WO2023005917A1 - Fault double-layer redundancy monitoring method, and fault double-layer redundancy early-warning method and system - Google Patents

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

Info

Publication number
WO2023005917A1
WO2023005917A1 PCT/CN2022/107891 CN2022107891W WO2023005917A1 WO 2023005917 A1 WO2023005917 A1 WO 2023005917A1 CN 2022107891 W CN2022107891 W CN 2022107891W WO 2023005917 A1 WO2023005917 A1 WO 2023005917A1
Authority
WO
WIPO (PCT)
Prior art keywords
layer
actual detection
detection value
sensor data
monitoring
Prior art date
Application number
PCT/CN2022/107891
Other languages
French (fr)
Chinese (zh)
Inventor
刘宏亮
付玲
尹莉
刘延斌
张玉柱
肖春良
Original Assignee
中联重科股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中联重科股份有限公司 filed Critical 中联重科股份有限公司
Priority to AU2022317506A priority Critical patent/AU2022317506A1/en
Publication of WO2023005917A1 publication Critical patent/WO2023005917A1/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00Safety gear
    • B66C15/06Arrangements or use of warning devices
    • B66C15/065Arrangements or use of warning devices electrical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/46Position indicators for suspended loads or for crane elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62Constructional features or details
    • B66C23/72Counterweights or supports for balancing lifting couples
    • B66C23/74Counterweights or supports for balancing lifting couples separate from jib
    • B66C23/76Counterweights or supports for balancing lifting couples separate from jib and movable to take account of variations of load or of variations of length of jib
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88Safety gear

Definitions

  • the 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, and an engineering machine and a computer readable storage medium.
  • the mobile counterweight In the hoisting operation, it is usually required that the mobile counterweight can be used in the air, and at the same time, the crane control system needs to adjust the position of the counterweight flexibly in time or preferably in real time according to the change of the hoisting weight or torque during the hoisting process, and match to obtain a suitable counterweight stroke, in order to keep the center of gravity of the crane at the center of the slewing support, provide a balance moment, and then maintain the stability of the hoisting system.
  • Safe and matched hoisting operations and counterweight movement control are based on accurate sensor data of the crane.
  • Conventional safety monitoring is usually carried out for fixed counterweights.
  • Equipment counterweights usually do not change during the hoisting operation, and the system safety margin basically does not change significantly and remains at a high level.
  • the purpose of the present invention is to provide a fault double-layer redundant monitoring method, early warning method and system, so as to avoid the failure of the sensor or sensor data of the lifting equipment or the abnormality that is difficult to be identified and found by the control system, resulting in the failure of the control of the maintenance of torque balance, and then Improve the monitoring safety reliability, control accuracy and operation stability of lifting equipment.
  • an embodiment of the present invention provides a fault double-layer redundancy monitoring method, the fault double-layer redundancy monitoring method includes:
  • the lifting device In the first layer of monitoring, it is determined whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, wherein the conversion relationship includes the correlation with the The geometric conversion relationship between the operation parameters corresponding to the actual detection value;
  • the lifting device In the second layer of monitoring, based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque, it is determined whether the lifting device is in the second fault condition, wherein , the lifting device is not in the first fault condition.
  • the lifting device has a super-lifting mechanism, and the sensor data of each operation parameter is obtained based on the sensor groups grouped according to the operation parameters on the lifting device, wherein,
  • the sensor groups are specifically grouped according to the key parameters of the same operation,
  • the key operating parameters include any one of the operating parameters about the attitude of the boom, the operating parameters about the stroke of the counterweight, and the operating parameters about the size of the hoisting load.
  • the sensor data of each operation parameter is obtained based on the sensor groups grouped correspondingly by operation parameters on the lifting equipment, including:
  • the operating parameters corresponding to the actual detection values related to the angle include the first elevation angle of the main arm of the lifting device, the second elevation angle of the super-lifting mast of the super-lifting mechanism, and the relationship between the main arm and the super-lifting mast. angle.
  • the lifting device also has a mobile counterweight adjustment mechanism, and the sensor data of each operating parameter is obtained based on the sensor groups correspondingly grouped according to the operating parameters on the lifting device, and further includes:
  • the operating parameters corresponding to the actual detection values related to stroke include the third elevation angle of the counterweight support arm of the mobile counterweight adjustment mechanism and the real-time stroke of the counterweight measured for the mobile counterweight adjustment mechanism.
  • the sensor data of each operation parameter is obtained based on the sensor group correspondingly grouped according to the operation parameters on the lifting equipment, and also includes:
  • the operating parameters corresponding to the actual detection values related to the active force include the measured tension at the head of the main boom, the first measured pressure at the root of the main boom and the bottom of the rear strut of the superlift mast. Second measure pressure.
  • determining whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship includes:
  • the conversion relationship includes a geometric conversion relationship between the operation parameter corresponding to the first actual detection value and the operation parameter corresponding to the second actual detection value;
  • 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 numerical range corresponding to the specified angle.
  • determining whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship includes:
  • the configured conversion relationship it is judged whether the sum of the actual detected values corresponding to the three is the specified angle, or whether it belongs to the specified numerical range corresponding to the specified angle.
  • the method of obtaining the specified numerical range includes:
  • the first numerical 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.
  • the configured conversion relationship includes that the absolute value of the difference between the converted stroke of the counterweight obtained through the calculation of the third elevation angle and the real-time stroke of the counterweight belongs to a specified value range.
  • determining whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship includes:
  • the configured conversion relationship it is judged whether the absolute value of the difference between the actual detected value corresponding to the real-time stroke of the counterweight and the converted detected value belongs to the specified numerical range.
  • the configured conversion relationship includes that the absolute value of the difference between the first hoisting weight and the second hoisting weight belongs to the specified value range,
  • the first suspended load weight is obtained by converting the measured pulling force through a first trigonometric function relationship
  • the second suspended load weight is obtained by converting the first measured pressure through a second trigonometric function relationship.
  • determining whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship includes:
  • the configured conversion relationship it is judged whether the absolute value of the difference between the converted detection values corresponding to the first suspended load weight and the second suspended load weight belongs to the specified numerical range.
  • the failure double-layer redundancy monitoring method also includes:
  • the size level matching relationship is the matching relationship between the size level of the third hoisting weight and the size level of the first hoisting weight, or the matching relationship between the size level of the third hoisting weight and the second hoisting weight Matching relation of size class,
  • the magnitude level of the third suspended load is obtained through the second measured pressure, and the lifting device is not in the first fault condition;
  • determining whether the lifting device is in the second fault condition based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque includes:
  • the moment at the hoisting end is obtained by calculating the actual detection value related to the angle and the actual detection value related to the force,
  • the torque at the counterweight end is obtained by calculating the actual detection value related to the stroke
  • An embodiment of the present invention provides a double-layer redundancy early warning method for failure
  • the double-layer redundancy early-warning method for failure includes the aforementioned double-layer redundancy monitoring method for failure
  • the double-layer redundancy early warning method for failure further includes:
  • An embodiment of the present invention provides a fault double-layer redundant early warning system, which includes:
  • the obtaining module is used to obtain the sensor data of each operation parameter based on the sensor groups correspondingly grouped according to the operation parameters on the lifting equipment;
  • the first-level monitoring module is used to determine whether the lifting equipment is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship during the first-level monitoring, wherein the The conversion relationship includes a geometric conversion relationship between the operation parameters corresponding to the relevant actual detection value;
  • the second-level monitoring module is used to determine whether the lifting device is based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque during the second-level monitoring. In a second fault condition, wherein the lifting device is not in the first fault condition.
  • the fault double-layer redundant early warning system also includes:
  • an early warning module configured to determine that the lifting device is in any fault condition
  • an embodiment of the present invention provides an electronic device, and the electronic device includes:
  • a memory coupled to the at least one processor
  • the memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the instructions stored in the memory, and the at least one processor implements the aforementioned instructions by executing the instructions stored in the memory.
  • an embodiment of the present invention provides a construction machine, the construction machine having the aforementioned electronic device.
  • an embodiment of the present invention provides a computer-readable storage medium storing computer instructions, and when the computer instructions are run on a computer, the computer is made to execute the foregoing method.
  • the present invention establishes the correlation between the monitoring modules of each parameter in the control system corresponding to the sensor based on whether the relevant actual detection value is expressed as the geometric mapping feature between the corresponding operating parameters, forming the first layer of monitoring, which can monitor The first fault condition caused by components or sensor data, etc., avoids various safety control failures caused by the use of abnormal data in the system; on the basis of the first layer of monitoring, it has been determined that there is no first fault condition, and the second In the layer monitoring process, the actual detection value is used to judge the torque balance relationship, which can avoid the second fault condition of overturning risk caused by structural abnormalities, counterweight or hoisting control abnormalities, etc., and realize multi-sensor
  • the network-based redundant monitoring means and system products with interactive correlation of detection points can timely and reliably determine faults and fault warnings, and then assist in the accurate and efficient execution of hoisting operations, and improve the safety margin after faults of detection components, monitoring networks or systems, Try to avoid overturning accidents.
  • the present invention specifically constructs the correlation between the operating parameters involved in the attitude of the boom and the actual detection value, and performs associated monitoring on the angle sensor on the main arm and the super-lifting mast, and can be based on whether the actual detection value related to the angle is expressed as the corresponding operation parameter
  • the geometric mapping characteristics between them such as the sum of specified angles such as 180 degrees, realize the identification of whether there is a fault in the attitude monitoring of the boom and at the same time effectively realize the control of the hoisting operation of the lifting equipment and/or the movement of the counterweight.
