WO2021232554A1 - Boom monitoring method and system, and construction machine comprising boom monitoring system - Google Patents

Abstract

The present invention relates to the field of construction machines. Disclosed are a boom monitoring method and system, and a construction machine comprising the boom monitoring system. The boom monitoring method comprises: obtaining a boom damage signal monitored, during the operation of the boom, by a piezoelectric sensing network which is formed by piezoelectric sensors distributed at different monitoring points on a boom, wherein the piezoelectric sensor on each monitoring path of the piezoelectric sensing network comprises a trigger sensor for sending out an excitation signal and a receiving sensor for responding to the excitation signal, and the boom damage signal is a mechanical wave response signal of the receiving sensor in response to the excitation signal; and evaluating the health condition of the boom according to the boom damage signal. According to the present invention, the boom is monitored using the piezoelectric sensing network, which is extremely sensitive to damage and can implement accurate damage positioning.

Description

Boom monitoring method, system and engineering machinery including the boom monitoring system Technical field

The present invention relates to the field of construction machinery, in particular to a boom monitoring method and system, and construction machinery including the boom monitoring system.

Background technique

The boom is the key bearing structure of construction machinery, and its safety and reliability play a vital role in the safe operation of large-scale equipment. In the design of the boom, the design life of the metal structure is determined according to the load spectrum coefficient and the working level in the specification, and the two should be determined by the actual load combination. However, the actual load combination is difficult to predict, and the design is often selected based on experience. The difference between the actual operating conditions and the expected operating conditions causes the service life to usually deviate from the design life, resulting in a large number of safety accidents during actual use. In addition, the use environment of construction machinery and equipment is complex and harsh, and the boom may collide during use, causing structural damage to the boom, and further aggravating the hidden safety hazards of construction machinery and equipment in use. For this reason, it is particularly important to carry out real-time health monitoring of the boom, to control the damage of the structure during its use, and to determine whether it is within the safe use margin.

Summary of the invention

The purpose of the present invention is to provide a boom monitoring method, which is used to solve the problem of real-time health monitoring of the boom.

In order to achieve the above objective, the present invention provides a boom monitoring method, including: acquiring a piezoelectric sensor network formed by piezoelectric sensors arranged on the boom at different monitoring points of the boom on the boom For the boom damage signal monitored during work, the piezoelectric sensor on each monitoring path of the piezoelectric sensor network includes a trigger sensor for emitting an excitation signal and a receiving sensor for responding to the excitation signal, and The boom damage signal is a mechanical wave response signal of the receiving sensor in response to the excitation signal; and the health of the boom is evaluated according to the boom damage signal.

Preferably, the trigger sensor and the receiving sensor can be converted mutually.

Preferably, the evaluating the health of the boom according to the boom damage signal includes: calculating the current boom damage signal on each monitoring path in the piezoelectric sensor network relative to the corresponding initial damage signal The first damage change characteristic value, wherein the initial damage signal is the damage signal measured by the piezoelectric sensor before the boom is working; when all the first damage change characteristic values are equal to zero, the boom is determined In a healthy state, otherwise determine the damage position of the boom according to the first damage change characteristic value and the corresponding monitoring path parameter; calculate the second damage change characteristic of the receiving sensor corresponding to the damage position relative to the trigger sensor And when the second damage change characteristic value is greater than or equal to a preset threshold, it is determined that the boom is damaged, otherwise it is determined that the boom is in a healthy state.

Preferably, the determining the damage position of the boom according to the first damage change characteristic value and the corresponding monitoring path parameter includes: for each monitoring path of each piezoelectric sensor network, according to the first damage Calculate multiple damage values of each receiving sensor relative to the determined trigger sensor by changing the characteristic value; determine the monitoring point corresponding to the maximum value of the multiple damage values as the initial damage location in combination with the monitoring path parameters; The sensor is triggered to repeatedly acquire a plurality of initial damage positions until all the piezoelectric sensors have been used as the trigger sensor; and the final damage position is determined based on the plurality of initial damage positions.

Preferably, the boom monitoring method further includes: determining a layout mode of the piezoelectric sensor network according to the structure and force characteristics of the boom, wherein the layout mode includes the number and the number of piezoelectric sensor networks The number and location of piezoelectric sensors deployed in each piezoelectric sensor network. Preferably, for the designated structure of the boom, determining the layout of the piezoelectric sensor network includes: determining that the piezoelectric sensor network forms a box-shaped monitoring structure for the designated structure.

Preferably, the determining that the piezoelectric sensor network forms a box-type monitoring structure for the designated structure includes: the designated structure includes an upper cover plate, a lower cover plate, and formed on the upper cover plate and the When there are two webs between the lower cover plates, at least two piezoelectric sensors are arranged on each of the upper cover plate and the lower cover plate, and at least one piezoelectric sensor is respectively arranged on each of the webs; And determine each piezoelectric sensor on the upper cover plate and the lower cover plate as the trigger sensor, and determine the remaining piezoelectric sensor on the upper cover plate, the lower cover plate or the web as the trigger sensor Receive sensor.

The present invention also provides a boom monitoring system. The boom monitoring system includes a piezoelectric sensor network, including a plurality of piezoelectric sensors arranged at different monitoring points of the boom, and each piezoelectric sensor is used for Collect the boom damage signal of the corresponding monitoring point, wherein the piezoelectric sensor on each monitoring path of the piezoelectric sensor network includes a trigger sensor for sending an excitation signal and a receiving sensor for responding to the excitation signal, and The boom damage signal is a mechanical wave response signal of the receiving sensor in response to the excitation signal; and a monitoring mechanism configured to evaluate the health of the boom based on the boom damage signal.

Preferably, the trigger sensor and the receiving sensor can be converted mutually.

Preferably, the monitoring mechanism configured to evaluate the health of the boom according to the boom damage signal includes: calculating the current boom damage signal relative to each monitoring path in the piezoelectric sensor network The first damage change characteristic value corresponding to the initial damage signal, where the initial damage signal is the damage signal measured by the piezoelectric sensor before the boom is working; in the case where all the first damage change characteristic values are equal to zero Next, determine that the boom is in a healthy state; otherwise, determine the damage position of the boom according to the first damage change characteristic value and the corresponding monitoring path parameter; calculate the receiving sensor corresponding to the damage position relative to the trigger The second damage change characteristic value of the sensor; and when the second damage change characteristic value is greater than or equal to a preset threshold, it is determined that the boom is damaged, otherwise it is determined that the boom is in a healthy state.

Preferably, the determining the damage position of the boom according to the first damage change characteristic value and the corresponding monitoring path parameter includes: for each monitoring path of each piezoelectric sensor network, according to the first damage Calculate multiple damage values of each receiving sensor relative to the determined trigger sensor by changing the characteristic value; determine the monitoring point corresponding to the maximum value of the multiple damage values as the initial damage location in combination with the monitoring path parameters; The sensor is triggered to repeatedly acquire a plurality of initial damage positions until all the piezoelectric sensors have been used as the trigger sensor; and the final damage position is determined based on the plurality of initial damage positions.

