operation parameters involved in the boom attitude and the actual measured values, and performs associated monitoring of angle sensors on the main boom and the superlift mast, so as to realize the identification for whether faults exist during the boom attitude monitoring and effectively realizing of the control over the hoisting operation of the hoisting device and/or the counterweight movement on the basis of whether the angle-related actual measured values are indicative of the characteristic of a geometrical mapping between the corresponding operation parameters, such as summing up to a specified angle, e.g., 180 degrees. The present invention specifically constructs the correlation of the operation parameters involved in the counterweight stroke and the actual measured values, and performs associated monitoring of the angle sensors of the counterweight adjustment mechanism and the sensors having a displacement measuring effect, so as to realize the identification for whether faults exist during the counterweight movement monitoring of the counterweight adjustment mechanism and effectively realize the control over the hoisting operation of the hoisting device and/or the counterweight movement on the basis of whether on the basis of whether the displacement and the actual measured values are indicative of the characteristic of a geometric mapping between the corresponding operation parameters, such as whether the angle-converted displacement and the detected displacement are approximately equal. The invention specifically constructs the correlation of the operation parameters involved in the load magnitude (magnitude of the load-end moment and/or magnitude of the load weight) and the actual measured values, and performs associated monitoring of a tension sensor on a main boom of the boom near the load end and a pressure sensor at a root of the main boom, such as whether the tension-converted load magnitude and the pressure-converted load magnitude are approximately equal, so as to realize the identification for whether faults exist during monitoring for the load magnitude on the main boom and effectively realizing of the control over the hoisting operation of the hoisting device and/or the counterweight movement. Further, the present invention further realizes associated monitoring of the rear strut bottom pressure sensor of the superlift mast and the tension sensor and pressure sensor on the main boom, such as whether the level of pressure on the rear strut matches the level of tension or pressure on the main boom, so as to further realize the identification for whether faults exist during the load magnitude monitoring and effectively realize the control over the hoisting operation of the hoisting device and/or the counterweight movement.

The present invention specifically constructs the correlation of the operation parameters

involved in the moment balance and the actual measured values, and performs

associated monitoring of sensors (e.g., tension sensors, pressure sensors, angle sensors,

and/or sensors for displacement measurement operations) that detect moment

calculation parameters taking the center of rotation as the reference point, such as

whether the calculated load-end moment and counterweight-end moment are

approximately equal, so as to realize the identification for whether faults exist during

the moment monitoring taking the slewing center as the reference and effectively realize

the control over the hoisting operation of the hoisting device and/or the counterweight

movement.

Other features and advantages of embodiments of the present invention will be

described in detail in the Detailed Description section that follows.

Brief Description of Drawings

The accompanying drawings are included to provide a further understanding of

embodiments of the invention and constitute a part of this specification, and together

with the detailed description below serve to explain, but not limit, embodiments of the

invention. In the drawings:

FIG. 1 is a schematic diagram of main method steps of an embodiment of the invention;

FIG. 2 is a schematic diagram of correspondences between exemplary operation key

parameters and sensors according to an embodiment of the present invention;

FIG. 3 is a mechanical schematic exploded view of a main boom head of an exemplary

hoisting device according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an exemplary monitoring network architecture

according to an embodiment of the present invention;

FIG. 5 is a flowchart of monitoring under an exemplary monitoring network architecture according to an embodiment of the present invention; FIG. 6 is an exemplary position schematic diagram of various structures of a crane relative to a crawler crane body according to the embodiment of the present invention. FIG. 7 is a schematic diagram of mounting positions of some sensors on a partially enlarged structure of the crane in FIG. 6 according to an embodiment of the present invention; FIG. 8 is a schematic diagram of mounting positions of some other sensors on the partially enlarged structure of the crane in FIG. 6 according to an embodiment of the present invention; and FIG. 9 is a schematic diagram of mounting positions of some other sensors on the partially enlarged structure of the crane in FIG. 6 according to an embodiment of the present invention.

Detailed Description of the Embodiments A detailed description of embodiments of the invention will now be described with reference to the accompanying drawings. It should be understood that the specific embodiments described here are merely illustrative and explanatory of the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. Embodiment 1 An embodiment of the present invention provides a fault double-layer redundancy monitoring method, as shown in FIG. 1, which may include: obtaining, on the basis of sensor groups which are correspondingly grouped according to operation parameters and are on a hoisting device, sensor data of each operation parameter;

in first-layer monitoring, determining, on the basis of whether a relevant actual measured value in the sensor data satisfies a configured conversion relationship, whether the hoisting device is in a first faulty operating condition, wherein the conversion relationship includes a geometric conversion relationship between operation parameters corresponding to the relevant actual measured value; and in second-layer monitoring, determining, on the basis of whether an actual measured value, that corresponds to a moment, in the sensor data satisfies a moment balance relationship between operation parameters of the corresponding moment, whether the hoisting device is in a second faulty operating condition, wherein the hoisting device is not in the first faulty operating condition. In some specific implementations, the hoisting device may include a crane, the crane may include a truck crane, an all terrain crane, a crawler crane, and the like, the hoisting device may be provided with a plurality of sensors, and the sensors may be grouped according to operation key parameters, i.e., the same operation key parameter is monitored by multiple sensors simultaneously. The operation key parameters may include an operation parameter about the boom attitude, an operation parameter about the counterweight stroke, and an operation parameter about the load magnitude. The operation parameters may be parameters measured directly by a sensor in a hoisting operation, the hoisting device may be provided with a control system, the control system can determine actual measured values of the operation parameters measured by the sensor respectively, the operation parameters may include arm or rod elevation angles of the boom of the hoisting device, measured pressure on the boom, measured tension and counterweight stroke, etc., and the actual measured values of the operation parameters may be taken as the sensor data; a geometrical conversion relationship between the operation parameters may be determined based on the positions of the sensors arranged on the hoisting device, and the structural characteristics of the hoisting device and the requirements for safe operation. In a hoisting operation, the first-layer monitoring may be based on whether the relevant actual measured values corresponding to the operation parameters for which the geometric conversion relationship exists satisfy the conversion relationship. For the judgment of whether the actual measured value satisfies the conversion relationship, if Yes is returned, i.e., the conversion relationship is satisfied, it may be determined that the hoisting device is in the operating condition in which the monitoring function is normal, i.e., not in the first faulty operating condition; alternatively, if No is returned, i.e., the conversion relationship is not satisfied, it may be determined that the hoisting device is in the first faulty operating condition, so that judgment operation realized by combining the relevant actual measured values with the conversion relationship of the operation parameters in the sensor data plays a role in fault monitoring. To be complementarily noted, in some embodiments, the first faulty operating condition may be achieved by a state identification of the first-layer monitoring, which may be configured to correspond to some default faults, or specific faults that may be finally determined according to troubleshooting results, or uncertain faults that may be caused by multiple faults or be designated to be uncertain and subjected to troubleshooting.

The first faulty operating condition may include, for example, a sensor faulty operating

condition, an abnormal monitoring function operating condition with inaccurate sensor

data, an abnormal condition caused by abrupt operation conditions, and/or an abnormal

condition of device structure, etc., to facilitate certain types of early-warning and

troubleshooting operations.

Specifically, the relevant actual measured values may include a first actual measured

value and a second actual measured value, wherein the first actual measured value and

the second actual measured value may each be one actual measured value, the first

actual measured value and/or the second actual measured value may be a plurality of

actual measured values, and there is at least a geometric conversion relationship

between an operation parameter corresponding to the first actual measured value and

an operation parameter corresponding to the second actual measured value. At this time,

determining, on the basis of whether a relevant actual measured value in the sensor data

satisfies a configured conversion relationship, whether the hoisting device is in a first

faulty operating condition may specifically include: determining a converted measured

value obtained from a first actual measured value in the sensor data via a configured

conversion relationship, and determining whether the converted measured value is the

same as a second actual measured value in the sensor data or whether the converted

measured value belongs to a specified range of values corresponding to the second

actual measured value.