  • the present invention specifically constructs the correlation between the operating parameters involved in the counterweight stroke and the actual detection value, and performs correlation monitoring on the angle sensor of the counterweight adjustment mechanism and the sensor for displacement measurement, and can be based on the actual detection value related to the displacement and angle Whether it shows the geometric mapping characteristics between the corresponding operation parameters, such as whether the displacement converted by angle is approximately equal to the detected displacement, realizes the identification of whether there is a fault in the counterweight movement monitoring of the counterweight adjustment mechanism and effectively realizes the hoisting operation of the lifting equipment at the same time and/or control of counterweight movement.
  • the present invention specifically constructs the correlation between the operating parameters involved in the size of the hoisting load (the moment of the hoisting end and/or the size of the hoisting weight) and the actual detection value.
  • the pressure sensor at the root of the main boom carries out associated monitoring, such as whether the hoisting size converted from tension is approximately equal to the hoisting size converted from pressure, so as to realize the identification of whether there is a fault in the monitoring of the hoisting size on the main arm and at the same time effectively realize the hoisting of the lifting equipment
  • the control of operation and/or counterweight movement further, the present invention also carries out correlation monitoring with the tension sensor and the pressure sensor on the main arm of the rear strut bottom pressure sensor of super-lifting mast, such as the pressure level on the rear strut and the main arm Whether the tension level or pressure level on the arm matches, further realizes the identification of whether there is a fault in the monitoring of the size of the hoisting load, and at the same time effectively realizes the control of the hoisting operation of the
  • the present invention specifically builds the correlation between the operating parameters involved in the balance torque and the actual detection value, and the sensor (such as a tension sensor, a pressure sensor, an angle sensor and/or a displacement measurement operation) that uses the center of rotation as a reference point to calculate the parameters of the detection torque Sensors, etc.) for associated monitoring, such as whether the calculated moment of the hoisting end and the moment of the counterweight end are approximately equal, realize the identification of whether there is a fault in the moment monitoring based on the center of rotation, and at the same time effectively realize the hoisting operation of the lifting equipment and/or Control of counterweight movement.
  • the sensor such as a tension sensor, a pressure sensor, an angle sensor and/or a displacement measurement operation
  • Fig. 1 is a schematic diagram of main method steps of an embodiment of the present invention
  • Fig. 2 is a schematic diagram of the corresponding relationship between exemplary operation key parameters and sensors according to an embodiment of the present invention
  • Fig. 3 is a mechanical exploded schematic view of the main arm head of an exemplary lifting 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 schematic diagram of a monitoring process under an exemplary monitoring network architecture according to an embodiment of the present invention.
  • Fig. 6 is a schematic diagram showing the positions of various structures of the crane with respect to the crawler car body according to an exemplary embodiment of the present invention
  • Fig. 7 is a schematic diagram of the installation positions of some sensors on the partially enlarged structure of the crane in Fig. 6 according to the embodiment of the present invention.
  • Fig. 8 is a schematic diagram of the installation positions of some sensors on the partially enlarged structure of the crane in Fig. 6 according to the embodiment of the present invention.
  • Fig. 9 is a schematic diagram of the installation positions of some sensors on the partially enlarged structure of the crane in Fig. 6 according to the embodiment of the present invention.
  • An embodiment of the present invention provides a fault double-layer redundancy monitoring method, as shown in Figure 1, the fault double-layer redundancy monitoring method may include:
  • the lifting device In the first layer of monitoring, it is determined whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, wherein the conversion relationship includes the correlation with the The geometric conversion relationship between the operation parameters corresponding to the actual detection value;
  • the lifting device In the second layer of monitoring, based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque, it is determined whether the lifting device is in the second fault condition, wherein , the lifting device is not in the first fault condition.
  • the lifting equipment may include a crane
  • the crane may include a truck crane, an all-terrain crane, a crawler crane, etc.
  • the lifting equipment may be equipped with a plurality of sensors, and these sensors may be grouped, and the key parameters of the operation may be Grouping means that the key parameters of the same operation are monitored by multiple sensors at the same time.
  • the key parameters of the operation can include the operation parameters about the attitude of the boom, the operation parameters about the stroke of the counterweight and the operation parameters about the size of the hoisting load.
  • the operating parameters can be parameters directly measured by sensors during the hoisting operation.
  • the lifting equipment can have a control system that can determine the actual detection values of each operating parameter measured by the sensor.
  • the operating parameters can include the jib of the lifting equipment.
  • the elevation angle of each arm or bar, the measurement pressure on the boom, the measurement tension and the counterweight stroke, etc., the actual detection value of each operation parameter can be used as sensor data; according to the sensor layout position on the lifting equipment, the structural characteristics of the lifting equipment and Safety operation requirements, etc., can determine the geometric conversion relationship between some operation parameters.
  • the first-level monitoring process it may be based on whether the relevant actual detection values corresponding to the operation parameters with geometric conversion relationships satisfy the conversion relationship. For the judgment of whether the actual detection value satisfies the conversion relationship, it can be determined that the return of the judgment is yes, that is, the conversion relationship is satisfied, and it can also be determined that the lifting device is in the working condition with normal monitoring function, that is, it is not in the first fault condition; Or it can be determined that the return of the judgment is no, that is, the conversion relationship is not satisfied.
  • the lifting equipment is in the first fault condition, so that the judgment can be realized by combining the actual detection value with correlation in the sensor data with the conversion relationship of the operation parameters
  • the operation acts as a fault monitor.
  • the first fault condition can be realized through a state flag monitored by the first layer, and the state flag can be configured to correspond to some default faults, or can be finally determined according to the troubleshooting results specific faults, or may be caused by multiple faults, or may be designated as indeterminate faults to be investigated.
  • the first fault condition may include a sensor failure condition, an abnormal condition of a monitoring function with inaccurate sensor data, an abnormal condition caused by a sudden change in the working environment, and/or an abnormal condition of the equipment structure, etc., so as to realize a specific type of Early warning and troubleshooting operations.
  • the relevant actual detection value may include a first actual detection value and a second actual detection value, wherein the first actual detection value and the second actual detection value may both be an actual detection value, and the first actual detection value and/or Or the second actual detection value may also be a plurality of actual detection values, and there is at least a geometric conversion relationship between the operation parameter corresponding to the first actual detection value and the operation parameter corresponding to the second actual detection value.
  • determining whether the lifting device is in the first fault condition may specifically include: determining that the first actual detection value in the sensor data is configured The conversion detection value obtained by the conversion relationship, and judge whether the conversion detection value is the same as the second actual detection value in the sensor data, or judge whether the conversion detection value belongs to the specified numerical range corresponding to the second actual detection value.
  • the conversion relationship can also include the addition or subtraction of the first actual detection value or the second actual detection value on both sides of the specific equation or inequality, as well as the appropriate transformation using other values, which can be adapted to the specific program judgment method and design requirements; in addition, since the actual detection value measured by the sensor can correspond to vector operating parameters, such as these operating parameters can be physical quantities with directions such as displacement, force and moment, the conversion relationship can also include vector conversion relationships and/or Structural mechanics conversion relationship, etc. In some actual data processing, the vector conversion relationship and/or the structural mechanics conversion relationship can be regarded as or processed as a geometric conversion relationship; It is configured that performing the aforementioned determination based on the actual detection value may be performed cyclically.
  • the second-level monitoring process on the basis of the first-level monitoring, it can be determined that the lifting equipment is not in the first fault condition, and it can be specifically judged whether the absolute value of the difference between the moment at the hoisting end and the moment at the counterweight end is belongs to the specified numerical range corresponding to the moment balance state of the lifting equipment, so as to determine that the lifting equipment is in the second fault condition; it needs to be added that in some embodiments, the second fault condition can pass through the second layer A status identification implementation of monitoring, which can be different from the status identification of the first-level monitoring, and similarly, can be configured to correspond to some default faults, or specific faults that can be finally determined according to the troubleshooting results, or can be configured by Multiple faults cause or can be designated as indeterminate faults to be investigated.
  • the second fault condition may include abnormal condition of counterweight control or hoisting control, irregular operation condition, abnormal condition of control function, abnormal condition caused by sudden change of working environment and/or abnormal condition of equipment structure etc. to facilitate specific types of early warning and troubleshooting operations.
  • the embodiments of the present invention carry out associated monitoring of lifting equipment for key monitoring parameters (or key operating parameters) such as boom attitude, counterweight stroke, and hoisting size.
  • key monitoring parameters or key operating parameters
  • a multi-layer monitoring network can be formed.
  • the lifting device can have a super-lift mechanism, which can Angle sensors (angle sensors that monitor the angle, or any detection element used for inclination measurement, such as rotation angle sensors, encoders, that can change the angular displacement , line displacement is converted into an electrical signal), to obtain sensor data about the operating parameters of the boom attitude, the sensor data can include the actual detection value related to the angle, and the operating parameters about the attitude of the boom corresponding to the actual detection value related to the angle It may include the first elevation angle ⁇ 1 of the main arm of the lifting device, the second elevation angle ⁇ 2 of the super-lifting mast of the super-lifting mechanism, and the angle ⁇ 3 between the main arm and the super-lifting mast.
  • Angle sensors angle sensors that monitor the angle, or any detection element used for inclination measurement, such as rotation angle sensors, encoders, that can change the angular displacement , line displacement is converted into an electrical signal
  • the sensor data can include the actual detection value related to the angle
  • the actual detection values of the first elevation angle obtained by the root and head of the main boom and the actual detection values of the second elevation angle obtained by comparing the head and root of the super-lifting mast.