Preferably, the monitoring mechanism is further configured to: determine the arrangement mode of the piezoelectric sensor network according to the structure and force characteristics of the boom, wherein the arrangement mode includes the piezoelectric sensor network The number and the number and location of piezoelectric sensors deployed in each piezoelectric sensor network. Preferably, the piezoelectric sensor network is arranged for the specified structure of the boom, and the piezoelectric sensor network is made to form a box-shaped monitoring structure for the specified structure.

Preferably, when the designated structure includes an upper cover plate, a lower cover plate, and two webs formed between the upper cover plate and the lower cover plate, the piezoelectric sensing network includes the following piezoelectric Sensors to form the box-type monitoring structure: at least two piezoelectric sensors arranged on each of the upper cover plate and the lower cover plate; and at least one piezoelectric sensor respectively arranged on each of the webs Wherein, a piezoelectric sensor on each of the upper cover plate and the lower cover plate is used as a trigger sensor, and the remaining piezoelectric sensor located on the upper cover plate, the lower cover plate or the web is used as a trigger sensor Receive sensor.

Preferably, the piezoelectric sensor network is built into a preset material adhered to the outer surface of the arm frame so as to be integrated with the arm frame.

An embodiment of the present invention also provides an engineering machine, which includes any of the above-mentioned boom monitoring systems.

An embodiment of the present invention also provides a machine-readable storage medium, which stores instructions on the machine-readable storage medium, and the instructions are used to make a machine execute any of the above-mentioned boom monitoring methods.

Through the above technical solution, the embodiment of the present invention uses a piezoelectric sensor network to detect the boom, which is extremely sensitive to damage. A slight pressing on the surface of the boom structure can monitor the structure change, so that the damage can be accurately located.

Other features and advantages of the present invention will be described in detail in the following specific embodiments.

Description of the drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the attached picture:

FIG. 1 is a schematic structural diagram of a boom monitoring system provided by Embodiment 1 of the present invention;

Figure 2(a) and Figure 2(b) are the front layout and back layout of the piezoelectric sensor network of the box-type monitoring structure, respectively; Figure 3 is the box-type monitoring of Figures 2(a) and 2(b) 1-2-4-6-5 monitoring network formed by the structure;

4 is a schematic flowchart of a boom monitoring method provided by Embodiment 2 of the present invention;

FIG. 5 is a schematic structural diagram of a boom monitoring system provided by Embodiment 3 of the present invention;

Figure 6 (a) and Figure 6 (b) are the front layout and back layout of the fiber optic sensor network corresponding to the box-type monitoring structure of Figure 2 (a) and Figure 2 (b), respectively;

FIG. 7 is a schematic diagram of a tandem optical fiber sensor network in Embodiment 3 of the present invention;

8 is a schematic flowchart of a boom monitoring method provided by Embodiment 4 of the present invention;

FIG. 9 is a schematic structural diagram of a boom monitoring system provided by Embodiment 5 of the present invention;

Figures 10(a) and 10(b) are schematic diagrams of the joint deployment of a piezoelectric sensor network and an optical fiber sensor network in the fifth embodiment of the present invention; and

FIG. 11 is a schematic flowchart of a boom monitoring method provided by Embodiment 6 of the present invention.

Description of Reference Signs

100. Piezoelectric sensor network; 200. Monitoring organization; 300. Optical fiber sensor network.

101. Upper cover plate; 102, lower cover plate; 103, first web; 104, second web; 105, interface outlet end.

1-7. Piezoelectric sensor; A1-A6, optical fiber sensor; B1-B6, optical fiber sensor.

Detailed ways

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not used to limit the present invention. Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

Example one

Fig. 1 is a schematic structural diagram of a boom monitoring system provided by Embodiment 1 of the present invention. As shown in Figure 1, the boom monitoring system includes: a piezoelectric sensor network 100, including a plurality of piezoelectric sensors arranged at different positions of the boom, and each piezoelectric sensor is used to collect the corresponding boom position The boom damage signal; the monitoring mechanism 200 is configured to evaluate the health of the boom according to the boom damage signal.

Wherein, the piezoelectric sensor on each monitoring path of the piezoelectric sensor network includes a trigger sensor for emitting an excitation (also called excitation) signal and a receiving sensor for responding to the excitation signal, and The boom damage signal is a mechanical wave response signal of the receiving sensor in response to the excitation signal. That is, the trigger sensor on the boom structure sends out an excitation signal, and the boom sends out a corresponding mechanical wave response signal. When the structure is impacted, the bolts are loosened, and microcracks are generated, after the crack expands, the magnitude and path of the mechanical wave response signal of the boom are equal. Changes will occur, leading to changes in the damage signal.

The mechanical wave response signal can reflect the change of the damage signal. Taking the piezoelectric sensor as the piezoelectric ceramic sheet as an example, the piezoelectric sensor network 100 of the embodiment of the present invention finds the principle of damage: by pasting the piezoelectric ceramic sheet on the measured On the surface of the part structure, when an AC electric field is applied to the piezoelectric ceramic sheet, the piezoelectric ceramic sheet will vibrate due to the inverse piezoelectric effect and cause the part structure to vibrate together; Under the action of the piezoelectric effect, the corresponding surface charge is generated; when structural cracks, loose bolts, and impact/impact on the structural body occur, the vibration characteristics of the generated surface charge (ie, the mechanical wave response signal) change accordingly, thereby achieving Damage monitoring.

Further, different receiving sensors on the monitoring path have different distances relative to the trigger sensor, so that the strength of the corresponding mechanical wave response signal is also different. From this, it can be seen that the distance between the piezoelectric sensors on the monitoring path and the corresponding mechanical wave response signal are different. The signal strength has an association relationship, so that the damage location can be determined according to the association relationship, and the damage value can be further determined to complete the damage monitoring.

According to this, when the boom is subjected to an impact/impact, etc., the connecting piece becomes loose or broken (bolts, etc.), and microcracks are generated, and the piezoelectric sensor network 100 can collect the boom damage signal (ie, mechanical wave response signal) reflecting this information, And sent to the monitoring organization 200, through the monitoring organization 200 to monitor and evaluate the health status of the boom. Compared with the conventional scheme of using multiple piezoelectric sensors to acquire piezoelectric signals to determine whether the structure is damaged, the "excitation-response" information collection scheme in the embodiment of the present invention emphasizes that multiple excitation signals are changed in one network. In response to signal monitoring and evaluation, fewer piezoelectric sensors are needed, and the accuracy in determining the damage location and damage value is higher.

In a preferred embodiment, the trigger sensor and the receiving sensor can be converted mutually. This mutual conversion method makes the collected mechanical wave response signals more comprehensive, which is beneficial to improve the accuracy of damage monitoring.

It can be seen that obtaining the damage signal of the boom through the piezoelectric sensor network is the basis of the solution of the first embodiment of the present invention, so the layout of the piezoelectric sensor network is very important. In the embodiment of the present invention, the layout mode of the piezoelectric sensor network can be determined according to the structure and force characteristics of the boom. Wherein, the arrangement method includes the number of piezoelectric sensor networks, the number and positions of piezoelectric sensors arranged in each piezoelectric sensor network, and so on.