It may be understood that the conversion relationship may also include sub

transformations of adding or subtracting the first actual measured value or the second actual measured value on both sides of a specific equation or inequality and suitable transformations using other numerical values, which may be implemented to suit specific program judgment manners and design requirements; moreover, since the actual measured values measured by the sensors may correspond to vector operation parameters, if these operation parameters may be physical quantities having directions such as displacements, acting forces and moments, the conversion relationship may also include a vector conversion relationship and/or a structural mechanical conversion relationship, etc., which may be regarded or processed into geometric conversion relationships in some actual data processing; it should be noted that the conversion relationship may not be reconfigured during monitoring, and performing the aforementioned judgment based on the actual measured value may be performed cyclically. In the second-layer monitoring process, it may be determined on the basis of the first layer monitoring that the hoisting device is not in the first faulty operating condition, whether the absolute value of the difference between the load-end moment and the counterweight-end moment belongs to a specified range of values corresponding to the moment balance state of the hoisting device may be specifically judged to determine that the hoisting device is in the second faulty operating condition; to be complementarily noted, in some embodiments, the second faulty operating condition may be achieved by a state identification of the second-layer monitoring, which may be different from the state identification of the first-layer monitoring, and similarly may also be configured to correspond to some default faults, or specific faults that may be finally determined according to troubleshooting results, or uncertain faults that may be caused by multiple faults or be designated to be uncertain and subjected to troubleshooting. The second faulty operating condition may include, for example, an abnormal operating condition of counterweight control or hoisting control, an abnormal operating condition of non-standardized operation, an abnormal operating condition of control function, an abnormal operating condition caused by a sudden change in operation environment, an abnormal condition of a device structure, and/or the like to facilitate certain types of early-warning and troubleshooting operations.

In some specific implementations of the present disclosure, as shown in FIG. 2,

embodiments of the present disclosure perform associated monitoring of the hoisting

device for key monitoring parameters (or operation key parameters) such as the boom

attitude, the counterweight stroke, and the load magnitude, respectively, and in some

cases, a multi-layer monitoring network may be formed.

In a first exemplary first-layer monitoring embodiment, monitoring for the boom

attitude, the hoisting device may be provided with a superlift mechanism, sensor data

of an operation parameter about the boom attitude may be acquired by angle sensors

(an angle sensor for monitoring the angle, or any kind of detection element for

measuring the inclination, such as a rotary angle sensor, and an encoder which can

convert the angular displacement and the line displacement into an electrical signal)

arranged between the root and the head of the main boom (boom), the head and root of

the superlift mast and the main boom and the superlift mast, etc., the sensor data may

include angle-related actual measured values, and the operation parameters about the

boom attitude corresponding to the angle-related actual measured values may include a

first elevation angle 01 of the main boom of the hoisting device, a second elevation

angle 02 of the superlift mast of the superlift mechanism and an included angle 03

between the main boom and the superlift mast.

First, the actual measured values of the first elevation angle respectively obtained at the

root and the head of the main boom may be compared, and the actual measured values

of the second elevation angle respectively obtained at the head and the root of the

superlift mast are compared, respectively, if the comparison results are that the

difference between the actual measured values does not exceed a specified range of

values (which in this case may be not exceeding a specified angle threshold, such as,

but not limited to, not exceeding 1, etc.), the mean or any of the actual measured values

of the first elevation angle obtained at the root and head of the main boom, respectively

may then be taken as the actual measured value of the first elevation angle 01 of the

main boom, and likewise the actual measured value of the second elevation angle 02

of the superlift mast may also be obtained.

Second, the conversion relationship may be that the sum of the first elevation angle, the second elevation angle and the included angle being 180 degrees (°), written as:

01 +02 +03 = 180° (1) In formula (1), the actual measured value corresponding to one of the three operation parameters may be the first actual measured value, and the actual measured values corresponding to the remaining two operation parameters may be the second actual measured value, and the judgment may be performed using the sum of the three operation parameters, or the judgment may be performed using the difference between 180 degrees and the first actual measured value as the second actual measured value. In some practical data processing, a sensor error amount 5 of the arranged angle sensors may be determined, and the sensor error amount 5 may include an average error and a weighted average error of the angle sensors, and formula (1) may be further written as: 180° - 5 801 + 02 + 03 180° + 5 (2)

In formula (2), the error amount 5 may also be initialized to a designated value and determined by adjustment in combination with performance in the actual hoisting device, which may be written as: 180° - 51 ! 81 + 02 + 03 180°+ (2 (3)

In formula (3), the adjusted error amount may include an error amount 61 and an error amount (2, and absolute values of the two error amounts may be not equal. Based on the monitoring manner at this time, the monitoring of the boom attitude may form the current first-layer monitoring (network or system functional layer), the first layer monitoring network may include a two-layer monitoring sub-network (or system sub-function layer). The two-layer monitoring sub-network should be understood as a monitoring sub-network having at least two layers, and the terminology of two layers anywhere in embodiments of the present invention may be a specific definition of at least two layers and may be understood as such in embodiments of the present invention. In the first-layer monitoring network, the first-layer monitoring sub-network may be a monitoring sub-network comparing whether actual measured values of a plurality of sensors for the same operation parameter are excessively different, whether or not the actual measured values at the respective sensor positions, such as the elevation angle or the included angle, are excessively different, the actual measured values at the respective sensor positions exceeding a specified angle threshold may be regarded as being excessively different; the second-layer monitoring sub-network may judge that the sum of the actual measured values corresponding to the first elevation angle 01, the second elevation angle 02 and the included angle 03 among the relevant actual measured values belongs to a specified range of values ( [180° - 5, 180° + 5] or [180° - 51, 180° + (2] ) (i.e., whether the configured conversion relationship is satisfied); the conversion relationship at this point may be considered to include geometric conversion and formula deformation of the actual measured values of the operation parameters.

If the first-layer monitoring sub-network in the first-layer monitoring network does not

conclude by comparison that the difference between the actual measured values exceeds

a specified angle threshold, it may be temporarily deemed that each actual measured

value is available and accurate, then, the second-layer monitoring sub-network in the

first-layer monitoring network returns the result of belonging to the specified range of

values (i.e., the configured conversion relationship is satisfied, and Yes is returned) by

judgment, then it can be regarded that the sensor data is not abnormal, and the

monitoring function of the hoisting device is normal, and it is determined that the

hoisting device is not in thefirst faulty operating condition; if the first-layer monitoring

sub-network does not conclude by comparison that the difference between the actual

measured values exceeds a specified angle threshold, the actual measured values may

be temporarily deemed to be available and accurate. Then, the second-layer monitoring

sub-network returns the result of going beyond the specified range of values (i.e., the

configured conversion relationship is not satisfied, and No is returned) by judgment, it

is considered that there are errors in data due to fault of the sensor or the device structure,

and it is necessary to stop the hoisting operation and conduct troubleshooting to

determine that the hoisting device is in the first faulty operating condition; if the first

layer monitoring sub-network does not conclude by comparison that the difference

between the actual measured values exceeds the specified angle threshold, it is

determined that there is a fault in the device or that the hoisting operation does not meet the safety operation requirement, and that the hoisting device is in the first faulty operating condition, it is necessary to stop the hoisting operation and perform troubleshooting. In some cases, it may be further determined that there is an abnormal monitoring function of the hoisting device or other abnormality caused by non standardized device and operation when the second monitoring layer returns No.