  • the difference of the detection value does not exceed the specified numerical range (at this time, it can be no more than the specified angle threshold, such as but not limited to, no more than 1°, etc.), then the actual first elevation angle obtained by the root and head of the main arm can be obtained respectively
  • the average of the detection values or any one is used as the actual detection value of the first elevation angle ⁇ 1 of the main arm, and similarly, the actual detection value of the second elevation angle ⁇ 2 of the mast can also be obtained.
  • the conversion relationship can be that the sum of the first elevation angle, the second elevation angle and the included angle is 180 degrees (°), written as:
  • the actual detection value corresponding to one of the three operating parameters can be the first actual detection value, and the actual detection value corresponding to the other two can be the second actual detection value, and the three and For judging, the difference between 180 degrees and the first actual detection value can also be used as the second actual detection value for judgment.
  • the sensor error ⁇ of the arranged angle sensor can be determined, and the error ⁇ can include the average error, weighted average error, etc. of each angle sensor, and the formula (1) can be further written as:
  • the error amount ⁇ can also be initialized to a specified value, and adjusted and determined in combination with the performance of the actual lifting equipment, which can be written as:
  • the adjusted error amount may include error amount ⁇ 1 and error amount ⁇ 2 , and the absolute values of the two error amounts may not be equal.
  • the monitoring of the attitude of the boom can form the current first layer of monitoring (network or system function layer), and the first layer of monitoring network can include a double-layer monitoring sub-network (or system sub-function layer),
  • a double-layer monitoring subnetwork should be understood as a monitoring subnetwork with at least two layers, and the term double-layer anywhere in the embodiment of the present invention can be a specific definition of at least two layers. In the embodiment of the present invention can be understood accordingly.
  • the first layer monitoring network In the first layer monitoring network,
  • the first layer of monitoring sub-network can be a monitoring sub-network that compares whether the actual detection values of multiple sensors for the same operation parameter are too different, such as whether the actual detection values obtained at the positions of the elevation angles or included angles are too large , the actual detection value obtained at each sensor position exceeds the specified angle threshold, which can be regarded as too large difference;
  • the second layer of monitoring sub-network can be that the sum of the actual detection values corresponding to the first elevation angle ⁇ 1 , the second elevation angle ⁇ 2 and the included angle ⁇ 3 among the actual detection values related to the aforementioned judgment belongs to the specified value range ([180°- ⁇ , 180°+ ⁇ ] or [180°- ⁇ 1 , 180°+ ⁇ 2 ]) (that is, whether the conversion relationship of the configuration is satisfied); the conversion relationship at this time can be regarded as including the geometric conversion of the actual detection value of the operation parameters and The formula is deformed.
  • the first-layer monitoring sub-network in the first-layer monitoring network does not find that the difference of the actual detection value exceeds the specified angle threshold, it can temporarily regard each actual detection value as available and accurate, and then, in the first-layer monitoring network If the judgment returned by the second-layer monitoring subnetwork of the second layer belongs to the specified value range (that is, the conversion relationship of the configuration is met, the return is yes), it can be considered that the sensor data is normal, the monitoring function of the lifting equipment is normal, and it is determined that the lifting equipment is not abnormal. In the first fault condition; if the first-layer monitoring sub-network comparison does not show that the difference of the actual detection value exceeds the specified angle threshold, the actual detection value can be temporarily regarded as available and accurate.
  • the second-layer monitoring sub-network is returned as exceeding the specified value range (that is, the configured conversion relationship is not satisfied, the return is no), it can be considered that there are errors in the data due to faults such as sensors or equipment structures, and the hoisting operation needs to be stopped , and carry out troubleshooting to determine that the lifting equipment is in the first fault condition; if the first-level monitoring sub-network comparison does not show that the difference in the actual detection value exceeds the specified angle threshold, it can be regarded as an equipment failure or hoisting operation If it does not meet the safety operation requirements, etc., it is determined that the lifting equipment is in the first fault condition, and the hoisting operation needs to be stopped and the investigation should be carried out. In some cases, it can also be further combined with the second monitoring layer returning No, it can be determined that there is an abnormality in the monitoring function of the lifting equipment or other abnormalities caused by equipment and irregular operations.
  • the lifting device may have a mobile counterweight adjustment mechanism, and the counterweight adjustment mechanism may have a counterweight support arm and a counterweight adjustment mechanism,
  • the counterweight can be suspended by the counterweight support arm, and the counterweight adjustment mechanism can have an oil cylinder, which can be driven by the control system to push the counterweight. Push (away) or draw in (closer), the counterweight stroke can be monitored in real time through the length sensor or displacement sensor arranged at the counterweight base on the counterweight adjustment mechanism, or the counterweight stroke can be estimated from the cylinder stroke for real-time monitoring.
  • the root of the counterweight support arm can be arranged with an angle sensor, the third elevation angle of the counterweight support arm (such as the angle between the counterweight support arm and the projection on the displacement direction of the counterweight) and the counterweight adjustment mechanism measured
  • the real-time stroke of the heavy weight can be used as an operation parameter about the stroke of the counterweight, and the sensor data obtained at this time include the actual detection value related to the stroke, and the real-time stroke and the third elevation angle of the counterweight respectively corresponding to the actual detection value related to the stroke, wherein,
  • the stroke can be regarded as the moving distance or displacement of the counterweight from the position before adjustment to the adjusted position, rather than the maximum moving distance or displacement, which can be understood in the embodiments of the present invention.
  • a length sensor, a displacement sensor (for example, it can be installed near the length sensor) and a plurality of sensors for the cylinder stroke can be used to monitor the real-time travel of the counterweight, and a plurality of angle sensors can also be used to monitor the third elevation angle. Comparing whether the difference of the multiple actual detection values of the real-time stroke of the counterweight exceeds the specified numerical range and comparing the difference of the multiple actual detection values of the third elevation angle exceeds the specified numerical range.
  • the comparison shows that the differences of the actual detection values do not exceed the specified numerical range, then the average of the actual detection values of the real-time stroke of the counterweight or any one of multiple actual detection values can be used as the actual detection value of the real-time stroke of the counterweight, Similarly, the actual detection value of the third elevation angle can also be obtained.
  • the real-time stroke of the counterweight can be L 1 and the third elevation angle is ⁇
  • ⁇ 1 is a very small number, based on the error of the sensor used, specify the specific value of ⁇ 1 and adjust the size adaptively according to the performance in actual use, [0, ⁇ 1 ] can be used as the current specified value
  • the conversion relationship can be regarded as including not only the geometric conversion of the actual detection value of the operation parameter, but also the comparison of the difference between the converted detection value and the actual detection value of the operation parameter.
  • the monitoring of the counterweight stroke can form the current first-level monitoring network.
  • the first-level monitoring network In the first-level monitoring network,
  • the first layer of monitoring sub-network can be a monitoring sub-network that compares whether the actual detection values of multiple sensors for the same operation parameter are too different.
  • the specified value range can be the specified travel threshold at this time,
  • the second layer of monitoring sub-network can be to determine whether the actual detection value corresponding to the third elevation angle ⁇ in the relevant actual detection value is obtained after conversion and corresponds to the conversion detection value corresponding to the counterweight conversion stroke L2, whether it is consistent with the real - time stroke of the counterweight
  • the actual detection value corresponding to L 1 is approximately equal.
  • the actual detection value can be temporarily considered to be available and accurate. . Then, if the judgment of the second-level monitoring sub-network in the first-level monitoring network returns that the difference between the absolute value of the counterweight real-time stroke L 1 and the counterweight conversion stroke L 2 does not belong to the specified range of values (that is, not approximately equal, not satisfy the conversion relationship of the configuration), it can be considered that there are errors in the data due to faults such as sensors or equipment structures, and it is determined that the lifting equipment is in the first fault condition, and the hoisting operation needs to be stopped and troubleshooting is carried out. In other cases, you can continue to refer to the monitoring of the attitude of the boom to determine the combination of the results returned by each monitoring layer and the corresponding equipment operations, and will not repeat them here.
  • the hoisting weight is taken as an example.
  • the hoisting equipment can be The pull plate of the main arm of the main arm is placed close to the position of the arm head of the main arm, and the hoisting weight can be obtained by calculating the measured tension of the force sensor.
  • a pressure sensor can be arranged at the root of the main arm of the lifting equipment, through which the pressure sensor The first measured pressure can also be calculated to obtain the weight of the hoisted load, the operating parameters about the size of the hoisted load can include the measured tension and the first measured pressure, and the sensor data can include actual detection values related to the active force.
  • a plurality of sensors may be used to respectively obtain actual detection values of the measured tension and the first measured pressure.
  • a plurality of actual detected values of the measured tension and a plurality of actual detected values of the first measured pressure are compared. If the difference of the actual detection values obtained by comparison does not exceed the specified numerical range, then the actual detection value mean value of the measured tension or any one of a plurality of actual detection values can be used as the actual detection value of the measurement tension, and in the same way, also The actual detected value of the first measured pressure can be obtained.