For example, the piezoelectric sensor network can be arranged for the specified structure of the boom, and the piezoelectric sensor network can be formed into a box-shaped monitoring structure for the specified structure. Wherein, an example of forming a box-type monitoring structure may include: when the boom designated structure includes an upper cover plate, a lower cover plate, and two webs formed between the upper cover plate and the lower cover plate Arranging at least two piezoelectric sensors on each of the upper cover plate and the lower cover plate, and disposing at least one piezoelectric sensor on each of the webs; and determining the upper cover plate and the lower cover plate Each piezoelectric sensor on the cover is used as a trigger sensor, and the remaining piezoelectric sensors on the upper cover, the lower cover or the web are determined as the receiving sensor. This example will be described in detail below in conjunction with Fig. 2(a) and Fig. 2(b).

For further example, Figures 2(a) and 2(b) are the front layout and back layout of the piezoelectric sensor network of the box-type monitoring structure, respectively, where the designated structure of the boom corresponding to the box-type monitoring structure includes the upper cover A plate 101, a lower cover plate 102, and two webs formed between the upper cover 101 and the lower cover 102, wherein the two webs include a first web 103 corresponding to the front of the box structure And the second web 104 corresponding to the back of the box-shaped structure, and the numbers 1-7 in it indicate the piezoelectric sensors that are arranged. 2(a) and 2(b), piezoelectric sensors 1 and 2 are arranged on the upper cover 101, piezoelectric sensors 3 and 4 are arranged on the lower cover 102, and piezoelectric sensors 5, 6, 7 are arranged on the web, Among them, piezoelectric sensors 1 and 3 are trigger sensors, which generate excitation signals, and piezoelectric sensors 2, 4-7 are receiving sensors, which receive excitation and make different responses. In the actual monitoring process, the trigger sensor and the receiving sensor can be converted to each other to generate different mechanical wave response signals for different excitation signals to improve the accuracy of damage detection. For the different structures of the boom, piezoelectric sensors can form N networks and N monitoring paths, while the cover monitoring is relatively simple. The monitoring network is composed of piezoelectric sensors 1, 2 or piezoelectric sensors 3, 4, respectively Upper cover monitoring network and lower cover monitoring network; other monitoring networks are relatively complicated, such as monitoring networks such as 1-2-4-6-5, 1-3-4-6-5, 1-2-4-7, etc. . Each monitoring network is composed of N monitoring paths. Figure 3 shows the 1-2-4-6-5 monitoring network formed by the box-type monitoring structure of Figure 2(a) and Figure 2(b). The 2-4-6-5 monitoring network consists of 9 monitoring paths, and each triangle is used as a monitoring area. It can be seen that the 9 monitoring paths can realize the monitoring of each area. Based on this, it can be seen that 4 surface monitoring of the box-type monitoring structure can be realized by 7 piezoelectric sensors.

The specified structure of the boom suitable for the box-type monitoring structure can be, for example, the middle section structure of the boom. The middle section structure of the boom is relatively simple. The piezoelectric sensor network has a large monitoring range, which can be as high as 1.2-1.7m. The above-mentioned 7 monitoring points have realized the layout mode of 4-plane monitoring of the box-type monitoring structure, which is very suitable for monitoring within the range of 1.2-1.7m. However, for other structures of the boom, such as the structure of the boom head and the boom tail of the boom, the form is more complicated, and they are generally formed by tailor-welding bending plates or reinforcing plates, and this part of the structure uses a piezoelectric sensor network The monitoring range is generally within 0.5-1m, so the piezoelectric sensor network needs to be arranged according to its structure and force characteristics, and according to the complexity of its structure, the number of sensor networks and the number of locations of each sensor network There will be differences, but the monitoring point of a single piezoelectric sensor network is generally controlled at around 4-7 points.

Among them, the structure and force characteristics of the boom can be obtained through finite element numerical simulation. For example, firstly, through the finite element numerical analysis, analyze the crack of the boom, the loosening of bolts, the impact/impact on the propagation of guided waves, etc., to determine the piezoelectricity The layout plan of the sensor network. Then, the monitoring mechanism 200 is used to monitor the looseness, cracks, and impact/impact damage of the connecting member of the boom, for example, through a preset piezoelectric sensor damage monitoring algorithm, to ensure the safety of the boom structure. It should be noted that the piezoelectric sensor damage monitoring algorithm will be described below in conjunction with examples, and will not be repeated here.

In addition, the piezoelectric sensor network can be built into a preset material adhered to the outer surface of the arm frame to be integrated with the arm frame. For example, the piezoelectric sensor network can be built in materials such as carbon fiber/glass fiber, or it can be built in a resin matrix first, and then adhered to the metal material on the outer surface of the boom, and integrated with the boom to form a The reliability of the boom monitoring system is increased, and the service life is increased.

Further, for the monitoring mechanism 200, it may be a controller that performs all calculations and control operations or an industrial computer with the controller. The controller can be a general-purpose processor, a special-purpose processor, a conventional processor, a digital signal processor (DSP, Digital Signal Processing), multiple microprocessors, one or more microprocessors associated with the DSP core, and a controller , Microcontroller, Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA, Field-Programmable Gate Array) circuit, any other type of integrated circuit (IC, Integrated Circuit), state machine, etc. When the monitoring mechanism 200 is an industrial computer, it can also integrate a remote control device to remotely send instructions to the piezoelectric sensor network or remotely receive information transmitted by the piezoelectric sensor network.

In the embodiment of the present invention, the monitoring mechanism 200 is configured to determine the health of the boom based on the boom damage signal collected by the piezoelectric sensor network 100, which can be understood as realizing piezoelectric sensor damage monitoring algorithm. Specifically, the monitoring mechanism 200 may be configured to perform the following operations:

1) Calculate the first damage change characteristic value of the current boom damage signal on each monitoring path in the piezoelectric sensor network relative to the corresponding initial damage signal. Wherein, the initial damage signal is a damage signal measured by the piezoelectric sensor before the boom is operated.

2) When all the first damage change characteristic values are equal to zero, it is determined that the boom is in a healthy state, otherwise the damage position of the boom is determined according to the first damage change characteristic value and the corresponding monitoring path parameters.

Wherein, the determining the damage location of the boom according to the first damage change characteristic value and the corresponding monitoring path parameter may further include: a) For each monitoring path of each piezoelectric sensor network, according to the The first damage change characteristic value calculates multiple damage values of each receiving sensor relative to the determined trigger sensor; b) Combining the monitoring path parameters, determine that the monitoring point corresponding to the maximum value of the multiple damage values is the initial damage Position; c) replacing the trigger sensor to repeatedly acquire multiple initial damage locations until all piezoelectric sensors have been used as the trigger sensor; and d) determining the final damage location based on the multiple initial damage locations.

3) Calculate the second damage change characteristic value of the receiving sensor corresponding to the damage location relative to the trigger sensor.

4) When the second damage change characteristic value is greater than or equal to a preset threshold, it is determined that the boom is damaged, otherwise it is determined that the boom is in a healthy state.

The following specifically describes the implementation of these four steps through an example. In this example, the specific monitoring process performed by the monitoring mechanism 200 using the embodiment of the present invention is as follows:

(1) Before the boom is working, obtain the initial damage signal θ ₀ (t) of each monitoring path (for example, N). This initial damage signal refers to the mechanical wave response signal measured by the boom structure before working.