In a second exemplary first-layer monitoring embodiment, monitoring for the

counterweight stroke, the hoisting device may be provided with a movable

counterweight adjustment mechanism, the counterweight adjustment mechanism may

be provided with a counterweight support arm and a counterweight adjustment

mechanism, in some cases, the counterweight may be suspended by the counterweight

support arm, the counterweight adjustment mechanism may be provided with an oil

cylinder, the oil cylinder may be driven by the control system to push the counterweight,

if the counterweight is pushed in the horizontal direction, the counterweight may be

pushed outward (away from) or retracted (close to) relative to the hoisting device, the

counterweight stroke may be monitored in real time by a length sensor or a

displacement sensor arranged at a counterweight base on the counterweight adjustment

mechanism, real-time monitoring by reckoning the counterweight stroke through the

oil cylinder stroke is also possible, at the same time, the root of the counterweight

support arm root may be provided with an angle sensor, the third elevation angle of the

counterweight support arm (such as the angle between the counterweight support arm

and a projection of the counterweight support arm in the displacement direction of the

counterweight) and the real-time counterweight stroke measured for the counterweight

adjustment mechanism may be taken as the operation parameters about the

counterweight stroke, the sensor data acquired at this time includes stroke-related actual

measured values, and the real-time counterweight stroke and the third elevation angle

respectively corresponding to the stroke-related actual measured values, wherein the

stroke may in embodiments of the present invention be considered as the movement

distance or displacement of the counterweight from the pre-adjustment position to the

post-adjustment position, rather than the maximum movement distance or displacement,

all of which may be understood as such in embodiments of the present invention.

First, a length sensor, a displacement sensor (which may exemplarily be mounted in the

vicinity of the length sensor), and an oil cylinder stroke sensor may be used to monitor

the real-time counterweight stroke, and a plurality of angle sensors are used to monitor

the third elevation angle. Whether the differences between the plurality of actual

measured values of the real-time counterweight stroke exceed a specified range of

values is compared, and whether the differences between the plurality of actual

measured values of the third elevation angle exceeds a specified range of values is

compared. If the comparison results in that the differences between the actual measured

values do not exceed the specified range of values, the mean of the actual measured

values of the real-time counterweight stroke or any one of the plurality of actual

measured values may be used as the actual measured value of the real-time

counterweight stroke, and similarly, the actual measured value of the third elevation

angle may be obtained.

Next, the real-time counterweight stroke may be L 1 and the third elevation angle may

be 0, and the obtained converted counterweight stroke L 2 may be calculated through

the third elevation angle 0, such as L 2 = f(), f may be a trigonometric function,

and it maybe judged whether the real-time counterweight stroke Li andtheconverted

counterweight stroke L 2 are approximately equal, i.e.,

ILi - L 2 | : -1 (4) Informula(4), F1 is a very small number, the specific values of F1 maybespecified

based on the errors of the used sensors and adaptively adjusted in size according to the

actual performance during use, and [0, -1 ] may be used as the current specified range

of values. In this case, the conversion relationship may be considered to include both

geometric conversion of the actual measured values of the operation parameters and

comparison of the differences between the converted measured values and the actual

measured values of the operation parameters.

Based on the monitoring manner at this time, the monitoring of the counterweight stroke

may form a current first-layer monitoring network, and in the first-layer monitoring

network,

the first-layer monitoring sub-network may be a monitoring sub-network that compares whether the actual measured values of the plurality of sensors for the same operation parameter are excessively different, such as whether the difference of the plurality of actual measured values of the real-time counterweight stroke exceeds a specified range of values, which may be a specified stroke threshold at this time, and the second-layer monitoring sub-network may judge whether the converted measured value corresponding to the converted counterweight stroke L 2 , obtained after converting the actual measured value corresponding to the third elevation angle 0 among the relevant actual measured values, is approximately equal to the actual measured value corresponding to the real-time counterweight stroke L 1

. If the first-layer monitoring sub-network in the first-layer monitoring network does not

conclude by comparison that the difference in the actual measured values of the real

time counterweight stroke and the third elevation angle exceeding the specified stroke

threshold, it may be considered temporarily that the actual measured values are

available and accurate. Then, if the second-layer monitoring sub-network in the first

layer monitoring network returns the judgment result that the difference between the

absolute values of the real-time counterweight stroke Li and the converted

counterweight stroke L 2 does not belong to the specified range of values (i.e., being

not approximately equal, and not satisfying the configured conversion relationship), it

is considered that there is an error in the data due to fault of the sensor or device

structure, and the hoisting device is determined to be in the first faulty operating, it is

necessary to stop the hoisting operation and perform troubleshooting. Other situations

may continue to refer to the monitoring for the boom attitude to determine the

combination of the results returned by the monitoring layers and the corresponding

operation of the device, and will not be repeated.

In a third exemplary first-layer monitoring embodiment, monitoring for a load

magnitude, including a load moment magnitude and/or a load weight magnitude, taking

the load weight as an example, on the one hand, a tension sensor may be arranged at a

main boom pull plate of the hoisting device close to the main boom head position, the

load weight is calculated from a measured tension of the tension sensor, on the other

hand, a pressure sensor may be arranged at the root of the main boom of the hoisting device, the load weight may also be calculated from first measured pressure of the pressure sensor, the operation parameters about the load magnitude may include the measured tension and the first measured pressure, and the sensor data may include acting-force-related actual measured values. First, a plurality of sensors may be used to obtain actual measured values of the measured tension and the first measured pressure, respectively. The plurality of actual measured values of the measured tension are compared, and the plurality of actual measured values of the first measured pressure are compared. If it is concluded by comparison that the differences between the actual measured values do not exceed the specified range of values, the mean of the actual measured values of the measured tension or any one of the plurality of actual measured values may be taken as the actual measured value of the measured tension, and similarly, the actual measured value of the first measured pressure may also be obtained. Secondly, based on the structural characteristics of the specific hoisting device and the arrangement position of sensors, as in FIG. 3, the load weight G may be mechanically decomposed, the two force components are a measured tension Gia and a first measured pressure Gya, respectively, the conversion angle a is calculated from the elevation angle of the main boom (e.g., the first elevation angle 01 as described above), and the conversion angle f may be calculated from the length of the main boom, the length of the superlift mast and the included angle between the main boom and the superlift mast (e.g., the included angle 03 described above) in combination with the cosine law or a suitable trigonometric function, which may be written as: Gia* sinfl/sin a = G x=ia (5)

Gya *sin #/sin(a + f) = G x=ya (6)

In formulas (5) and (6), the two conversion parameters of the load weight G are the first load weight Glx=ia and the second load weight Glx=ya, and the trigonometric

function relationship or the force conversion coefficient used is not a limiting implementation, may be adaptively implemented based on the mechanical decomposition mode, the sensor placement position, etc., and may be written as: GX 0 * TrxO = GIx=xo (7)

In formula (7), Gxx0 may represent a conversion parameter of the load weight G

corresponding to the load weight component G, 0, and Tr,0 represents a force

conversion coefficient or a trigonometric function relationship of the load weight

component Go; based on the actual measured values of the measured tension and the

first measured pressure, in combination with the calculated angles a and /, the

converted measured values of the first load weight G1x=a and the second load weight

G x=ya are determined, respectively, and then it can be judged whether the converted

measured values of the first load weight G1x=a and the second load weight G xya

belong to a specified range of values E 2 (i.e., whether the first load weight and the

second load weight are approximately equal), which may be written as:

|Gx=ia - Glx=yal E2 (8)

In formula (8), E 2 is a very small number, the specific values of E 2 may be specified

actual performance during use, and [0, E 2 ] may be used as the current specified range

mechanical or geometric conversion of the actual measured values of the operation

parameters and comparison of differences between the converted measured values of

the same target operation parameter.

Based on the monitoring manner at this time, the monitoring of the load magnitude

forms a current first-layer monitoring network, and in the first-layer monitoring

network,

the first-layer monitoring sub-network may be a monitoring sub-network that compares

whether the actual measured values of the plurality of sensors for the same operation

parameter are excessively different, such as whether the difference between the

measured values of the measured tension or the first measured pressure exceeds a

specified range of values, which in this case may be an acting force threshold, and

the second-layer monitoring sub-network may judge whether converted measured

values obtained after converting the actual measured values corresponding to the

measured tension and the first measured pressure among the relevant actual measured values are approximately equal; if the first-layer monitoring sub-network in the first-layer monitoring network does not conclude by comparison that the actual measured values of the measured tension and the first measured pressure exceed the specified acting force threshold, the actual measured values may be temporarily deemed to be available and accurate. Then, if it is determined by the second-layer monitoring sub-network in the first-layer monitoring network that the difference between the absolute values of the first load weight G x1,a and the second load weight G x=ya does not belong to the specified range of values

(i.e., the first load weight and the second load weight are not approximately equal, and

do not satisfy the configured conversion relationship), it is considered that there is an

error in the data due to a malfunction of the sensor or device structure, and the hoisting

device is determined to be in the first malfunction condition, it is necessary to stop the

hoisting operation and perform troubleshooting. Other situations may continue to refer

to the monitoring for the boom attitude to determine the combination of the results

returned by the monitoring layers and the corresponding operation of the device, and

will not be repeated.