  • the hoisting weight G can be mechanically decomposed, and the two component forces are the measured tension G la and the first measured pressure G ya , and the conversion angle ⁇ is obtained by
  • the elevation angle of the main boom (such as the aforementioned first elevation angle ⁇ 1 ) is calculated, and the conversion angle ⁇ can be based on the length of the main boom, the length of the super-lift mast and the angle between the main boom and the super-lift mast (such as the aforementioned included angle ⁇ 3 ) combined with the cosine theorem or suitable trigonometric functions can be written as:
  • the two conversion parameters of the hoisting weight G are the first hoisting weight G
  • x la and the second hoisting weight G
  • x ya , and the trigonometric function relation or force
  • the conversion coefficient is not a limiting implementation, and it can be implemented based on mechanical decomposition methods, sensor layout positions, etc., and can be written as:
  • Tr x0 means the force conversion coefficient or trigonometric function relationship of the hoisting weight component G x0 ; based on measurement The actual detected values of the tension and the first measured pressure are combined with the calculated angles ⁇ and ⁇ to respectively determine the conversion detected values of the first suspended load G
  • x la and the second suspended load G
  • x ya , and then it can be judged Whether the conversion detection value of the first hoisting weight G
  • x la and the second hoisting weight G
  • x ya belongs to the specified value range ⁇ 2 (that is, whether it is approximately equal), can be written as:
  • ⁇ 2 is a very small number, based on the error of the sensor used, specify the specific value of ⁇ 2 and adjust the size adaptively according to the performance in actual use, [0, ⁇ 2 ] can be used as the current specified value
  • the conversion relationship at this time can be regarded as including not only the mechanical conversion or geometric conversion of the actual detection value of the operation parameter, but also the difference comparison of multiple conversion detection values of the same target operation parameter.
  • the monitoring of the size of the hoisting load can form the current first-level monitoring network.
  • the first-level monitoring network In the first-level monitoring network,
  • the first layer of monitoring sub-network can be a monitoring sub-network that compares whether the actual detection values of multiple sensors for the same operation parameter are too different, such as whether the difference of multiple detection values of the measured tension or the first measured pressure exceeds the specified value range , the specified value range can be the force threshold at this time,
  • the second layer of monitoring sub-network can be to determine whether the converted detection values obtained after conversion of the actual detection values corresponding to the measured tension and the first measured pressure among the relevant actual detection values are approximately equal;
  • the comparison of the first-layer monitoring sub-network in the first-layer monitoring network fails to obtain that the actual detected values of the measured tension and the first measured pressure exceed the specified force threshold, the actual detected values may be considered temporarily available and accurate. Then, if the second-layer monitoring sub-network in the first-layer monitoring network judges that the difference between the absolute value of the first hanging weight G
  • x la and the second hanging weight G
  • x ya does not belong to the specified value range (That is, not approximately equal, not satisfying the conversion relationship of the configuration), it can be considered that there are errors in the data caused by faults such as sensors or equipment structures, and it is determined that the lifting equipment is in the first fault condition, and the hoisting operation needs to be stopped and troubleshooting should be carried out . In other cases, you can continue to refer to the monitoring of the attitude of the boom to determine the combination of the results returned by each monitoring layer and the corresponding equipment operations, and will not repeat them here.
  • the size of the hoisting load is a very important parameter in the hoisting operation of the lifting equipment.
  • a pressure sensor can also be arranged at the bottom of the rear strut of the super-lifting mast.
  • the second measurement pressure can be determined through the pressure sensor, which can be based on
  • the second measurement pressure forms an intermediate-layer monitoring network, which may be a monitoring network between the first-layer monitoring network and the second-layer monitoring network. Therefore, embodiments of the present invention further provide a three-layer monitoring network.
  • At least three of the third hoisting weight (which can be regarded as a conversion parameter of the hoisting weight G) can be determined based on at least two pressure reference values.
  • Size grades such as the second measurement pressure F p , pressure reference values F 1 and F 2 (F p ⁇ F 1 , F 1 ⁇ F p ⁇ F 2 , F 2 ⁇ F p respectively correspond to the size of the third hoisting weight The grades are small, medium and large), the current size grade of the third hoisting weight can be determined based on the actual detection value of the second measurement pressure, the hoisting weight G can be regarded as (the converted detection value corresponding to the hoisting weight G Any one of the first suspended load weight G
  • x la and the second suspended load weight G
  • x ya after being determined to be approximately equal can also be based on at least two weight reference values, such as weight reference values G 1 and G 2 ( G ⁇ G 1 , G 1 ⁇ G ⁇ G 2
  • the third hoisting weight as G p
  • the large, medium, and small grades as 1, 0, and -1 respectively.
  • Integer) size grade S ⁇ s i ⁇
  • the size grade V ⁇ v i ⁇ of the third hoisting weight G p at each hoisting operation moment i
  • the matching relationship corresponding to the steady state of the lifting device can be written as :
  • Table 1 Theoretical size and grade matching relationship table
  • the column vector can be used To judge whether the element sum is 0, write as:
  • the aforementioned intermediate layer monitoring network may also have a two-layer monitoring sub-network.
  • the middle layer monitors the network
  • the first layer of monitoring sub-network can be a monitoring sub-network that compares whether the actual detection values of multiple sensors for the same operation parameter are too different, such as multiple actual detection values of the second measurement pressure that can be obtained through multiple pressure sensors Whether the difference exceeds the specified numerical range;
  • the second layer of monitoring sub-network can be to determine the size level of the third hoisting weight G p obtained by converting the actual detection value corresponding to the second measurement pressure F p in the relevant actual detection values, and the size level of the hoisting weight G Size and grade matching relationship, whether it is the matching relationship corresponding to the steady state of the lifting equipment, such as through the column vector element and actual whether 0 is implemented.
  • the middle layer monitoring network can be used to judge the first layer of monitoring network, and the follow-up can be carried out after the middle layer monitoring network judges that the lifting equipment is not in the third fault condition The judgment of the second layer monitoring network.
  • the actual detected value can be temporarily regarded as available and accurate. Then, if the second-level monitoring sub-network in the middle-level monitoring network can judge the size grade of the third hoisting weight Gp converted from the actual detection value corresponding to the second measurement pressure Fp among the relevant actual detection values, and If the matching relationship of the size and level of the hoisting weight G is not the matching relationship corresponding to the steady state of the hoisting equipment, it is determined that the hoisting equipment is in the third fault condition, and the hoisting operation needs to be stopped and checked.
  • the third fault condition can be realized by a state identification of the middle layer monitoring, which can be different from the state identification of the first layer monitoring and the second layer monitoring, and similarly, can be configured as Corresponding to some default faults, or specific faults that can be finally determined according to the troubleshooting results, or can be caused by multiple faults, or can be designated as indeterminate faults to be checked.
  • the third fault condition may include abnormal condition of hoisting balance, abnormal condition of operation, abnormal condition of control function, abnormal condition caused by sudden change of working environment and/or abnormal condition of equipment structure, etc., so as to facilitate Implement specific types of early warning and troubleshooting actions.
  • the first-level monitoring network can at least have any one of the aforementioned boom attitude monitoring, counterweight stroke monitoring, and hoisting load size monitoring
  • any first-tier monitoring sub-network in the first-tier monitoring network can be selected according to actual needs
  • the second-tier monitoring sub-network in the first-tier monitoring network can be used as the main part of the first-tier monitoring network
  • the first-layer monitoring sub-network in the middle-layer monitoring network can also be selected according to actual needs
  • the second-layer monitoring sub-network in the middle-layer monitoring network can also be used as the main part of the middle-layer monitoring network.
  • the actual detection values of some operating parameters in the monitoring of the jib attitude have been used in association.
  • the aforementioned monitoring of the jib attitude, counterweight travel
  • the actual detection value of each operating parameter in the monitoring of the monitoring and the monitoring of the size of the hoisting load is correlated, and the actual detection value of each operating parameter can be correlated.
  • the torque balance of the operating parameters at the hoisting end and the counterweight end can be judged to realize the target in the second-layer monitoring network.
  • the monitoring of the actual detection value corresponding to the torque is
  • the moment at the hoisting end and the moment at the counterweight end are calculated to determine whether the moment balance is satisfied, and realize associated monitoring.
  • m 1 (G, ⁇ ) is a moment calculation function about the hoisting load size G and the jib attitude ⁇ (such as elevation angle, etc.) based on the specific structural characteristics of the lifting equipment and the location configuration of the sensor. Similarly, calculate the counterweight end moment M counterweight :
  • m 2 (L) is a moment calculation function about the counterweight stroke L based on the structural characteristics of the specific lifting equipment and the sensor arrangement position configuration.
  • the operator can verify the moment balance state of the lifting equipment according to the site conditions. If the moment balance state is balanced, the moment balance relationship is satisfied:
  • ⁇ 3 is a very small number, you can specify the specific value of ⁇ 3 and adjust the size adaptively according to the performance in actual use, [0, ⁇ 3 ] can be used as the current specified value range, as in formula (13) If it is not established, it is determined that the lifting equipment is in the second fault condition, the moment is unbalanced, and there is an error in the monitoring of operating parameters, and troubleshooting should be carried out.
  • the monitoring of moment balance can form a second-layer monitoring network, which can be used to judge the actual detection value based on the actual detection corresponding to the size G of the hoisting load and the attitude ⁇ of the jib.
  • the difference between the absolute value of the converted detection value of the hoisting load end moment M calculated based on the actual detection value corresponding to the counterweight stroke L and the conversion detection value of the counterweight end moment M calculated based on the actual detection value corresponding to the counterweight stroke L belongs to Specify the value range, if it does not belong to the specified value range (that is, it is not approximately equal), it is determined that the lifting equipment is in the second fault condition, which can be regarded as a fault in the sensor or equipment structure that causes data errors, and the hoisting operation needs to be stopped, and Troubleshooting; the second-layer monitoring network, the first-layer monitoring network, and the middle-layer monitoring network constitute a multi-layer monitoring network (or monitoring system) of the lifting equipment.