(2) After the boom has worked for a period of time, obtain the current damage θ _t (t) of each monitoring path, and calculate the first damage change characteristic value: a(t) = θ _t (t)-θ ₀ (t).

(3) Determine the size of a(t). If there is no change, determine that the boom is in a healthy state and can operate safely. Continue to cycle step (2). If it is greater than zero, determine the damage location and damage value, and perform subsequent monitoring .

(4) Determine the damage location of the monitoring area by the following formula:

Where, A (x, y) is the amplitude variation value injury a (x, y) is the Fourier _{transform, A ij (ω 0, t} ) at a particular frequency ω ₀ as a first variation characteristic damage value a (t ) The amplitude of the Fourier transform, ω ₀ is the excitation frequency, a _ij is the characteristic value of the damage change received by i as the excitation and j (ie the response signal), R _r and R _t respectively indicate that the sensors i and j are in the x direction The distance between the coordinate system and the y-direction coordinate system (where x and y _{refer to the coordinate system (x, y) on the plane), and c g} represents the speed of signal transmission in the structure. Here, for these parameters, except for the first damage change characteristic value a(t), the remaining parameters can be collectively referred to as monitoring path parameters.

The following example illustrates the process of determining the damage location based on the above formula. Assuming that there are 4 monitoring points in the network, one excitation signal corresponds to 3 response signals, and the damage value of each of these 3 response signals is determined by the above formula. Among them, the largest possible initial damage is considered as A(x, y) According to the characteristics of the respective damage values of the three response signals, let another monitoring point be used as the excitation signal, and repeat the crossing position of the maximum damage value. This position is the damage location.

(5) Determine the final damage value a _ij (t) according to the path.

For example, when the location is determined, the damage amount of this path is calculated as the damage value of this space.

(6) Determine whether the structure is in a healthy state: determine _{the relationship between a ij} (t) and a _threshold . If it is greater than the threshold, stop working and monitor and maintain the boom; if it is less, the boom is in a healthy state and can normal work.

It can be seen from experiments that the boom monitoring system of the first embodiment of the present invention is extremely sensitive to damage. Slightly pressing the surface of the boom structure (for example, pressing with the thumb) can monitor the changes in the structure, thereby realizing precise positioning of the damage. . In addition, the boom monitoring system of the first embodiment of the present invention only needs to use fewer piezoelectric sensors to monitor damages such as impacts/impacts on the boom, loose connections, cracks, etc., and determine the damage location and damage. The accuracy of the value is high, that is, the positioning of the damage of the boom and the analysis and determination of the damage value are accurately realized.

Example two

4 is a schematic flow chart of the boom monitoring method provided in the second embodiment of the present invention. The boom monitoring method is based on the same inventive idea as the boom monitoring system in the first embodiment, and can be applied to the boom monitoring system in the first embodiment Monitoring agency. As shown in Figure 4, the boom monitoring method may include the following steps:

Step S410: Obtain the boom damage signal monitored during the operation of the boom by a piezoelectric sensor network formed by piezoelectric sensors arranged at different monitoring points on the boom.

For the piezoelectric sensor network, please refer to the first embodiment, which will not be repeated here. It should be noted that the boom damage signal is the mechanical wave response signal of the receiving sensor in response to the excitation signal, and the receiving sensor and the trigger sensor that sends out the excitation signal can be exchanged with each other.

Step S420: Evaluate the health of the boom according to the damage signal of the boom.

Preferably, this step S420 may include: step S421, calculating the first damage change characteristic value of the current boom damage signal relative to the corresponding initial damage signal on each monitoring path in the piezoelectric sensor network; step S422, When all the first damage change characteristic values are equal to zero, it is determined that the boom is in a healthy state, otherwise the damage position of the boom is determined according to the first damage change characteristic value and the corresponding monitoring path parameters; step S423, Calculate the second damage change characteristic value of the receiving sensor corresponding to the damage position relative to the trigger sensor; step S424, when the second damage change characteristic value is greater than or equal to a preset threshold, determine that the boom is damaged; otherwise, determine that the arm is damaged The shelf is in a healthy state.

More preferably, the boom monitoring method further includes: determining the layout mode of the piezoelectric sensor network according to the structure and force characteristics of the boom. Wherein, the arrangement method includes the number of piezoelectric sensor networks and the number and positions of piezoelectric sensors arranged in each piezoelectric sensor network. For example, for the specified structure of the boom, determining the layout of the piezoelectric sensor network may include: determining that the piezoelectric sensor network forms a box-shaped monitoring structure for the specified structure.

For other implementation details and effects of the second embodiment, reference may be made to the first embodiment of the present invention, which will not be repeated here.

Example three

Fig. 5 is a schematic structural diagram of a boom monitoring system provided in the third embodiment of the present invention. As shown in Figure 5, the boom monitoring system includes: an optical fiber sensor network 300, including a plurality of fiber optic sensors arranged at different monitoring points of the boom, and each fiber sensor is used to monitor the light waves generated by the corresponding monitoring point Value; the monitoring mechanism 200 is configured to determine the health of the boom according to the light wave value monitored by the optical fiber sensor network 300.

For the optical fiber sensor network 300, it may also be referred to as a fiber grating network, and the corresponding optical fiber sensor may also be referred to as a fiber grating sensor. Fiber optic sensors have the characteristics of small size, no signal drift, and dynamic signal stability.

In addition, the optical fiber sensor network can also be built into a preset material adhered to the outer surface of the arm frame like the piezoelectric sensor network in the first embodiment, so as to be integrated with the arm frame. It also increases the reliability of the formed boom monitoring system and increases the service life.

According to the first embodiment, it can be seen that the boom monitoring method of the first embodiment is extremely sensitive to whether cracks, loose connections, and impact/fracture occur, but it is difficult to accurately predict the length of the cracks, the remaining life of the structure, etc., that is, piezoelectric transmission The accuracy of quantitative monitoring of the sensor network is slightly lower. The boom monitoring system of the third embodiment of the present invention just compensates for this defect. It adopts an optical fiber sensor network. The monitoring range of the optical fiber sensor network is about 400-800mm, which can more accurately monitor the crack growth rate and structure The remaining life is used to send an alarm signal when the boom structure is in a dangerous state to guide the inspection and maintenance of the boom.

Preferably, corresponding to the box-type monitoring structure of Figures 2(a) and 2(b), determining the layout of the optical fiber sensor network may include: relative to the reference point arranged in the middle section of the boom, at each At least one optical fiber sensor is arranged on the web near the junction of the web and the corresponding upper cover or lower cover; and the optical fiber sensors on the same web are connected in series and the monitored light wave value is output through a unified interface. For example, Figure 6 (a) and Figure 6 (b) are the front layout and back layout of the fiber optic sensor network corresponding to the box-type monitoring structure of Figure 2 (a) and Figure 2 (b), where A1 -A6 and B1-B6 indicate the fiber optic sensors that are deployed. With reference to Figure 6(a) and Figure 6(b), the A1, A2 and B1, B2 monitoring network can monitor the upper cover 101, and the initiation position is the junction of the upper cover 101 and the corresponding web, then the corresponding The A2, A3 and B2, B3 monitoring networks can also realize the monitoring of the upper cover 101, where the crack initiation position is the junction of the upper cover 101 and the corresponding web. A4, A5 and B4, B5 monitoring network or A5, A6 and B5, B6 monitoring network realizes the monitoring of the lower cover plate 102, the crack initiation position is the junction of the lower cover plate 102 and the corresponding web. A1, A2, A4, A5 (A2, A3, A5, A6) and B1, B2, B4, B5 (B2, B3, B5, B6) monitor the web. One reference point is arranged in the middle section of the boom ( _reference A in Figure 6(a)), which is used to determine that the change in the monitoring results of the optical fiber sensor network at this time is due to cracks (micro cracks or damage caused by impact/impact) The growth of) is still the effect of structural changes.