Load magnitude is a very important parameter in hoisting operation performed by the

hoisting device, for the monitoring of load magnitude, it is also possible to arrange a

pressure sensor at the bottom of the rear strut of the superlift mast, a second measured

pressure may be determined by the pressure sensor, and an intermediate-layer

monitoring network may be formed based on the second measured pressure. The

intermediate-layer monitoring network may be a monitoring network between the first

layer monitoring network and the second-layer monitoring network. Accordingly,

embodiments of the present invention further provide a three-layer monitoring network.

In an embodiment of an intermediate-layer monitoring network, by a second measured

pressure, at least three magnitude levels of a third load weight (which may be

considered as a conversion parameter of the load weight G) may be determined based

on at least two pressure reference values, for example, the second measured pressure is

denoted as F, and the pressure reference values are F 1 and F2 (F F1 , F1 < F

F2 , F2 < F, correspond to the magnitude levels, small, medium and large, of the third

load weight, respectively), a current magnitude level of the third load weight may be

determined based on an actual measured value of the second measured pressure, the

load weight G may be considered (possibly after the corresponding converted

measured values of the load weight G are determined to be approximately equal) as

any one of the first load weight GIx=la and the second load weight Glx=ya, or the

current magnitude level of the load weight G, such as large, medium and small, may

be determined based on at least two weight references, such as the weight reference

values G 1 and G 2 (G G 1, G1 < G G 2 , G 2 < G correspond to the levels of small,

medium and large, respectively), then, a magnitude level matching relationship of the

current magnitude level of the load weight G and the current magnitude level of the

third load weight is determined, and it is judged whether the magnitude level matching

relationship is a matching relationship corresponding to a steady state of the hoisting

device, wherein the steady state of the hoisting device includes a steady state and an

unsteady state, and the unsteady state includes a forward (the position of the main boom

is regarded as forward) tilting state and a backward tilting state; when the current

magnitude level of the load weight G is large, the hoisting device is in the forward

tilting state, and the magnitude level that the current magnitude level of the third load

weight should match is small; when the current magnitude level of the load weight G

is medium, the hoisting device is in a steady state, and the magnitude level that the

current magnitude level of the third load weight should match is also medium; when

the current magnitude level of the load weight G is small, the hoisting device is in a

backward tilting state, the magnitude level that the current magnitude level of the third

load weight should match is large. It should be noted that the steady state of the hoisting

device may be determined based on the movement operation of the applied

counterweight and the stage of the hoisting operation, for example, if the counterweight

is suspended after the hoisted heavy object is released or the hoisted heavy object is

light, the steady state may be the backward tilting state at this time.

In some data processing implementations, the third load weight is denoted as Gy, and

the large, medium, and small levels are denoted as 1, 0, and -1, respectively. The magnitude level S = {sij of the load weight G at each hoisting operation moment i

(which may be a positive integer), and the magnitude level V = {vi} of the third load

weight G, at each hoisting operation moment i may be written as:

Table 1 Theoretical magnitude level matching relationship table

si1 0 -1

Vi-1 0 1

Whether the magnitude level matching relationship corresponding to the relevant actual

measured values is the matching relationship corresponding to the steady state of the

hoisting device may be judged according to whether the sum of the elements of a

column vector S')is 0, which may be written as:

si + Vi = 0 (9) If formula (9) does not hold, it is determined that the hoisting device is in a faulty

operating condition, and at least the monitoring function of the operation parameter is

abnormal, and it is necessary to stop the hoisting operation and perform troubleshooting.

Based on the monitoring mode at this time, the aforementioned intermediate-layer

monitoring network may also have a two-layer monitoring sub-network. In the

intermediate-layer monitoring network,

the first-layer monitoring sub-network may be a monitoring sub-network comparing

whether actual measured values of a plurality of sensors for the same operation

parameter are excessively different, such as whether the differences between a plurality

of actual measured values of the second measured pressure obtainable by a plurality of

pressure sensors exceed a specified range of values;

the second-layer monitoring sub-network may judge whether the magnitude level

matching relationship between the magnitude level of a third load weight G,

converted by an actual measured value corresponding to the second measured pressure

F, among the relevant actual measured values and the magnitude level of the load

weight G is the matching relationship corresponding to the steady state of the hoisting

device, which, for example, may be achieved according to whether the sum of elements

of the column vector (n)is actually 0.

The intermediate-layer monitoring network may be used to make judgement with one

layer monitoring network when the hoisting device is not in the first faulty operating

condition, and a second-layer monitoring network may be used to make subsequent

judgment after the intermediate-layer determines that the hoisting device is not in the

third faulty operating condition.

If the first-layer monitoring sub-network in the intermediate-layer monitoring network

does not conclude by comparison that the difference between the actual measured

values of the second measured pressure exceed a specified range of values, the actual

measured values may be temporarily deemed to be available and accurate. Then, if the

second-layer monitoring sub-network in the intermediate-layer monitoring network can

determine that the magnitude level matching relationship between the magnitude level

of a third load weight G, converted by an actual measured value corresponding to the

second measured pressure F among the relevant actual measured values and the

magnitude level of the load weight G is not the matching relationship corresponding

to the steady state of the hoisting device, it is determined that the hoisting device is in

the third faulty operating condition, and it is necessary to stop the hoisting operation

and perform troubleshooting. As can be appreciated, the third faulty operating condition

may be achieved by a state identification of the intermediate-layer monitoring, which

may be different from the state identification of the first-layer monitoring and the

second-layer monitoring, and similarly may also be configured to correspond to some

default faults, or specific faults that may be finally determined according to

troubleshooting results, or uncertain faults that may be caused by multiple faults or be

designated to be uncertain and subjected to troubleshooting. The third faulty operating

condition may include, for example, an abnormal operating condition of hoisting

balance, an abnormal operating condition of non-standardized operation, an abnormal

operating condition of control function, an abnormal operating condition caused by a

sudden change in operation environment, an abnormal condition of a device structure,

and/or the like to facilitate certain types of early-warning and troubleshooting

operations.

To be additionally noted, based on the above monitoring implementation, in some embodiments, the first-layer monitoring network may monitor at least any of the aforementioned boom attitude, counterweight stroke and load magnitude, in addition, any one of the first-layer monitoring sub-networks in the first-layer monitoring network may be selected according to actual requirements, and the second-layer monitoring sub network in the first-layer monitoring network may be used as the main part of the first layer monitoring network. The first-layer monitoring sub-network in the intermediate layer monitoring network may also be selected according to actual requirements, while the second-layer monitoring sub-network in the intermediate-layer monitoring network may also be used as the main part of the intermediate-layer monitoring network.

In the monitoring process of the aforementioned load magnitude, the actual measured

values of part of the operation parameters in the monitoring of the boom attitude are

used in association, in an advantageous implementation, the aforementioned operation

parameters of the boom attitude monitoring, the counterweight stroke monitoring and

the load magnitude monitoring may then be associated for associated monitoring of the

actual measured values of the respective operation parameters, specifically the actual

measured values corresponding to moments are monitored in the second-layer

monitoring network by judging the moment balance of the load-end operation

parameters and the counterweight-end operation parameters.