  • the second-layer monitoring network can also have a double-layer monitoring sub-network.
  • the first-layer monitoring sub-network is used to judge the difference between the actual detection values of multiple sensors, and the second-layer monitoring sub-network is used to Judging whether the actual detection value conforms to the torque balance relationship here.
  • the monitoring network of the lifting equipment may include an acquisition layer 100, a boom posture monitoring network 200, a counterweight stroke monitoring network 300, and a hoisting load size monitoring network 400 constitutes a first-layer monitoring network, a second-layer monitoring network 500, and a fault output layer 600.
  • the fault output layer 600 can output the state identification of the first fault state and the state identification of the second fault state, and the acquisition layer 100 is used to obtain the
  • the sensor data of each operating parameter of the heavy equipment, the relevant actual detected values in the sensor data include the actual detected value corresponding to the operating parameter 101 about the attitude of the boom, the actual detected value corresponding to the operating parameter 102 about the counterweight stroke, and the actual detected value corresponding to the operating parameter 102 about the stroke of the counterweight.
  • the actual detection value corresponding to the operating parameter 103 of the size of the hoist; the boom posture monitoring network 200 includes a first-layer monitoring sub-network 204 and a second-layer monitoring sub-network 205, and the first-layer monitoring sub-network 204 and the second-layer monitoring sub-network 205
  • the network 205 can perform the data synchronous receiving operations 201 and 202, and the second-layer monitoring subnetwork 205 can also perform the data receiving operation 206 asynchronously after the first-layer monitoring subnetwork 204 outputs the result 208 of judgment to the fault output layer 600.
  • Results 207 and 208 can be used to determine whether the lifting equipment is in the first fault condition; the counterweight stroke monitoring network 300 and the hoisting size monitoring network 400 can also be composed of similar double-layer monitoring subnetwork structures (subnetworks 301, 302 and Sub-networks 401, 402), the working mechanism of the counterweight stroke monitoring network 300 and the hoisting size monitoring network 400 can refer to the jib attitude monitoring network 200, and will not be repeated.
  • the second-layer monitoring network 500 can receive and operate 203, 303, and 403 synchronously with the data corresponding to each two-layer monitoring sub-network, and the second-layer monitoring network 500 can also output the returned result 501 of the judgment to the fault output layer 600, wherein the first The two-layer monitoring network 500 can execute the judgment on the basis of the first-layer monitoring network's judgment that the hoisting equipment is not in the first fault condition; the fault output layer 600 is used to determine that any one of the judgments returns to No (N) and If it is determined that the lifting device is in the first fault condition or the second fault condition, the fault output layer 600 can also be used to output the result of each return being yes (Y), that is, the lifting device is not in the first fault condition or the second fault working conditions.
  • an intermediate layer monitoring network (not shown in Figure 4) can also be configured, and the intermediate layer monitoring network can receive data from the acquisition layer 100, and the first layer monitoring network can judge the lifting Based on the fact that the equipment is not in the first fault condition and the judgment of the second-level monitoring network has not been executed, it is judged whether the lifting equipment is in the third fault condition, and the judgment result of the middle-level monitoring network is also output to the fault output layer 600 .
  • the fault double-layer redundancy monitoring method may specifically include:
  • the sensor data can be transmitted to the two-layer monitoring network synchronously or asynchronously, and in some cases, the sensor data received by the second-layer monitoring network can also be forwarded by the first-layer monitoring network.
  • the fault double-layer redundancy monitoring method may also specifically include: after determining that the lifting equipment is not in the first fault condition, it is also judged through the middle layer monitoring network whether the sensor data conforms to the size-level matching relationship, and determining Whether the lifting equipment is in the third fault condition.
  • the fault double-layer redundancy monitoring method may also specifically include: after determining that the lifting equipment is not in the second fault condition and the third fault condition, the sensor data at this time may be used to control the allocation in real time. Heavy moving and performing lifting operations.
  • the embodiment of the present invention also 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
  • the fault double-layer redundancy early warning method may also include:
  • the configured early warning may include prompting and broadcasting on the operation screen of the lifting equipment, performing sound and light alarms, and performing troubleshooting, etc.
  • the mobile counterweight can expand the hoisting capacity of the crane with the same counterweight size. If the position of the counterweight can be flexibly adjusted to keep the center of gravity of the system at the center of the slewing support, the hoisting stability can be improved, but , the movable counterweight mostly needs to be based on the counterweight being suspended in the air. After the counterweight is off the ground, the system only has one fulcrum of slewing support. There may be a risk of tipping over at both the hoisting end and the counterweight end. Matching the appropriate counterweight stroke in real time has led to a substantial increase in the safety requirements of the overall control, and the difficulty of safety monitoring has also been greatly increased.
  • the reliable monitoring of the lifting equipment is divided into a double-layer redundant monitoring network of the first-layer monitoring network and the second-layer monitoring network.
  • the three key parameters of the operation are the attitude of the boom, the stroke of the counterweight, and the size of the hoisting load.
  • the second-layer monitoring network can judge the moment balance, and can calculate the moment balance state of the lifting equipment in real time and give an accurate configuration in real time.
  • the embodiments of the present invention aim at the geometric conversion relationship of the above three key parameters and the torque balance relationship of the operation parameters related to the torque, and realize a reliable safety redundancy monitoring scheme for lifting equipment, especially to improve the suspension of the counterweight of crawler cranes.
  • the embodiment of the present invention can especially set a safety redundant monitoring scheme for the key parameters of the operation (arm frame attitude, hoisting load size and counterweight stroke) for the new type of crane, which is a crawler crane with a movable and suspended counterweight, so as to ensure the accuracy of the key parameters during the operation process.
  • the monitoring accuracy can be used to monitor system-related faults, increase the operating safety margin, and improve safety performance.
  • the correlation analysis of each monitoring parameter is realized, and the overall system monitoring network of the crane is built to ensure that the counterweight does not fall to the ground.
  • the development of hoisting new cranes provides a new system safety monitoring solution.
  • two-layer or three-layer safety redundancy monitoring can be configured for the key parameters of the same operation, so as to ensure that the monitoring accuracy of each key parameter during the operation process meets the requirements of safe operation;
  • the correlation between parameters is established according to the system moment balance, and the system-level monitoring accuracy judgment is given to form a monitoring network.
  • the multi-layer redundant monitoring scheme of the embodiment of the present invention can compare the difference of the obtained detection values in real time. When the difference is greater than the allowable range of safety error, it can be judged that a fault has occurred, and the operation of the equipment can be suspended to perform system fault analysis; the redundancy of the embodiment of the present invention
  • the rest of the monitoring scheme can be used as an independent monitoring system to monitor the three key parameters of the boom attitude, hoisting load size, and counterweight stroke, and realize multiple optional monitoring systems for lifting equipment.
  • the embodiment of the present invention and embodiment 1 belong to the same inventive concept.
  • the embodiment of the present invention provides a fault double-layer redundant early warning system.
  • the fault double-layer redundant early warning system should be understood as that the system has at least a double-layer monitoring module.
  • Redundant early warning systems can include:
  • the obtaining module is used to obtain the sensor data of each operation parameter based on the sensor groups correspondingly grouped according to the operation parameters on the lifting equipment;
  • the first-level monitoring module is used to determine whether the lifting equipment is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship during the first-level monitoring, wherein the The conversion relationship includes a geometric conversion relationship between the operation parameters corresponding to the relevant actual detection value;
  • the second-level monitoring module is used to determine whether the lifting device is based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque during the second-level monitoring. In a second fault condition, wherein the lifting device is not in the first fault condition.
  • the failure double-layer redundant early warning system also includes:
  • an early warning module configured to determine that the lifting device is in any fault condition
  • the lifting device has a super-lifting mechanism
  • the obtaining module is specifically used to obtain sensor data about operating parameters of the attitude of the boom, wherein the sensor data includes actual detection values related to angles,
  • the operating parameters corresponding to the actual detection values related to the angle include the first elevation angle of the main arm of the lifting device, the second elevation angle of the super-lifting mast of the super-lifting mechanism, and the relationship between the main arm and the super-lifting mast. angle.
  • the lifting device also has a mobile counterweight adjustment mechanism, and the obtaining module is specifically used to obtain sensor data about operating parameters of the counterweight stroke, wherein the sensor data includes actual detection values related to the stroke ,
  • the operating parameters corresponding to the actual detection values related to stroke include the third elevation angle of the counterweight support arm of the mobile counterweight adjustment mechanism and the real-time stroke of the counterweight measured for the mobile counterweight adjustment mechanism.
  • the obtaining module is specifically used to obtain sensor data related to the operating parameters of the size of the hoisting load, wherein the sensor data includes actual detection values related to the force,
  • the operating parameters corresponding to the actual detection values related to the active force include the measured tension at the head of the main boom, the first measured pressure at the root of the main boom and the bottom of the rear strut of the superlift mast. Second measure pressure.
  • 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.
  • the first layer monitoring module is specifically used for:
  • the conversion relationship includes a geometric conversion relationship between the operation parameter corresponding to the first actual detection value and the operation parameter corresponding to the second actual detection value;
  • 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 the specified angle The specified value range for .
  • the first-layer monitoring module is specifically used to read the actual detection values corresponding to the three in the sensor data;
  • the first-layer monitoring module is specifically used to determine whether the sum of the actual detection values corresponding to the three is the specified angle or whether it belongs to the specified numerical range corresponding to the specified angle according to the configured conversion relationship .
  • the first-level monitoring module wherein the method of obtaining the specified value range includes:
  • the first numerical 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.