Further, in a preferred embodiment, a plurality of optical fiber sensors of the optical fiber sensor network are connected in series and output the monitored light wave value through a unified interface, as shown in FIG. 7, A1, A2, A3, A6, A5, and A4 They are connected in series, and the light wave value monitored by each is output through a unified interface. That is, referring to Fig. 7, for a series optical fiber sensing network, only one interface outlet 105 is required, and one monitoring point is one data. The calculation of multiple monitoring points can obtain the crack propagation situation, so that the entire optical fiber sensor With 6 signals (A1-A6) or even more signals of the network, only one interface port can realize multi-sensor output. In the traditional scheme of using strain gauges to monitor cracks, each strain gauge needs to correspond to an interface, which is inconvenient to carry out a large number of signal monitoring. However, the embodiment of the present invention just uses a series optical fiber sensor network to solve this problem.

In addition, as in the first embodiment, the layout of the optical fiber sensor network also includes the number of optical fiber sensor networks and the number and location of optical fiber sensors deployed in each optical fiber sensor network, which can be determined according to specific requirements.

In the embodiment of the present invention, the monitoring mechanism 200 is configured to determine the health of the boom according to the light wave value monitored by the optical fiber sensor network 300, which may specifically include performing the following steps:

1) For each optical fiber sensor network, obtain the light wave values monitored by the multiple optical fiber sensors.

2) Determine the crack change factor according to the light wave value, wherein the light wave value corresponding to each optical fiber sensor has a first functional relationship with the crack change factor.

In A1, A2 and B1, B2 monitoring network for example, A1, A2, B1, B2, consisting of a monitoring network _parameters A, judged by the five reference points, the value may be determined lightwave crack length l of the monitoring points The relationship between them is expressed by K-1, where K is the crack change factor. The crack change factor K satisfies the following first functional relationship:

_{K = μf (ρ m, ρ} n, ρ f, ρ g, ρ _parameter) + b,

Among them, A1 fiber light wave value corresponds to ρ _m , A2 corresponds to ρ _n , B1 corresponds to ρ _f , B2 corresponds to ρ _g , μ and b are correction parameters, and ρ _parameter is the light wave value of the reference point.

3) Determine the crack length according to the crack change factor, wherein there is a second functional relationship between the crack change factor and the crack length.

In this example, a large number of experiments and finite element simulations show that the crack fracture factor K has a functional relationship with the crack length l, and the second functional relationship is satisfied at this time:

l=xf(K)+t,

Among them, x and t are correction parameters. Accordingly, when the fracture factor K is determined, the crack length l can be deduced inversely.

4) Calculate the damage value of the boom according to the length of the crack, wherein there is a third functional relationship between the length of the crack and the damage value of the boom.

The crack length l is determined by the change of the above-mentioned crack change factor K, and the damage value of the boom monitored by the optical fiber monitoring network is measured by the crack length l. Taking the upper cover of the boom as an example, the damage value a(t) of the boom and the crack length l satisfy the third function relationship:

a (t) = kf (l t (t), b, N u) + w

Wherein the cover width b, N _u is the boom operation time (life), l _{t (t)} is with the crack length, k and w changes over time (number of cycles) is a correction parameter.

5) Determine the health of the boom according to the damage value of the boom.

For example, to determine the relationship between a(t) and a _threshold , if it is greater than the threshold, it is determined that the boom is in an unhealthy state, stop working, and monitor and maintain it; if it is less, it is determined that the boom is in a healthy state , Can work normally.

6) Determine the remaining life of the boom according to the damage value of the boom, wherein there is a fourth functional relationship between the damage value of the boom and the remaining life of the boom.

For example, the remaining life N _{f of the} boom structure is related to the crack growth rate dl/dN. The specific value can be converted by the damage value. Assuming the design life is Nt, the following fourth functional relationship is satisfied:

Among them, D is the total damage value of the boom, which is selected between 0.4-1.

Further, according to the calculated remaining life, if the displayed remaining life is lower than the threshold value indicating that the boom is in a dangerous state, an alarm is issued and the inspection and maintenance of the boom are guided.

Combining the steps from 1) to 6), the specific monitoring process carried out by the monitoring organization 200 is as follows:

(1) Preliminary early warning determination and determination of monitoring time step: If the crack change factor is greater than the set threshold, judge whether the cause of the crack is consistent with the actual situation according to the corresponding light wave value; when the cause of the crack is consistent with the actual situation In the case of, the monitoring time step of the corresponding optical fiber sensor is determined according to the light wave value.

For example, monitor the light wave value of the reference point, determine its magnitude, and determine whether the cause of the crack is consistent with the actual situation according to the light wave value; if it does, continue the operation, if it does not, stop the operation.

Among them, judging whether the cause of the crack is consistent with the actual situation according to the corresponding light wave value includes: for each optical fiber sensor network, according to the light wave value monitored by each optical fiber sensor and the light wave of the optical fiber sensor corresponding to the reference point in the optical fiber sensor network According to the comparison result of the values, determine whether the cause of the crack is the growth of the crack length or the change of the structural force. Among them, the structural force change indicates that the crack change factor is increased due to the large external load, and the crack length growth indicates that a large damage may have occurred and the value of the crack change factor has increased. For example, according to the comparison result, the light wave value may be too small, and the possibility of its too small is related to the cause of the crack. The specific performance is: the cause of the crack is consistent with the actual situation (normal situation), the force on the boom is small; the cause of the crack is The actual situation does not match (the cause of the abnormality), the crack is too large, and the light wave propagation signal value is weak.

Further, regarding the determination of the monitoring time step, for example, after the preliminary warning is passed, if the reference point value is large, the boom will be stressed and the monitoring time step will be shorter; if the reference point value is small, the boom will be The force is small and the monitoring time step is longer. For a further example, if it is determined that the boom is under a large force, the original four-hour monitoring of the optical fiber sensor network is modified to two-hour monitoring to adapt to the actual situation. Based on this, the actual situation here can be understood as whether the large crack change factor is due to the large external load or the cause of large damage (crack length growth). If the latter is the case, it is regarded as the corresponding light wave. The value to determine the cause of the crack is consistent with the actual situation.

(2) Judgment process of the alarm diagnosis method: After the boom damage value is obtained, when the boom damage value is less than the set threshold, the next monitoring time step of the corresponding fiber optic sensor can be adjusted according to the boom damage value. long.