In an exemplary second-layer monitoring embodiment, associated monitoring is

realized by calculating the load-end moment and the counterweight-end moment based

on the slewing support center of the hoisting device to judge whether moment balance

is satisfied. The load-end moment Mioad may be calculated by:

Mload -- m1 (G, 0) (10)

In formula (10), m 1 (G,0) is the moment calculation function about the load

magnitude G and the boom attitude 0 (e.g., elevation angle, etc.) and configured

based on the structural characteristics of the specific hoisting device and the

arrangement positions of sensors. Similarly, the counterweight-end moment

Mcounterweight maybe calculated by:

Mcounterweight m 2 (L) (11)

In formula (11), m 2 (L) is the moment calculation function about the counterweight

stroke L and configured based on the structural characteristics of the specific hoisting

device and the arrangement position of sensors. During the hoisting process, an operator

can verify the moment balance state of the hoisting device according to the field

condition, and if the moment balance state is balanced, the moment balance relationship

is satisfied:

Mload = Mcounterweight (12)

From formula (12), it can be determined that there is an intrinsic moment balance

relationship of the operation parameters in the monitoring of the boom attitude, the

counterweight stroke and the load magnitude; a certain error range may be set, and it

can be judged whether the actual measured values of the operation parameters in the

above three monitoring subnetworks appear to be faulty according to the moment

balance equation, i.e., it is judged whether the difference between the absolute values

of the load-end moment and the counterweight-end moment belongs to a specified

range of values, which may be written as:

IMioad - Mcounterweightl E3 (13)

Informula(13), E 3 is a very small number, the specific values of E 3 maybespecified

actual performance during use, and [0, E-] may be used as the current specified range

of values. If formula (13) does not hold, it is determined that the hoisting device is in

the second faulty operating condition, the moment imbalance occurs, and there is an

error in monitoring the operation parameters, and the troubleshooting should be

performed.

Based on the monitoring manner at this time, the monitoring of moment balance may

form a second-layer monitoring network, the second-layer monitoring network may be

configured to judge whether the difference between the absolute values of a converted

measured value of the load-end moment Moad calculated based on the actual

measured values corresponding to the load magnitude G and the boom attitude 0

among the relevant actual measured values, and a converted measured value of the counterweight-end moment Mcounterweight calculated based on the actual measured value corresponding to the counterweight stroke L belongs to a specified range of values, and if the difference does not belong to the specified range of values (i.e., the absolute values are not approximately equal), it is determined that the hoisting device is in the second faulty operating condition, it is considered that there are errors in data due to fault of the sensor or the device structure, and it is necessary to stop the hoisting operation and conduct troubleshooting; the second-layer monitoring network, the first layer monitoring network and the intermediate-layer monitoring network constitute a multi-layer monitoring network (or monitoring system) of the hoisting device. In some cases, the second-layer monitoring network may also have a two-layer monitoring sub network, and similarly, the first-layer monitoring sub-network is configured to judge the differences between the actual measured values of the plurality of sensors, and the second-layer monitoring sub-network is configured to judge whether the actual measured values conform to the moment balance relationship here. In one disclosed implementation of an exemplary embodiment of the present invention, as shown in FIG. 4, the monitoring network of the hoisting device may include an acquisition layer 100, a first-layer monitoring network composed of a boom attitude monitoring network 200, a counterweight stroke monitoring network 300 and a load magnitude monitoring network 400, a second-layer monitoring network 500, and a fault output layer 600, wherein the fault output layer 600 may output a state identification of the first fault state and a state identification of the second fault state, the acquisition layer 100 is configured to acquire sensor data of various operation parameters of the hoisting device, relevant actual measured values in the sensor data include an actual measured value corresponding to an operation parameter 101 about the boom attitude, an actual measured value corresponding to an operation parameter 102 about the counterweight stroke, and an actual measured value corresponding to an operation parameter 103 about the load magnitude; the boom attitude monitoring network 200 includes a first-layer monitoring sub-network 204 and a second-layer monitoring sub network 205, the first-layer monitoring sub-network 204 and the second-layer monitoring sub-network 205 may perform data synchronous receiving operations 201 and 202, the second-layer monitoring sub-network 205 may also asynchronously perform a data receiving operation 206 after the first-layer monitoring sub-network 204 outputs a result 208 of the judgment to the fault output layer 600, and the results 207 and 208 of the judgment may each be used to determine whether the hoisting device is in the first faulty operating condition; the counterweight stroke monitoring network 300 and the load magnitude monitoring network 400 may also have the similar double-layer monitoring sub-networks (sub-networks 301 and 302 and sub-networks 401 and 402), and the working mechanism of the counterweight stroke monitoring network 300 and the load magnitude monitoring network 400 may refer to the boom attitude monitoring network 200 and will not be repeated. The second-layer monitoring network 500 may perform data synchronous receiving operations 203, 303 and 403 corresponding to the double-layer monitoring sub-networks, the second-layer monitoring network 500 may also output a return result 501 of the judgment to the fault output layer 600, wherein the second-layer monitoring network 500 may perform the judgment on the basis that the first-layer monitoring network determines that the hoisting device is not in the first faulty operating condition; the fault output layer 600 is configured to determine that the returned result of any one judgment is No (N) and to determine that the hoisting device is in the first faulty operating condition or the second faulty operating condition. The fault output layer 600 may also be configured to output the returned result being Yes

(Y), i.e., the hoisting device is not in the first faulty operating condition or the second

faulty operating condition. In the monitoring network of the hoisting device, an

intermediate-layer monitoring network (not shown in FIG. 4) may also be configured,

and the intermediate-layer monitoring network may receive data from the acquisition

layer 100, and judge whether the hoisting device is in the third faulty operating

condition after the first-layer monitoring network determines that the hoisting device is

not in the first faulty operating condition and before the second-layer monitoring

network performs judgment. The result of the judgment by the intermediate-layer

monitoring network is also output to the fault output layer 600.

As shown in FIG. 5, a fault double-layer redundancy monitoring method may specifically include:

Si) receiving, by the first-layer monitoring network, the sensor data transmitted by the

acquisition layer 100, which may specifically include receiving, by the boom attitude

monitoring network 200, the counterweight stroke monitoring network 300 and the load

magnitude monitoring network 400, the sensor data transmitted by the acquisition layer

100; S2) judging, by the first-layer monitoring network, whether the sensor data conforms

to a conversion relationship, which may specifically include judging, by at least one of

the boom attitude monitoring network 200, the counterweight stroke monitoring

network 300 and the load magnitude monitoring network 400, whether the sensor data

conforms to a conversion relationship based on the sensor data to determine whether

the hoisting device is in the first faulty operating condition; and

S3) judging, by the second-layer monitoring network 500, whether the sensor data

conforms to a moment balance relationship to determine whether the hoisting device is

in a second faulty operating condition, wherein it is determined that the hoisting device

is not in the first faulty operating condition. The sensor data may be transmitted

synchronously or asynchronously to the double-layer monitoring network, in some

cases sensor data received by the second-layer monitoring network may also be

forwarded by the first-layer monitoring network.

In a further embodiment, the fault double-layer redundancy monitoring method may

further specifically include: judging, by the intermediate-layer monitoring network,

whether the sensor data conforms to a magnitude level matching relationship to

determine whether the hoisting device is in a third faulty operating condition after

determining that the hoisting device is not in thefirst faulty operating condition.

further specifically include: controlling the counterweight movement in real time and

performing the hoisting operation using the sensor data at that time after determining

that the hoisting device is not in the second faulty operating condition and the third

faulty operating condition.

An embodiment of the present invention further provides a fault double-layer redundancy early-warning method, the fault double-layer redundancy early-warning method includes the aforementioned fault double-layer redundancy monitoring method, and may further include:

Si') determining that the hoisting device is in any one of the faulty operating conditions;

and S2') stopping the hoisting device from performing hoisting operations and performing

configured early warning.

In some specific implementations, the configured early warning may include

performing prompting and broadcast of an operation screen of the hoisting device,

performing acousto-optic alarms, performing troubleshooting, and the like.