  • the configured conversion relationship includes that the absolute value of the difference between the counterweight conversion stroke obtained through the calculation of the third elevation angle and the counterweight real-time stroke falls within a specified value range.
  • the first-layer monitoring module is specifically used to read the actual detection value corresponding to the third elevation angle and the real-time stroke of the counterweight in the sensor data, and pass the actual detection value corresponding to the third elevation angle.
  • the detection value determines the conversion detection value of the conversion stroke of the counterweight
  • the first layer monitoring module is specifically used to judge whether the absolute value of the difference between the actual detection value corresponding to the real-time stroke of the counterweight and the conversion detection value belongs to the specified numerical range according to the configured conversion relationship.
  • the configured conversion relationship includes that the absolute value of the difference between the first hoisting weight and the second hoisting weight belongs to a specified value range
  • the first suspended load weight is obtained by converting the measured pulling force through a first trigonometric function relationship
  • the second suspended load weight is obtained by converting the first measured pressure through a second trigonometric function relationship.
  • the first-layer monitoring module is specifically configured to read the actual detected values corresponding to the measured tension and the first measured pressure in the sensor data, and determine the values corresponding to the first suspended load and the first measured pressure respectively.
  • the first-layer monitoring module is specifically used to determine whether the absolute value of the difference between the conversion detection values corresponding to the first hoisting weight and the second hoisting weight belongs to the specified value according to the configured conversion relationship. scope.
  • the fault double-layer redundant early warning system also includes:
  • the middle layer monitoring module is used to judge whether the size and grade matching relationship is a matching relationship corresponding to the steady state of the lifting equipment, wherein,
  • the size level matching relationship is the matching relationship between the size level of the third hoisting weight and the size level of the first hoisting weight, or the matching relationship between the size level of the third hoisting weight and the second hoisting weight.
  • the matching relationship of the size and grade of the load capacity is the matching relationship between the size level of the third hoisting weight and the size level of the first hoisting weight, or the matching relationship between the size level of the third hoisting weight and the second hoisting weight.
  • the magnitude grade of the third suspended load is obtained through the second measured pressure.
  • the middle layer monitoring module may have the same function as the middle layer monitoring network in the lifting equipment monitoring network in Embodiment 1.
  • the second-layer monitoring module is used to judge whether the absolute value of the difference between the moment at the hoisting end and the moment at the counterweight end belongs to a specified value range corresponding to the moment balance state of the lifting device, wherein,
  • the moment at the hoisting end is obtained by calculating the actual detection value related to the angle and the actual detection value related to the force,
  • the torque at the counterweight end is obtained by calculating the actual detection value related to the stroke.
  • the failure double-layer redundant early warning system (or the acquisition module and any at least one monitoring module therein) can be implemented based on hardware such as one or more controllers and/or electronic equipment with a processor, in some cases Among them, the fault double-layer redundant early warning system can be used in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), and systems on chips (SoCs). ), load programmable logic device (CPLD), computer hardware, firmware, software, and/or a combination thereof.
  • FPGAs field programmable gate arrays
  • ASICs application-specific integrated circuits
  • ASSPs application-specific standard products
  • SoCs systems on chips
  • CPLD load programmable logic device
  • computer hardware firmware, software, and/or a combination thereof.
  • the embodiment of the present invention and the embodiment 1 and 2 all belong to the same inventive concept, and the embodiment of the present invention provides an electronic device, a construction machine, and a computer-readable storage medium.
  • Electronic equipment is intended to represent various forms of equipment with instruction processing capabilities and computing capabilities, such as computers, industrial computers, and servers.
  • Processors and memories can be implemented in the form of a system-on-chip (SoC or MCU) or directly using The assembly method of the circuit board connecting the interface.
  • the memory stores instructions that can be executed by at least one processor, and at least one processor implements the method in the foregoing embodiment 1 by executing the instructions stored in the memory, and the electronic device can be used to form the monitoring of the lifting device in embodiment 1 Network, in some advantageous embodiments, electronic devices and sensor groups can be used as physical devices to monitor the network.
  • Construction machinery may have the aforementioned electronic equipment, and construction machinery may include lifting equipment, including truck cranes, all-terrain cranes, crawler cranes, and the like.
  • the crawler crane includes a crawler car body, a main arm, a superlift mast, a (rear) strut, and an adjustment for counterweight suspension.
  • the cylinder of the arm, etc., the counterweight of the crawler crane can be suspended from the ground.
  • This crawler crane realizes the failure double-layer redundant early warning system in embodiment 2 by electronic equipment, and is subjected to multi-layer monitoring network failure early warning.
  • the crawler crane may be fitted with a sensor set. As shown in Fig.
  • a tension sensor of the main arm pull plate (referring to the position area of the pull plate) and a head angle sensor of the main arm are installed.
  • an angle sensor A in the first position area of the head of the super-lifting mast and an angle sensor B in the second position area are installed.
  • a cylinder stroke sensor for converting the stroke of the counterweight is installed; on the counterweight support arm, an angle sensor is installed, and the preferred area where the angle sensor is installed is shown in the top layer of the figure in Figure 9 ;
  • the pressure sensor at the bottom of the strut (referring to the bottom position area) is installed; between the main arm and the super-lifting mast, the angle sensor between the main arm and the super-lifting mast is installed; on the main arm, install
  • An angle sensor and a pressure sensor are arranged at the root of the main boom (in the region of the root position); on the super-lifting mast, an angle sensor at the root of the super-lifting mast is installed.
  • the computer-readable storage medium may be non-transitory, and may be configured with a computer program.
  • the computer program is executed by the processor, the method in the foregoing Embodiment 1 is implemented to realize fault monitoring of the lifting equipment.
  • the aforementioned monitoring network may be a sensor network or other equipment groups for measurement recording, analysis and processing, and the monitoring network or monitoring system may include multiple hardware and/or software.
  • the aforementioned storage medium can be non-transitory, and the storage medium can include various media that can store program codes such as U disk, hard disk, read-only memory (ROM, Read-Only Memory), flash memory (FlashMemory), magnetic disk or optical disk.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

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

故障双层冗余监测方法、预警方法及系统Fault double-layer redundant monitoring method, early warning method and system
相关申请的交叉引用Cross References to Related Applications
本申请要求2021年07月26日提交的中国专利申请202110843305.9的权益,该申请的内容通过引用被合并于本文。This application claims the benefit of Chinese patent application 202110843305.9 filed on July 26, 2021, the contents of which are incorporated herein by reference.
技术领域technical field
本发明涉及工程机械控制技术领域,具体地涉及一种故障双层冗余监测方法、一种故障双层冗余预警方法、一种故障双层冗余预警系统、一种电子设备、一种工程机械和一种计算机可读存储介质。The 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, and an engineering machine and a computer readable storage medium.
背景技术Background technique
目前,履带式起重机和其他起吊能力卓越的起重机等,在吊装过程中,为了提高配重使用效率、提升吊装能力以及降低配重运送安装成本,开始考虑将传统的固定式配重改进为可变行程的前后移动式配重。相较于固定式配重,移动式配重可扩大起重机同等配重大小情况下的起吊能力。在吊装作业中,通常要求移动式配重能够被悬空使用,同时需要起重机控制系统根据吊载过程中吊载重量或力矩的变化适时或最好实时灵活调整配重位置、匹配得到合适的配重行程,以实现保持起重机重心处于回转支撑中心点处,提供平衡力矩,进而维持吊装系统平稳。At present, in the hoisting process of crawler cranes and other cranes with excellent lifting capacity, in order to improve the efficiency of counterweight use, increase the hoisting capacity and reduce the cost of counterweight transportation and installation, it is beginning to consider improving the traditional fixed counterweight to variable Traveling forward and backward moving counterweight. Compared with the fixed counterweight, the mobile counterweight can expand the lifting capacity of the crane with the same counterweight size. In the hoisting operation, it is usually required that the mobile counterweight can be used in the air, and at the same time, the crane control system needs to adjust the position of the counterweight flexibly in time or preferably in real time according to the change of the hoisting weight or torque during the hoisting process, and match to obtain a suitable counterweight stroke, in order to keep the center of gravity of the crane at the center of the slewing support, provide a balance moment, and then maintain the stability of the hoisting system.
安全的、匹配的吊装作业和配重移动控制是需要以起重机的各项准确的传感器数据为基础的。而常规安全监测通常针对固定式配重进行,设备配重通常不会在吊装作业过程中发生变化,系统安全裕度基本不会发生较大变化且保持较高水平,吊装作业将容易被限制在安全范围内执行,但对于移动式配重而言,随着吊装作业进行,系统根据力矩平衡性调整配重的位置,配重的移动会影响系统安全裕度,传感器出现故障或传感器数据不准确时,系统根据故障元件的传感器数据或不准确的传感器数据执行的配重移动操作,如理论上应该执行配重推出(或外推,可相对回转中心而言)以保持平衡而实际执行了配重内收,这将不仅不能为吊装作业提供足够的安全裕度,还会加剧受力不平衡,甚至导致倾覆事故。更令人担忧的是,在系统丧失安全裕度或失去紧急安全控制能力之前,没有达到阈值的传感器数据或没有报警达到了阈值的故障传感器,很难被系统识别发现,可见,使用常规固定式配重的监测方式难以实现移动式配重的起重机基本安全保障。Safe and matched hoisting operations and counterweight movement control are based on accurate sensor data of the crane. Conventional safety monitoring is usually carried out for fixed counterweights. Equipment counterweights usually do not change during the hoisting operation, and the system safety margin basically does not change significantly and remains at a high level. Hoisting operations will easily be limited to Execute within a safe range, but for mobile counterweights, as the hoisting operation proceeds, the system adjusts the position of the counterweight according to the moment balance, the movement of the counterweight will affect the system safety margin, the sensor will fail or the sensor data will be inaccurate When the system moves the counterweight according to the sensor data of the faulty component or inaccurate sensor data, such as counterweight pushing out (or extrapolation, which can be relative to the center of gyration) should be performed in theory to maintain balance, but the counterweight is actually carried out. Heavy adduction will not only fail to provide sufficient safety margin for hoisting operations, but will also aggravate the unbalanced force and even lead to overturning accidents. What is even more worrying is that before the system loses the safety margin or the emergency safety control capability, the sensor data that does not reach the threshold or the faulty sensor that does not alarm and reaches the threshold is difficult to be identified by the system. It can be seen that using conventional fixed The monitoring method of the counterweight is difficult to realize the basic safety guarantee of the crane with the mobile counterweight.