For example, if the damage value a(t) is large (for example, greater than the threshold), the boom stops working; the damage value a(t) is small, and the boom continues to work. According to the size of a(t), adjust the next monitoring time step. For example, _{compare a i} (t) with the previous a _i-1 (t). If the difference is large, compare the change value of the value with a specific parameter table on the monitoring duration. Calculate once every 2h instead of once every 1h of monitoring time.

(3) According to the result of step (2), adjust the monitoring time step of step (1), and then make the judgment of step (2), and proceed in a loop.

(4) After the equipment stops running and restarts or the attitude is adjusted, the preliminary early warning judgment needs to be restarted from step (1).

(5) Determine whether the structure is in a safe state: _{the relationship between a(t) and a threshold} , if it is greater than the threshold, stop working, monitor and maintain it; if it is less, then run step (1), and the boom works normally .

To sum up, the boom monitoring system of the embodiment of the present invention adopts an optical fiber sensor network. When the damage reaches a certain level, even after a small crack appears, the crack length and remaining life of the boom can be estimated more accurately, so as to detect the boom. And the maintenance cycle provides a quantitative plan.

Example four

Figure 8 is a schematic flow chart of a boom monitoring method according to the fourth embodiment of the present invention. The boom monitoring method is based on the same inventive idea as the boom monitoring system of the third embodiment, and can be applied to the boom monitoring of the third embodiment System monitoring agency. As shown in Figure 8, the boom monitoring method may include the following steps:

Step S810: Obtain light wave values monitored by multiple optical fiber sensors arranged at different monitoring points of the boom. Wherein, the multiple optical fiber sensors form an optical fiber sensor network.

Step S820: Determine a crack change factor according to the light wave value, wherein the light wave value corresponding to each optical fiber sensor has a first functional relationship with the crack change factor.

Step S830: Determine the crack length according to the crack change factor, wherein there is a second functional relationship between the crack change factor and the crack length.

Step S840: Calculate the damage value of the boom according to the length of the crack, wherein there is a third functional relationship between the length of the crack and the damage value of the boom.

Step S850: Determine the health of the boom according to the damage value of the boom.

In a preferred embodiment, the boom monitoring method further includes: when the crack change factor is greater than a set threshold, judging whether the cause of the crack is consistent with the actual situation according to the corresponding light wave value; and when the cause of the crack is consistent with the actual situation; In the case where the actual situation is consistent, the monitoring time step of the corresponding optical fiber sensor is determined according to the light wave value.

Preferably, the judging whether the cause of the crack is consistent with the actual situation according to the corresponding light wave value includes: for each optical fiber sensor network, according to the light wave value monitored by each optical fiber sensor and the optical fiber corresponding to the reference point in the optical fiber sensor network The comparison result of the light wave value of the sensor determines whether the cause of the crack is an increase in the length of the crack or a change in the force of the structure. If the length of the crack increases, it is determined that the cause of the crack is consistent with the actual situation.

In a preferred embodiment, the boom monitoring method further includes: when the boom damage value is less than a set threshold, adjusting the next monitoring time step corresponding to the optical fiber sensor according to the boom damage value. In a preferred embodiment, the boom monitoring method further includes: determining the remaining life of the boom according to the damage value of the boom, wherein there is a difference between the damage value of the boom and the remaining life of the boom The fourth functional relationship.

For other implementation details and effects of the fourth embodiment, reference may be made to the third embodiment of the present invention, which will not be repeated here.

Example five

The first embodiment and the third embodiment each use a piezoelectric sensor network and an optical fiber sensor network to monitor the health of the boom. Each has its own advantages. For example, the third embodiment uses an optical fiber sensor network to monitor crack growth. The accuracy is higher than that of the system using the piezoelectric sensor network in the first embodiment, and the on-line real-time monitoring of the system in the first embodiment is not good, and it is more suitable for regular monitoring. For another example, the system using the piezoelectric sensor network in the first embodiment is extremely sensitive to cracks, loose connections, and impact/fracture, that is, it is very sensitive to damage location, but it is difficult to accurately predict the length of the crack and the structure The remaining life, that is, the accuracy of its quantitative monitoring is slightly lower, and the system using the optical fiber sensor network in the third embodiment can just make up for this defect, so as to strengthen the diagnostic ability of the monitoring system.

In addition, the boom is subjected to vibration and shock for a long time during actual use, and the force form is extremely complicated. For different construction machinery, the position of the boom crack is slightly different. Some are concentrated in the head or tail of the boom and the boom, some are concentrated in the middle section of the boom, and even some parts are risk points. The form of monitoring requires different monitoring sensor network forms and monitoring methods. In addition, construction machinery equipment is generally a long boom with a length of several meters to more than ten meters, and it is basically difficult to realize the health status monitoring of the full boom.

Therefore, considering the respective advantages of the boom monitoring methods of the first and third embodiments above and the actual use of the boom, in order to further optimize the sensor network layout, improve the accuracy of damage location and estimation, and improve the monitoring For the security of the system and other purposes, the fifth embodiment of the present invention proposes a solution of simultaneously arranging an optical fiber sensor network and a piezoelectric sensor network on the boom, so as to provide more accurate guidance for real-time detection and maintenance of the boom. Fig. 9 is a schematic structural diagram of a boom monitoring system according to Embodiment 5 of the present invention. It can be seen that the boom monitoring system may include: a piezoelectric sensor network 100, including a plurality of piezoelectric sensors arranged at different monitoring points on the boom, and Each piezoelectric sensor is used to monitor the arm frame damage signal of the corresponding monitoring point; the optical fiber sensor network 300 includes a plurality of optical fiber sensors arranged at different monitoring points of the arm frame, and each optical fiber sensor is used to monitor the corresponding monitoring point Light wave value; and monitoring agency 200.

For the implementation details of the piezoelectric sensor network 100 and the optical fiber sensor network 300, please refer to the first embodiment and the third embodiment respectively, which will not be repeated here. However, the layout of the piezoelectric sensor network 100 and the optical fiber sensor network 300 can be considered comprehensively. For example, the piezoelectric sensor network of the box-type monitoring structure of Fig. 2(a) and Fig. 2(b) and Fig. 6( a) and Figure 6 (b) in series optical fiber sensor network, the piezoelectric sensor network can be arranged in the optical fiber sensor network, the obtained piezoelectric sensor network and optical fiber sensor network joint layout effect is shown in Figure 10 ( a) and Figure 10(b). In addition, according to the actual needs of monitoring, the joint deployment also needs to consider the respective numbers of the piezoelectric sensor network 100 and the optical fiber sensor network 300. For example, in a key monitoring area, a set of piezoelectric sensor networks can be arranged, and two A set of optical fiber sensing network, when the piezoelectric sensing network is used to accurately monitor the structure of a small crack, the optical fiber sensing network monitoring starts, and the piezoelectric and optical fiber network monitoring are combined to realize the accurate monitoring of the safety of the boom structure.

Further, the monitoring mechanism 200 is configured to perform the following operations: 1) Obtain the boom damage signal monitored by the piezoelectric sensor network during the boom work; 2) Determine the boom damage signal according to the boom damage signal The damage position of the boom and the corresponding damage value of the first boom.