Compared with the conventional fixed counterweight, the movable counterweight can

expand the hoisting capacity of the crane at a small equivalent counterweight, if the

counterweight position is flexibly adjustable to ensure that the center of gravity of the

system is at the center point of the slewing support, the hoisting stability can be

improved. However, the counterweight being movable mostly needs to be based on the

counterweight being suspended, after the counterweight leaves the ground, the system

only has one fulcrum, i.e., the slewing support, both the load end and the counterweight

end may have a risk of rollover, during the hoisting operating, it is necessary to match

suitable counterweight strokes in real time according to the load change, resulting in a

great increase in safety requirements of overall control, and a great increase in difficulty

of safety monitoring. In an embodiment of the invention, after the counterweight is

suspended and movable, the reliable monitoring of the hoisting device is divided into a

double-layer redundancy monitoring network including a first-layer monitoring

network and a second-layer monitoring network, there are mainly reliable and precise

monitoring of three operation key parameters in the first-layer monitoring network, the

three operation key parameters are boom attitude, counterweight stroke and load

magnitude, respectively, it can be determined in real time whether a first faulty

operating condition exists according to the converted measured values or the relevant

actual measured values of the above three operation key parameters, in the absence of

a first faulty operating condition, the second-layer monitoring network can judge the moment balance, and can calculate the moment balance state of the hoisting device in real time and give precise counterweight stroke (counterweight matching or position moving ) in real time, whereby it is possible to not only judge whether or not the operating condition of the system is within a safe control range based on the moment balance state, but also ensure the availability and accuracy of the control of the movement of the counterweight suspended from the ground and the control of the load. Therefore, the embodiments of the present invention achieve a reliable safety redundancy monitoring scheme for hoisting device with respect to the geometrical conversion relationship of the above three key parameters and the moment balance relationship of the moment-related operation parameters, particularly capable of improving the safety and stability performance of the dynamic variable stroke of the crawler crane counterweight when suspended. Embodiments of the present invention can specifically set operation key parameters (boom attitude, load magnitude and counterweight stroke) safety redundancy monitoring scheme for the new type of crane, i.e., the crawler crane where the counterweight can be suspended, so that the monitoring accuracy of key parameters in the operation process can be ensured, and the method can be used for system-related fault monitoring, so that the operation safety margin can be increased, and the safety performance can be improved; meanwhile, the correlation analysis of all monitoring parameters is realized from the perspective of the overall moment balance of the system, and a crane overall system monitoring network is constructed, thus providing a new system safety monitoring scheme for the development of a new type of crane with the counterweight hanging without landing. The embodiment of the present invention can configure two or three layers of safety redundancy monitoring on the basis of the hardware monitoring network of existing sensors of the hoisting device for the key parameters of the same operation, ensuring that the accuracy of monitoring of the key parameters during the operation meets the safety operation requirement; in addition to redundancy monitoring of operation parameters individually, embodiments of the present invention also establish correlations between parameters based on system moment balance and give system level monitoring accuracy judgment to form a monitoring network.

The multi-layer redundancy monitoring scheme according to the present invention can

compare the differences between the obtained measured values in real time, when the

differences are greater than the safety error allowable range, it is determined that a fault

occurs, and the device operation is suspended, so that the system fault analysis can be

carried out; the redundancy monitoring scheme according to embodiments of the

present invention can be used separately as an independent monitoring system to

monitor the three operation key parameters of the boom attitude, the load magnitude,

and the counterweight stroke, respectively, to realize a plurality of alternative hoisting

device monitoring systems.

Embodiment 2

The embodiment of the present invention belongs to the same inventive concept as the

embodiment 1, and provides a fault double-layer redundancy early-warning system,

which should be understood as being provided with at least two layers of monitoring

modules, and the fault double-layer redundancy early-warning system may include:

an obtaining module, configured to obtain, on the basis of sensor groups which are

correspondingly grouped according to operation parameters and are on a hoisting

device, sensor data of each operation parameter;

a first-layer monitoring module, configured to determine, on the basis of whether a

relevant actual measured value in the sensor data satisfies a configured conversion

relationship, whether the hoisting device is in a first faulty operating condition in first

layer monitoring, wherein the conversion relationship includes a geometric conversion

relationship between operation parameters corresponding to the relevant actual

measured value; and

a second-layer monitoring module, configured to determine, on the basis of whether an

actual measured value, that corresponds to a moment, in the sensor data satisfies a

moment balance relationship between operation parameters of the corresponding

moment, whether the hoisting device is in a second faulty operating condition in

second-layer monitoring, wherein the hoisting device is not in the first faulty operating

condition.

The fault double-layer redundancy early-warning system further includes:

an early-warning module, configured to determine that the hoisting device is in any one

of faulty operating conditions, and

stopping the hoisting device from performing hoisting operation, and performing

configured early warning.

Specifically, the hoisting device is provided with a superlift mechanism, and the

obtaining module is specifically configured to obtain sensor data of the operation

parameters about the boom attitude, wherein the sensor data includes angle-related

actual measured values, and

the operation parameters corresponding to the angle-related actual measured values

include a first elevation angle of a main boom of the hoisting device, a second elevation

angle of a superlift mast of the superlift mechanism and an included angle between the

main boom and the superlift mast.

Specifically, the hoisting device is further provided with a movable counterweight

adjustment mechanism, the obtaining module is specifically configured to obtain sensor

data of the operation parameter about the counterweight stroke, wherein the sensor data

includes stroke-related actual measured values, and

the operation parameters corresponding to the stroke-related actual measured values

include a third elevation angle of a counterweight support arm of the movable

counterweight adjustment mechanism and a real-time counterweight stroke measured

for the movable counterweight adjustment mechanism.

Specifically, the obtaining module is specifically configured to obtain sensor data of

the operation parameter about the load magnitude, wherein the sensor data includes

acting-force-related atual measured values, and

the operation parameters corresponding to the acting-force-related actual measured

values include a measured tension at the head of the main boom, a first measured

pressure at the root of the main boom and a second measured pressure at the bottom of

a rear strut of the superlift mast.

Specifically, the first-layer monitoring module may have the same function as the first

layer monitoring network in Embodiment 1, and the second-layer monitoring module may have the same function as the second-layer monitoring network.

Specifically, the first-layer monitoring module is specifically configured to:

determining a converted measured value obtained from the actual measured value in

the sensor data via the configured conversion relationship, and

judging whether the converted measured value is the same as a second actual measured

value in the sensor data, or

judging whether the converted measured value belongs to a specified range of values

corresponding to the second actual measured value, wherein

the conversion relationship includes a geometric conversion relationship between an

operation parameter corresponding to the first actual measured value and an operation

parameter corresponding to the second actual measured value;

if Yes is returned, determining that the hoisting device is not in thefirst faulty operating

condition;

if No is returned, determining that the hoisting device is in thefirst faulty operating

condition.

Specifically, in the the first-layer monitoring module, the configured conversion

relationship includes that the sum of the first elevation angle, the second elevation angle

and the included angle is a specified angle or belongs to a specified range of values

corresponding to the specified angle.

Specifically, the first-layer monitoring module is specifically configured to read actual

measured values corresponding to the first elevation angle, the second elevation angle

and the included angle in the sensor data;

the first-layer monitoring module is specifically configured to judge, according to the

configured conversion relationship, whether the sum of the actual measured values

corresponding to the first elevation angle, the second elevation angle and the included

angle is the specified angle, or belongs to a specified range of values corresponding to

the specified angle.

Specifically, in the first-layer monitoring module, the specified range of values is

obtained by:

determining a sensor error amount of the arranged angle sensors; and configuring a range of values from a first value to a second value as the specified range of values, wherein, the first value is the difference between the specified angle and the sensor error amount, the second value is the sum of the specified angle and the sensor error amount.

Specifically, in the first-layer monitoring module, the configured conversion

relationship includes that the absolute value of the difference between a converted

counterweight stroke obtained by calculating the third elevation angle and the real-time

counterweight stroke belongs to a specified range of values.

Specifically, the first-layer monitoring module is specifically configured to read an

actual measured value, corresponding to the third elevation angle, in the sensor data

and the real-time counterweight stroke, and determine a converted measured value of

the converted counterweight stroke by the actual measured value corresponding to the

third elevation angle;

the first-layer monitoring module is specifically configured to, judge, according to a

configured conversion relationship, whether the absolute value of the difference

between the actual measured value corresponding to the real-time counterweight stroke

and the converted measured value belongs to the specified range of values.