因此,需要实现识别传感器是否存在故障或传感器数据是否存在不准确的、适用移动式配重的多层监测方案,以保障吊装作业安全和尽量避免倾覆事故的发生。Therefore, it is necessary to implement a multi-layer monitoring scheme that can identify whether the sensor is faulty or whether the sensor data is inaccurate, and is suitable for mobile counterweights, so as to ensure the safety of hoisting operations and avoid the occurrence of overturning accidents as much as possible.
发明内容Contents of the invention
本发明的目的是提供一种故障双层冗余监测方法、预警方法及系统,避免起重设备的传感器或传感器数据存在故障或异常难以被控制系统识别发现而导致力矩平衡维持的控制失效,进而改善起重设备的监测安全可靠性、控制准确性和作业平稳性。The purpose of the present invention is to provide a fault double-layer redundant monitoring method, early warning method and system, so as to avoid the failure of the sensor or sensor data of the lifting equipment or the abnormality that is difficult to be identified and found by the control system, resulting in the failure of the control of the maintenance of torque balance, and then Improve the monitoring safety reliability, control accuracy and operation stability of lifting equipment.
为了实现上述目的,本发明实施例提供一种故障双层冗余监测方法,该故障双层冗余监测方法包括:In order to achieve the above purpose, an embodiment of the present invention provides a fault double-layer redundancy monitoring method, the fault double-layer redundancy monitoring method includes:
基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据;Obtain the sensor data of each operating parameter based on the sensor groups grouped according to the operating parameters on the lifting equipment;
在第一层监测中,基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,其中,所述换算关系包括与所述相关的实际检测值对应的作业参数之间的几何换算关系;In the first layer of monitoring, it is determined whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, wherein the conversion relationship includes the correlation with the The geometric conversion relationship between the operation parameters corresponding to the actual detection value;
在第二层监测中,基于所述传感器数据中与力矩对应的实际检测值是否满足与相应力矩的作业参数之间的力矩平衡关系,确定所述起重设备是否处于第二故障工况,其中,所述起重设备未处于所述第一故障工况。In the second layer of monitoring, based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque, it is determined whether the lifting device is in the second fault condition, wherein , the lifting device is not in the first fault condition.
具体的,所述起重设备具有超起机构,所述基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据,其中,Specifically, the lifting device has a super-lifting mechanism, and the sensor data of each operation parameter is obtained based on the sensor groups grouped according to the operation parameters on the lifting device, wherein,
所述传感器组具体被按同一作业关键参数对应分组,The sensor groups are specifically grouped according to the key parameters of the same operation,
所述作业关键参数包括关于臂架姿态的作业参数、关于配重行程的作业参数和关于吊载大小的作业参数中任意一者。The key operating parameters include any one of the operating parameters about the attitude of the boom, the operating parameters about the stroke of the counterweight, and the operating parameters about the size of the hoisting load.
具体的,所述基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据,包括:Specifically, the sensor data of each operation parameter is obtained based on the sensor groups grouped correspondingly by operation parameters on the lifting equipment, including:
获得关于臂架姿态的作业参数的传感器数据,其中,所述传感器数据包括呈角度相关的实际检测值,obtaining sensor data about operating parameters of the boom attitude, wherein the sensor data includes actual detection values related to angles,
与呈角度相关的实际检测值对应的作业参数包括所述起重设备的主臂的第一仰角、所述超起机构的超起桅杆的第二仰角以及所述主臂与所述超起桅杆的夹角。The operating parameters corresponding to the actual detection values related to the angle include the first elevation angle of the main arm of the lifting device, the second elevation angle of the super-lifting mast of the super-lifting mechanism, and the relationship between the main arm and the super-lifting mast. angle.
具体的,所述起重设备还具有移动式配重调节机构,所述基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据,还包括:Specifically, the lifting device also has a mobile counterweight adjustment mechanism, and the sensor data of each operating parameter is obtained based on the sensor groups correspondingly grouped according to the operating parameters on the lifting device, and further includes:
获得关于配重行程的作业参数的传感器数据,其中,所述传感器数据包括呈行程相关 的实际检测值,obtaining sensor data about operating parameters of the counterweight travel, wherein the sensor data include travel-related actual detected values,
与呈行程相关的实际检测值对应的作业参数包括所述移动式配重调节机构的配重支撑臂的第三仰角和针对所述移动式配重调节机构测量的配重实时行程。The operating parameters corresponding to the actual detection values related to stroke include the third elevation angle of the counterweight support arm of the mobile counterweight adjustment mechanism and the real-time stroke of the counterweight measured for the mobile counterweight adjustment mechanism.
具体的,所述基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据,还包括:Specifically, the sensor data of each operation parameter is obtained based on the sensor group correspondingly grouped according to the operation parameters on the lifting equipment, and also includes:
获得关于吊载大小的作业参数的传感器数据,其中,所述传感器数据包括呈作用力相关的实际检测值,obtaining sensor data on operating parameters related to the size of the hoist, wherein said sensor data comprise actual measured values in relation to forces,
与呈作用力相关的实际检测值对应的作业参数包括所述主臂的头部处的测量拉力、所述主臂的根部处的第一测量压力和所述超起桅杆的后撑杆底部的第二测量压力。The operating parameters corresponding to the actual detection values related to the active force include the measured tension at the head of the main boom, the first measured pressure at the root of the main boom and the bottom of the rear strut of the superlift mast. Second measure pressure.
具体的,所述基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,包括:Specifically, determining whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship includes:
确定所述传感器数据中第一实际检测值经配置的换算关系获得的换算检测值,并determining the converted detection value obtained through the configured conversion relationship of the first actual detection value in the sensor data, and
判断所述换算检测值是否与所述传感器数据中第二实际检测值相同、或judging whether the converted detection value is the same as the second actual detection value in the sensor data, or
判断所述换算检测值是否属于与所述第二实际检测值对应的指定数值范围,其中,judging whether the converted detection value belongs to a specified numerical range corresponding to the second actual detection value, wherein,
所述换算关系包括与所述第一实际检测值对应的作业参数和与所述第二实际检测值对应的作业参数之间的几何换算关系;The conversion relationship includes a geometric conversion relationship between the operation parameter corresponding to the first actual detection value and the operation parameter corresponding to the second actual detection value;
若判断的返回为是,则确定所述起重设备未处于第一故障工况;If the return of the judgment is yes, it is determined that the lifting device is not in the first fault condition;
若判断的返回为否,则确定所述起重设备处于所述第一故障工况。If the judgment returns no, it is determined that the lifting device is in the first fault condition.
具体的,其中,Specifically, among them,
配置的换算关系包括所述第一仰角、所述第二仰角以及所述夹角三者之和是指定角度、或属于与所述指定角度对应的指定数值范围。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 numerical range corresponding to the specified angle.
具体的,所述基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,包括:Specifically, determining whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship includes:
读取所述传感器数据中与所述三者对应的实际检测值;Reading the actual detected values corresponding to the three in the sensor data;
根据配置的换算关系,判断与所述三者对应的实际检测值之和,是否是所述指定角度、或是否属于与所述指定角度对应的指定数值范围。According to the configured conversion relationship, it is judged whether the sum of the actual detected values corresponding to the three is the specified angle, or whether it belongs to the specified numerical range corresponding to the specified angle.
具体的,其中,所述指定数值范围的获取方式包括:Specifically, wherein the method of obtaining the specified numerical range includes:
确定布置的角度传感器的传感器误差量;Determining a sensor error amount for the angle sensor of the arrangement;
配置第一数值至第二数值的数值范围为指定数值范围,其中,Configure the value range from the first value to the second value as the specified value range, where,
所述第一数值为所述指定角度与所述传感器误差量之差,The first numerical value is the difference between the specified angle and the sensor error amount,
所述第二数值为所述指定角度与所述传感器误差量之和。The second value is the sum of the specified angle and the sensor error amount.
具体的,其中,Specifically, among them,
配置的换算关系包括通过所述第三仰角计算获得的配重换算行程与所述配重实时行程之差的绝对值属于指定数值范围。The configured conversion relationship includes that the absolute value of the difference between the converted stroke of the counterweight obtained through the calculation of the third elevation angle and the real-time stroke of the counterweight belongs to a specified value range.