Preferably, this step may include: calculating the first damage change characteristic value of the current boom damage signal on each monitoring path in the piezoelectric sensor network relative to the corresponding initial damage signal, wherein the initial damage signal is The damage signal measured by the piezoelectric sensor before the boom is working; in the case that the first damage change characteristic value is not zero, according to the first damage change characteristic value and the corresponding monitoring path parameter Determine the damage position of the boom; and calculate the second damage change characteristic value of the receiving sensor corresponding to the damage position relative to the trigger sensor, and use the second damage change characteristic value as the first boom damage value.

For the specific calculation process, please refer to the specific monitoring process performed by the monitoring agency in the first embodiment, which will not be repeated here.

3) When the damage value of the first boom reaches the preset starting value of the optical fiber sensor network, obtain the light wave value of each optical fiber sensor monitoring corresponding monitoring point.

For example, suppose the default activation value of the optical fiber sensing network is _astart , then it is determined whether the damage value of the first boom obtained by the piezoelectric sensing network reaches _astart , and if it reaches, the optical fiber sensing is activated. The internet.

4) Determine the boom crack signal including the crack change factor and the crack length according to the light wave value, and calculate the second boom damage value according to the boom crack signal.

With reference to the third embodiment, this step may specifically include: determining a crack change factor according to the light wave value, wherein the light wave value corresponding to each optical fiber sensor has a first functional relationship with the crack change factor; determining according to the crack change factor Crack length, wherein there is a second functional relationship between the crack variation factor and the crack length; and calculating the damage value of the second boom based on the crack length, wherein the crack length is the same as that of the second arm There is a third functional relationship between the frame damage values.

Preferably, after the damage value of the second boom is calculated, the remaining life of the boom can be determined according to the damage value of the second boom, wherein the damage value of the second boom is similar to the damage value of the boom. There is a fourth functional relationship between the remaining life.

More preferably, the monitoring mechanism 200 is further configured to: control the action of the boom according to the comparison result of the damage value of the second boom and a set safety threshold. For example, when the damage value of the second boom reaches the set safety threshold, the movement of the boom is stopped.

For the specific calculation process involving the above four functional relationships, reference may be made to the specific monitoring process performed by the monitoring agency in the third embodiment, which will not be repeated here.

For example, the combined monitoring system of piezoelectric sensing and optical fiber sensing in the fifth embodiment of the present invention first uses a piezoelectric monitoring system to determine whether the boom has been hit/impacted and whether the connecting mechanism is loose; for bolts loose, Through tightening treatment; the impact/impact part of the boom will be the focus of follow-up; as the boom continues to run, the boom will appear small defects and the damage will increase. When the defect/crack grows to 0.5-2mm, at this time a _start value of the damage as the optical fiber monitoring system activation signal, the piezoelectric subsequent joint monitoring optical fiber monitoring systems, fiber optic sensing system as the main monitoring system.

In addition, because fiber optic sensors and piezoelectric sensors have different monitoring principles, the advantages of various sensors can be used in one monitoring activity, so that multiple data of the boom structure can be monitored on the same terminal. The monitoring organization composed of the system conducts comprehensive diagnosis and damage assessment of monitoring targets. It should be noted that the network interface can be used to interconnect different sensors, and the sensors can also be remotely controlled to collect data to realize remote monitoring and improve monitoring efficiency. In the fifth embodiment of the present invention, different sensors are integrated into the system, and the formed boom monitoring system is functionally stronger than the monitoring system using a single sensor and is easy to expand.

Therefore, for the fifth embodiment, the scheme of combining piezoelectric sensing and optical fiber sensing to evaluate the damage of the boom has the following effects: the piezoelectric sensing network is extremely sensitive to damage and can accurately locate the damage; When the damage reaches a certain level, even after a small crack appears, it is necessary to accurately estimate the length of the crack and the remaining life of the structure. At this time, the advantage of the optical fiber sensor network becomes obvious. It can estimate the remaining life of the structure more accurately. The boom inspection and maintenance cycle provides a quantitative plan. Therefore, the boom monitoring solution of the fifth embodiment of the present invention takes advantage of the different advantages of optical fiber sensing monitoring and piezoelectric sensing monitoring, so that when fewer sensing elements are used, the monitoring efficiency is significantly improved, and the reliability is significantly improved. .

In summary, the boom monitoring system of the fifth embodiment of the present invention adopts piezoelectric sensing and optical fiber sensing combined monitoring technology, and uses the advantages of different monitoring technologies to monitor the boom structure, forming complementary advantages, and its monitoring efficiency is significantly improved. , Reliability is significantly improved.

Example Six

11 is a schematic flow chart of the boom monitoring method provided in the sixth embodiment of the present invention. The boom monitoring method is based on the same inventive idea as the boom monitoring system of the fifth embodiment, and can be applied to the boom monitoring system of the fifth embodiment Monitoring agency. As shown in Figure 11, the boom monitoring method may include the following steps:

Step S1110: Obtain the boom damage signal monitored during the operation of the boom by a piezoelectric sensor network formed by a plurality of piezoelectric sensors arranged at different monitoring points on the boom.

Step S1120: Determine the damage position of the boom and the corresponding first boom damage value according to the boom damage signal.

Preferably, this step S1120 may include: calculating the first damage change characteristic value of the current boom damage signal on each monitoring path in the piezoelectric sensor network with respect to the corresponding initial damage signal, wherein the initial damage signal Is the damage signal measured by the piezoelectric sensor before the boom is working; in the case that the first damage change characteristic value is not zero, according to the first damage change characteristic value and the corresponding monitoring path Parameters determine the damage position of the boom; and calculate the second damage change characteristic value of the receiving sensor corresponding to the damage position relative to the trigger sensor, and use the second damage change characteristic value as the first boom Damage value.

Step S1130, when the damage value of the first boom reaches the preset starting value of the optical fiber sensor network formed by multiple optical fiber sensors arranged at different monitoring points of the boom, obtain the monitoring points corresponding to each optical fiber sensor monitoring The light wave value.

In step S1140, a boom crack signal is determined according to the light wave value, and a second boom damage value is calculated according to the boom crack signal. Wherein, the boom crack signal includes a crack change factor and a crack length.

Preferably, this step S1140 may include: determining a crack change factor according to the light wave value, wherein the light wave value corresponding to each optical fiber sensor has a first functional relationship with the crack change factor; and determining the crack length according to the crack change factor , Wherein there is a second functional relationship between the crack change factor and the crack length; and according to the crack length, the second boom damage value is calculated, wherein the crack length and the second boom damage There is a third functional relationship between the values.

In a preferred embodiment, the boom monitoring method further includes: determining the remaining life of the boom according to the second boom damage value, wherein the second boom damage value is equal to the remaining life of the boom There is a fourth functional relationship between the lifetimes. In a preferred embodiment, the boom monitoring method further includes: controlling the action of the boom according to a comparison result of the damage value of the second boom and a set safety threshold.

In a preferred embodiment, the boom monitoring method further includes determining the arrangement of the piezoelectric sensor network and the optical fiber sensor network, including one or more of the following: 1) determining the pressure The respective numbers and deployment areas of the electrical sensor network and the optical fiber sensor network; 2) determining the layout of the piezoelectric sensor network, including making the piezoelectric sensor network form a box-shaped structure for the arm frame Monitoring structure; and 3) determining the layout of the optical fiber sensor network, including connecting multiple optical fiber sensors of the optical fiber sensor network in series and outputting the monitored light wave value through a unified interface.