Specifically, in the first-layer monitoring module, the configured conversion

relationship includes that the absolute value of the difference between a first load wight

and a second load weight belongs to a specified range of values, wherein

the first load weight is obtained by converting the measured tension with a first

trigonometric function relationship, and

the second load weight is obtained by converting the first measured pressure with a

second trigonometric function relationship.

measured values, corresponding to the measured tension and the first measured pressure,

in the sensor data, and determine converted measured values corresponding to the first

load weight and the second load weight respectively;

configured conversion relationship, whether the absolute value of the difference between converted measured values corresponding to the first load weight and the second load weight belongs to the specified range of values. Specifically, the fault double-layer redundancy early-warning system further includes: an intermediate-layer monitoring module, configured to judge whether a magnitude level matching relationship is a matching relationship corresponding to a steady state of the hoisting device, wherein, the magnitude level matching relationship is a matching relationship between a magnitude level of a third load weight and a magnitude level of the first load weight, or a matching relationship between a magnitude level of the third load weight and a magnitude level of the second load weight, and the magnitude level of the third load weight is obtained by the second measured pressure. Specifically, the intermediate-layer monitoring module may have the same function as the intermediate-layer monitoring network in the monitoring network of the hoisting device in Embodiment 1. Specifically, the second-layer monitoring module is configured to judge whether the absolute value of the difference between the load-end moment and the counterweight end moment belongs to a specified range of values corresponding to a moment balance state of the hoisting device, wherein, the load-end moment is obtained by calculating an angle-related actual measured value and an acting-force-related actual measured value, and the counterweight-end moment is calculated from a stroke-related actual measured value. In some specific implementations, the fault double-layer redundancy early-warning system (or the obtaining module and any at least one monitoring module therein) may be implemented based on hardware such as one or more controllers and/or electronic devices with processors, in some cases, the fault double-layer redundancy early warning system may be implemented in digital electronic circuit system, integrated circuit system, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), an application-specific standard product (ASSP), a system on-a-chip system (SoC), a load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof.

Embodiment 3

The embodiment of the present invention belongs to the same inventive concept as

Embodiments 1 and 2, and provides an electronic device, engineering machinery, and

a computer-readable storage medium.

The electronic device is intended to represent various forms of devices having

instruction processing ability and computing ability, such as computers, industrial

control computers, servers, and the like, and processors and memories may be

implemented in the form of a system-on-chip type chip (SoC or MCU) or assembled

directly using a circuit board with a connection interface. The memory stores

instructions executable by at least one processor, and the at least one processor

implements the method of Embodiment 1 by executing instructions stored in the

memory. The electronic device may be used to form the monitoring network of the

hoisting device in Embodiment 1. In some advantageous embodiments, the electronic

device and the sensor group may act as entity devices of the monitoring network.

The engineering machinery may be provided with the aforementioned electronic device,

and the engineering machinery may include hoisting devices including truck cranes, all

terrain cranes, crawler cranes, and the like. In an exemplary advantageous disclosed

embodiment of the present invention, as shown in FIG. 6, a crawler crane includes a

crawler body, a main boom, a superlift mast, a (rear) strut, and an oil cylinder for an

adjusting arm for suspending the counterweight, etc., wherein the counterweight of the

crawler crane may be suspended from the ground. The crawler crane implements the

fault double-layer redundancy early-warning system in Embodiment 2 through the

electronic device, and is subject to the fault early warning of a multi-layer monitoring

network. The crawler crane may be provided with a sensor group. As shown in FIG. 7,

a main boom pull plate (referring to the pull plate position area) tension sensor and a

main boom head angle sensor are mounted on the main boom. As shown in FIG. 8, an

angle sensor A in the first position area of the head of the superlift mast and an angle

sensor B in the second position area of the head of the superlift mast are mounted on the superlift mast. As shown in FIG. 9, an oil cylinder stroke sensor for converting the counterweight stroke is mounted on the oil cylinder; an angle sensor is mounted on the counterweight support arm, the preferred area in which the angle sensor is mounted is shown at the top layer of the figure in FIG. 9; a strut bottom (referring to inside of the bottom position area) pressure sensor is mounted on the strut; a main boom and superlift mast included angle sensor is mounted between the main boom and the superlift mast; a main boom root (referring to inside of the root position area) angle sensor and a main boom root pressure sensor are mounted on the main boom; and a superlift mast root angle sensor is mounted on the superlift mast.

The computer-readable storage medium may be non-transitory, may be configured with

a computer program that, when executed by a processor, implements the method in

Embodiment 1, for realizing the fault monitoring for the hoisting device.

Optional implementations of embodiments of the present invention have been described

in detail above in conjunction with the accompanying drawings, however, the

embodiments of the present invention are not limited to the specific details in the above

embodiments, and many simple variations may be made to the technical solutions of

the embodiments of the present invention within the scope of the technical idea of the

embodiments of the present invention, which all belong to the protection scope of the

embodiments of the present invention.

In addition, it should be noted that the specific technical features described in the above

specific embodiments may be combined in any suitable way without contradiction. In

order to avoid unnecessary repetition, embodiments of the present invention are not

further described in various possible combinations.

Those skilled in the art will appreciate that all or part of the steps in the method

implementing the embodiments described above may be completed by instructing

related hardware through a program, which is stored in a storage medium and includes

several instructions for causing a single chip computer, chip or processor to execute all

or part of the steps of the method described in various embodiments of the application.

While the aforementioned monitoring network (or monitoring system) may be a sensor

network or other device group for measurement, recording, analysis and processing, and the monitoring network or monitoring system may include a plurality of hardware and/or software having sensing, data recording, data processing, and the like functions.

The aforementioned storage medium may be non-transitory, and the storage medium

may include various media such as a USB flash disk, a hard disk, a read-only memory

(ROM), a flash memory, a magnetic disk, or an optical disk that can store program code.

In addition, any combination between the various embodiments of the present invention

may be made, as long as it does not depart from the idea of the present embodiments,

which should be considered as disclosed in the present embodiments as well.

Claims

Claims 1. A fault double-layer redundancy monitoring method, characterized by comprising:

obtaining, on the basis of sensor groups which are correspondingly grouped

according to operation parameters and are on a hoisting device, sensor data of each

operation parameter;

in first-layer monitoring, determining, on the basis of whether a relevant actual

measured value in the sensor data satisfies a configured conversion relationship,

whether the hoisting device is in a first faulty operating condition, wherein the

conversion relationship comprises a geometric conversion relationship between

operation parameters corresponding to the relevant actual measured value; and

in second-layer monitoring, determining, on the basis of whether an actual

measured value, that corresponds to a moment, in the sensor data satisfies a moment

balance relationship between operation parameters of the corresponding moment,

whether the hoisting device is in a second faulty operating condition, wherein the

hoisting device is not in the first faulty operating condition.
2. The fault double-layer redundancy monitoring method according to claim 1,

characterized in that the hoisting device is provided with a superlift mechanism, and in

the step of obtaining, on the basis of sensor groups which are correspondingly grouped

according to operation parameters and are on a hoisting device, sensor data of each

operation parameter,

the sensor groups are specifically correspondingly grouped according to the same

operation key parameters, and

the operation key parameters comprise any one of an operation parameter about a

boom attitude, an operation parameter about a counterweight stroke and an operation

parameter about a load magnitude.
3. The fault double-layer redundancy monitoring method according to claim 1,

characterized in that the hoisting device is provided with a superlift mechanism, and

obtaining, on the basis of sensor groups which are correspondingly grouped according

to the operation parameters and are on the hoisting device, the sensor data of each operation parameter comprises: obtaining sensor data of an operation parameter about a boom attitude, wherein the sensor data comprises an angle-related actual measured value, and an operation parameter corresponding to the angle-related actual measured values comprises a first elevation angle of a main boom of the hoisting device, a second elevation angle of a superlift mast of the superlift mechanism and an included angle between the main boom and the superlift mast.
4. The fault double-layer redundancy monitoring method according to claim 3,

characterized in that the hoisting device is further provided with a movable

counterweight adjustment mechanism, wherein obtaining, on the basis of sensor groups

which are correspondingly grouped according to the operation parameters and are on

the hoisting device, the sensor data of each operation parameter further comprises:

obtaining sensor data of an operation parameter about a counterweight stroke,

wherein the sensor data comprises a stroke-related actual measured value, and

an operation parameter corresponding to the stroke-related actual measured values

comprises a third elevation angle of a counterweight support arm of the movable

counterweight adjustment mechanism and a real-time counterweight stroke measured

for the movable counterweight adjustment mechanism.
5. The fault double-layer redundancy monitoring method according to claim 4,

characterized in that obtaining, on the basis of sensor groups which are correspondingly

grouped according to the operation parameters and are on the hoisting device, the sensor

data of each operation parameter further comprises:

obtaining sensor data of an operation parameter about a load magnitude, wherein

the sensor data comprises an acting-force-related actual measured value, and

an operation parameter corresponding to the acting-force-related actual measured

value comprises a measured tension at a head of the main boom, a first measured

pressure at a root of the main boom and a second measured pressure at a bottom of a

rear strut of the superlift mast.
6. The fault double-layer redundancy monitoring method according to claim 1,

characterized in that determining, on the basis of whether the relevant actual measured value in the sensor data satisfies the configured conversion relationship, whether the hoisting device is in thefirst faulty operating condition comprises: determining a converted measured value obtained from the actual measured value in the sensor data via the configured conversion relationship, and judging whether the converted measured value is the same as a second actual measured value in the sensor data, or judging whether the converted measured value belongs to a specified range of values corresponding to the second actual measured value, wherein the conversion relationship comprises a geometric conversion relationship between an operation parameter corresponding to the first actual measured value and an operation parameter corresponding to the second actual measured value; determining that the hoisting device is not in the first faulty operating condition if Yes is returned; determining that the hoisting device is in the first faulty operating condition if No is returned.
7. The fault double-layer redundancy monitoring method according to claim 3, characterized in that the configured conversion relationship comprises that a sum of the first elevation angle, the second elevation angle and the included angle is a specified angle or belongs to a specified range of values corresponding to the specified angle.
8. The fault double-layer redundancy monitoring method according to claim 7, characterized in that determining, on the basis of whether the relevant actual measured value in the sensor data satisfies the configured conversion relationship, whether the hoisting device is in thefirst faulty operating condition comprises: reading actual measured values, corresponding to the first elevation angle, the second elevation angle and the included angle, in the sensor data; and judging, according to the configured conversion relationship, whether a sum of the actual measured values corresponding to the first elevation angle, the second elevation angle and the included angle is the specified angle or belongs to a specified range of values corresponding to the specified angle.
9. The fault double-layer redundancy monitoring method according to claim 8,

characterized in that the specified range of values is obtained by:

determining a sensor error amount of arranged angle sensors; and

configuring a range of values from a first value to a second value as the specified

range of values, wherein,

the first value is a difference between the specified angle and the sensor error

amount, and

the second value is a sum of the specified angle and the sensor error amount.
10. The fault double-layer redundancy monitoring method according to claim 4,

characterized in that

the configured conversion relationship comprises that an absolute value of a

difference between a converted counterweight stroke obtained by calculating the third

elevation angle and the real-time counterweight stroke belongs to a specified range of

values.
11. The fault double-layer redundancy monitoring method according to claim 10,

characterized in that determining, on the basis of whether the relevant actual measured

value in the sensor data satisfies the configured conversion relationship, whether the

hoisting device is in the first faulty operating condition comprises:

reading actual measured values, corresponding to the third elevation angle and the

real-time counterweight stroke, in the sensor data, and determining a converted

measured value of the converted counterweight stroke through the actual measured

value corresponding to the third elevation angle; and

judging, according to the configured conversion relationship, whether an absolute

value of a difference between the actual measured value corresponding to the real-time

counterweight stroke and the converted measured value belongs to the specified range

of values.
12. The fault double-layer redundancy monitoring method according to claim 5,

characterized in that

the configured conversion relationship comprises that an absolute value of a

difference between a first load weight and a second load weight belongs to a specified range of values, wherein the first load weight is obtained by converting the measured tension with a first trigonometric function relationship, and the second load weight is obtained by converting the first measured pressure with a second trigonometric function relationship.
13. The fault double-layer redundancy monitoring method according to claim 12,

characterized in that determining, on the basis of whether the relevant actual measured

value in the sensor data satisfies the configured conversion relationship, whether the

hoisting device is in the first faulty operating condition comprises:

reading actual measured values, corresponding to the measured tension and the

first measured pressure, in the sensor data, and determining converted measured values

corresponding to the first load weight and the second load weight respectively; and

judging, according to the configured conversion relationship, whether an absolute

value of a difference between the converted measured values corresponding to the first

load weight and the second load weight belongs to the specified range of values.
14. The fault double-layer redundancy monitoring method according to claim 13,

characterized by further comprising:

in intermediate-layer monitoring, judging whether a magnitude level matching

relationship is a matching relationship corresponding to a steady state of the hoisting

device, wherein,

the magnitude level matching relationship is a matching relationship between a

magnitude level of a third load weight and a magnitude level of the first load weight,

or a matching relationship between a magnitude level of the third load weight and a

magnitude level of the second load weight, and

the magnitude level of the third load weight is obtained by the second measured

pressure, and the hoisting device is not in thefirst faulty operating condition;

determining that the hoisting device is not in a third faulty operating condition if

Yes is returned; and

determining that the hoisting device is in the third faulty operating condition if No

is returned.
15. The fault double-layer redundancy monitoring method according to claim 5,

characterized in that determining, on the basis of whether the actual measured value,

that corresponds to the moment, in the sensor data satisfies the moment balance

relationship between the operation parameters of the corresponding moment, whether

the hoisting device is in the second faulty operating condition comprises:

judging whether an absolute value of a difference between a load-end moment and

a counterweight-end moment belongs to a specified range of values corresponding to a

moment balance state of the hoisting device, wherein,

the load-end moment is obtained by calculating an angle-related actual measured

value and an acting-force-related actual measured value, and

the counterweight-end moment is obtained by calculating a stroke-related actual

measured value;

determining that the hoisting device is not in the second faulty operating condition

if Yes is returned; and

determining that the hoisting device is in the second faulty operating condition if

No is returned.
16. A fault double-layer redundancy early-warning method comprising the fault double

layer redundancy monitoring method according to any one of claims 1 to 15,

characterized in that the fault double-layer redundancy early-warning method further

comprises:

determining that the hoisting device is in any one of faulty operating conditions;

and

stopping the hoisting device from performing hoisting operation, and performing

configured early warning.
17. A fault double-layer redundancy early-warning system, characterized by comprising:

an obtaining module, configured to obtain, on the basis of sensor groups which are

correspondingly grouped according to operation parameters and are on a hoisting

device, sensor data of each operation parameter;

a first-layer monitoring module, configured to determine, on the basis of whether

a relevant actual measured value in the sensor data satisfies a configured conversion relationship, whether the hoisting device is in a first faulty operating condition in first layer monitoring, wherein the conversion relationship comprises a geometric conversion relationship between operation parameters corresponding to the relevant actual measured value; and a second-layer monitoring module, configured to determine, on the basis of whether an actual measured value, that corresponds to a moment, in the sensor data satisfies a moment balance relationship between operation parameters of the corresponding moment, whether the hoisting device is in a second faulty operating condition in second-layer monitoring, wherein the hoisting device is not in the first faulty operating condition.
18. The fault double-layer redundancy early-warning system according to claim 17,

characterized by further comprising:

an early-warning module, configured to determine that the hoisting device is in

any one of faulty operating conditions, and

stopping the hoisting device from performing hoisting operation, and performing

configured early warning.
19. An electronic device, characterized by comprising:

at least one processor; and

a memory connected with the at least one processor; wherein

the memory stores instructions executable by the at least one processor, and the at

least one processor implements the method according to any one of claims 1 to 16 by

executing the instructions stored in the memory.
20. Engineering machinery, characterized by being provided with the electronic device

according to claim 19.
21. A computer-readable storage medium storing computer instructions, characterized

in that the computer instructions, when running on a computer, cause a computer to

perform the method according to any one of claims I to 16.