For other implementation details and effects of the sixth embodiment, reference may be made to the fifth embodiment of the present invention, which will not be repeated here.

Other embodiments of the present invention also provide an engineering machine, which includes the boom monitoring system according to any one of the first embodiment, the third embodiment, and the fifth embodiment. Wherein, the construction machinery is, for example, a crane, an excavator, and the like.

Other embodiments of the present invention also provide a machine-readable storage medium having instructions stored on the machine-readable storage medium for causing a machine to execute the boom monitoring method described in any of the second, fourth, and sixth embodiments.

The above describes the optional implementation manners of the embodiments of the present invention in detail with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above-mentioned embodiments. The technical solution of the present invention undergoes a variety of simple modifications, and these simple modifications all fall within the protection scope of the embodiments of the present invention. In addition, it should be noted that the various specific technical features described in the foregoing specific embodiments can be combined in any suitable manner, provided that there is no contradiction. In order to avoid unnecessary repetition, various possible combinations are not further described in the embodiment of the present invention.

Those skilled in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be implemented by instructing relevant hardware through a program. The program is stored in a storage medium and includes several instructions to enable the single-chip microcomputer, chip, or processor. (processor) Execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage media include: U disk, sports hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes. .

In addition, various different implementations of the embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the idea of the embodiments of the present invention, they should also be regarded as the content disclosed in the embodiments of the present invention.

Claims (15)

1. A boom monitoring method, characterized in that the boom monitoring method includes:

   Acquiring light wave values monitored by multiple optical fiber sensors arranged at different monitoring points of the boom, wherein the multiple optical fiber sensors form an optical fiber sensing network;

   Determining the crack change factor according to the light wave value, wherein the light wave value corresponding to each optical fiber sensor has a first functional relationship with the crack change factor;

   Determining the crack length according to the crack variation factor, wherein there is a second functional relationship between the crack variation factor and the crack length;

   Calculate the damage value of the boom according to the length of the crack, wherein there is a third functional relationship between the length of the crack and the damage value of the boom; and

   The health of the boom is determined according to the damage value of the boom.
2. The boom monitoring method according to claim 1, wherein the boom monitoring method further comprises:

   When the crack change factor is greater than the set threshold, judge whether the cause of the crack is consistent with the actual situation according to the corresponding light wave value; and

   In the case that the cause of the crack is consistent with the actual situation, the monitoring time step of the corresponding optical fiber sensor is determined according to the light wave value.
3. The boom monitoring method according to claim 2, wherein the judging whether the cause of the crack is consistent with the actual situation according to the corresponding light wave value comprises:

   For each optical fiber sensor network, according to the comparison result of the light wave value of each optical fiber sensor monitored by each optical fiber sensor and the light wave value of the optical fiber sensor corresponding to the reference point in the optical fiber sensor network, determine whether the cause of the crack is an increase in the length of the crack or a change in the structural force If the length of the crack grows, it is determined that the cause of the crack is consistent with the actual situation.
4. The boom monitoring method according to claim 1, wherein the boom monitoring method further comprises:

   The remaining life of the boom is determined according to the damage value of the boom, wherein there is a fourth functional relationship between the damage value of the boom and the remaining life of the boom.
5. The boom monitoring method according to claim 1, wherein the boom monitoring method further comprises:

   Determining the layout of the optical fiber sensor network includes connecting a plurality of optical fiber sensors of the optical fiber sensor network in series and outputting the monitored light wave value through a unified interface.
6. The boom monitoring method according to claim 5, wherein the arrangement of the optical fiber sensor network is determined so that a plurality of optical fiber sensors of the optical fiber sensor network are connected in series and the monitored light wave value is output through a unified interface include:

   Designated structure for a boom including an upper cover plate, a lower cover plate, and two webs formed between the upper cover plate and the lower cover plate, relative to the reference point arranged in the middle section of the boom, at each At least one optical fiber sensor is arranged on a web near the junction of the web and the corresponding upper cover or lower cover; and

   Connect the fiber optic sensors on the same web in series and output the monitored light wave value through a unified interface.
7. A boom monitoring system, characterized in that the boom monitoring system includes:

   The optical fiber sensor network includes a plurality of optical fiber sensors arranged at different monitoring points of the boom, and each optical fiber sensor is used to monitor the light wave value generated by the corresponding monitoring point; and

   The monitoring agency is configured to perform the following operations:

   For each optical fiber sensor network, obtain the light wave value monitored by each of the multiple optical fiber sensors;

   Determining the crack change factor according to the light wave value, wherein the light wave value corresponding to each optical fiber sensor has a first functional relationship with the crack change factor;

   Determining the crack length according to the crack variation factor, wherein there is a second functional relationship between the crack variation factor and the crack length;

   Calculate the damage value of the boom according to the length of the crack, wherein there is a third functional relationship between the length of the crack and the damage value of the boom; and

   The health of the boom is determined according to the damage value of the boom.
8. The boom monitoring system according to claim 7, wherein the monitoring mechanism is further configured to perform the following operations:

   When the crack change factor is greater than the set threshold, judge whether the cause of the crack is consistent with the actual situation according to the corresponding light wave value; and

   In the case that the cause of the crack is consistent with the actual situation, the monitoring time step of the corresponding optical fiber sensor is determined according to the light wave value.
9. The boom monitoring system according to claim 8, wherein the judging whether the cause of the crack is consistent with the actual situation according to the corresponding light wave value comprises:

   For each optical fiber sensor network, according to the comparison result of the light wave value of each optical fiber sensor monitored by each optical fiber sensor and the light wave value of the optical fiber sensor corresponding to the reference point in the optical fiber sensor network, determine whether the cause of the crack is an increase in the length of the crack or a change in the structural force If the length of the crack grows, it is determined that the cause of the crack is consistent with the actual situation.
10. The boom monitoring system according to claim 7, wherein the monitoring mechanism is further configured to perform the following operations:

    The remaining life of the boom is determined according to the damage value of the boom, wherein there is a fourth functional relationship between the damage value of the boom and the remaining life of the boom.
11. 7. The boom monitoring system according to claim 7, wherein the optical fiber sensor network is built into a preset material adhered to the outer surface of the boom to be integrated with the boom.
12. The boom monitoring system according to claim 7, wherein the multiple optical fiber sensors of the optical fiber sensing network are connected in series and output the monitored light wave value through a unified interface.
13. The boom monitoring system according to claim 12, characterized in that it is specified for a boom including an upper cover plate, a lower cover plate, and two webs formed between the upper cover plate and the lower cover plate Structure, the optical fiber sensor network includes:

    Relative to the reference point arranged in the middle section of the boom, at least one optical fiber sensor is arranged on each web near the junction of the web and the corresponding upper cover or lower cover;

    Among them, the optical fiber sensors on the same web are connected in series and output the monitored light wave value through a unified interface.
14. An engineering machine, characterized in that it comprises the boom monitoring system according to any one of claims 7-13.
15. A machine-readable storage medium, characterized in that instructions are stored on the machine-readable storage medium, and the instructions are used to make a machine execute the boom monitoring method according to any one of claims 1-6.

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