具体的,所述基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,包括:Specifically, determining whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship includes:
读取所述传感器数据中与所述第三仰角和所述配重实时行程对应的实际检测值,并通过与所述第三仰角对应的实际检测值确定所述配重换算行程的换算检测值;Reading the actual detection value corresponding to the third elevation angle and the real-time stroke of the counterweight in the sensor data, and determining the conversion detection value of the conversion stroke of the counterweight through the actual detection value corresponding to the third elevation angle ;
根据配置的换算关系,判断与所述配重实时行程对应的实际检测值与所述换算检测值之差的绝对值是否属于所述指定数值范围。According to the configured conversion relationship, it is judged whether the absolute value of the difference between the actual detected value corresponding to the real-time stroke of the counterweight and the converted detected value belongs to the specified numerical range.
具体的,其中,Specifically, among them,
配置的换算关系包括第一吊载重量和第二吊载重量之差的绝对值是属于指定数值范围,The configured conversion relationship includes that the absolute value of the difference between the first hoisting weight and the second hoisting weight belongs to the specified value range,
所述第一吊载重量通过所述测量拉力经第一三角函数关系换算获得,The first suspended load weight is obtained by converting the measured pulling force through a first trigonometric function relationship,
所述第二吊载重量通过所述第一测量压力经第二三角函数关系换算获得。The second suspended load weight is obtained by converting the first measured pressure through a second trigonometric function relationship.
具体的,所述基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,包括:Specifically, determining whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship includes:
读取所述传感器数据中与所述测量拉力和所述第一测量压力对应的实际检测值,并分别确定与所述第一吊载重量和所述第二吊载重量对应的换算检测值;Reading the actual detected values corresponding to the measured tension and the first measured pressure in the sensor data, and determining converted detected values corresponding to the first suspended load weight and the second suspended load weight respectively;
根据配置的换算关系,判断与所述第一吊载重量和所述第二吊载重量对应的换算检测值之差的绝对值是否是属于所述指定数值范围。According to the configured conversion relationship, it is judged whether the absolute value of the difference between the converted detection values corresponding to the first suspended load weight and the second suspended load weight belongs to the specified numerical range.
具体的,该故障双层冗余监测方法还包括:Specifically, the failure double-layer redundancy monitoring method also includes:
在中间层监测中,判断大小等级匹配关系是否是与所述起重设备的平稳状态对应的匹配关系,其中,In the monitoring of the middle layer, it is judged whether the matching relationship of size and grade is a matching relationship corresponding to the steady state of the lifting equipment, wherein,
所述大小等级匹配关系为第三吊载重量的大小等级与所述第一吊载重量的大小等级的匹配关系、或所述第三吊载重量的大小等级与所述第二吊载重量的大小等级的匹配关系,The size level matching relationship is the matching relationship between the size level of the third hoisting weight and the size level of the first hoisting weight, or the matching relationship between the size level of the third hoisting weight and the second hoisting weight Matching relation of size class,
所述第三吊载重量的大小等级通过所述第二测量压力获得,所述起重设备未处于所述第一故障工况;The magnitude level of the third suspended load is obtained through the second measured pressure, and the lifting device is not in the first fault condition;
若判断的返回为是,则确定所述起重设备未处于第三故障工况;If the return of the judgment is yes, it is determined that the lifting device is not in the third fault condition;
若判断的返回为否,则确定所述起重设备处于所述第三故障工况。If the judgment returns no, it is determined that the lifting device is in the third fault condition.
具体的,所述基于所述传感器数据中与力矩对应的实际检测值是否满足与相应力矩的作业参数之间的力矩平衡关系,确定所述起重设备是否处于第二故障工况,包括:Specifically, determining whether the lifting device is in the second fault condition based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque includes:
判断吊载端力矩与配重端力矩之差的绝对值是否是属于与所述起重设备的力矩平衡状态对应的指定数值范围,其中,judging whether the absolute value of the difference between the moment at the hoisting end and the moment at the counterweight end belongs to a specified value range corresponding to the moment balance state of the lifting device, wherein,
所述吊载端力矩通过呈角度相关的实际检测值和呈作用力相关的实际检测值计算获得,The moment at the hoisting end is obtained by calculating the actual detection value related to the angle and the actual detection value related to the force,
所述配重端力矩通过呈行程相关的实际检测值计算获得;The torque at the counterweight end is obtained by calculating the actual detection value related to the stroke;
若判断的返回为是,则确定所述起重设备未处于第二故障工况;If the return of the judgment is yes, it is determined that the lifting device is not in the second fault condition;
若判断的返回为否,则确定所述起重设备处于所述第二故障工况。If the judgment returns no, it is determined that the lifting device is in the second fault condition.
本发明实施例提供一种故障双层冗余预警方法,该故障双层冗余预警方法包括前述的故障双层冗余监测方法,该故障双层冗余预警方法还包括:An embodiment of the present invention provides a double-layer redundancy early warning method for failure, the double-layer redundancy early-warning method for failure includes the aforementioned double-layer redundancy monitoring method for failure, and the double-layer redundancy early warning method for failure further includes:
确定所述起重设备处于任意一种故障工况;Determining that the lifting device is in any fault condition;
停止所述起重设备执行吊装作业,并执行配置的预警。Stop the hoisting equipment to perform hoisting operations, and execute configured early warnings.
本发明实施例提供一种故障双层冗余预警系统,该故障双层冗余预警系统包括:An embodiment of the present invention provides a fault double-layer redundant early warning system, which includes:
获得模块,用于基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据;The obtaining module is used to obtain the sensor data of each operation parameter based on the sensor groups correspondingly grouped according to the operation parameters on the lifting equipment;
第一层监测模块,用于在第一层监测中,基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,其中,所述换算关系包括与所述相关的实际检测值对应的作业参数之间的几何换算关系;The first-level monitoring module is used to determine whether the lifting equipment is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship during the first-level monitoring, wherein the The conversion relationship includes a geometric conversion relationship between the operation parameters corresponding to the relevant actual detection value;
第二层监测模块,用于在第二层监测中,基于所述传感器数据中与力矩对应的实际检测值是否满足与相应力矩的作业参数之间的力矩平衡关系,确定所述起重设备是否处于第二故障工况,其中,所述起重设备未处于所述第一故障工况。The second-level monitoring module is used to determine whether the lifting device is based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque during the second-level monitoring. In a second fault condition, wherein the lifting device is not in the first fault condition.
具体的,该故障双层冗余预警系统还包括:Specifically, the fault double-layer redundant early warning system also includes:
预警模块,用于确定所述起重设备处于任意一种故障工况,以及an early warning module, configured to determine that the lifting device is in any fault condition, and
停止所述起重设备执行吊装作业,并执行配置的预警。Stop the hoisting equipment to perform hoisting operations, and execute configured early warnings.
再一方面,本发明实施例提供一种电子设备,该电子设备包括:In another aspect, an embodiment of the present invention provides an electronic device, and the electronic device includes:
至少一个处理器;at least one processor;
存储器,与所述至少一个处理器连接;a memory coupled to the at least one processor;
其中,所述存储器存储有能被所述至少一个处理器执行的指令,所述至少一个处理器通过执行所述存储器存储的指令,所述至少一个处理器通过执行所述存储器存储的指令实现 前述的方法。Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the instructions stored in the memory, and the at least one processor implements the aforementioned instructions by executing the instructions stored in the memory. Methods.
又一方面,本发明实施例提供一种工程机械,所述工程机械具有前述的电子设备。In yet another aspect, an embodiment of the present invention provides a construction machine, the construction machine having the aforementioned electronic device.
又一方面,本发明实施例提供一种计算机可读存储介质,存储有计算机指令,当所述计算机指令在计算机上运行时,使得计算机执行前述的方法。In yet another aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions, and when the computer instructions are run on a computer, the computer is made to execute the foregoing method.
本发明以相关的实际检测值是否表现为相应作业参数之间的几何映射特点,建立了与传感器对应的控制系统中各个参数的监测模块之间的相关性,形成了第一层监测,能够监测元件或传感器数据等情况引起的第一故障工况,避免系统使用存在异常的数据导致的各类安全控制失效;在第一层监测的基础上,已确定未存在第一故障工况,第二层监测过程中利用实际检测值再进行力矩平衡关系的判断,能够避免未及时发现具备结构异常、配重或吊载控制异常等情况引起的倾覆危险性的第二故障工况,实现了多传感器检测点交互关联的网络式冗余监测手段及系统产品,能够及时可靠地确定故障和故障预警,进而辅助精准高效地执行吊装作业,提高检测元件、监测网络或系统发生故障后的安全裕度,尽量避免倾覆事故的出现。The present invention establishes the correlation between the monitoring modules of each parameter in the control system corresponding to the sensor based on whether the relevant actual detection value is expressed as the geometric mapping feature between the corresponding operating parameters, forming the first layer of monitoring, which can monitor The first fault condition caused by components or sensor data, etc., avoids various safety control failures caused by the use of abnormal data in the system; on the basis of the first layer of monitoring, it has been determined that there is no first fault condition, and the second In the layer monitoring process, the actual detection value is used to judge the torque balance relationship, which can avoid the second fault condition of overturning risk caused by structural abnormalities, counterweight or hoisting control abnormalities, etc., and realize multi-sensor The network-based redundant monitoring means and system products with interactive correlation of detection points can timely and reliably determine faults and fault warnings, and then assist in the accurate and efficient execution of hoisting operations, and improve the safety margin after faults of detection components, monitoring networks or systems, Try to avoid overturning accidents.
本发明具体构建了臂架姿态所涉及的作业参数及实际检测值的相关性,将主臂和超起桅杆上角度传感器进行关联监测,能够基于呈角度相关的实际检测值是否表现为相应作业参数之间的几何映射特点,如求和为180度等指定角度,实现臂架姿态监测是否存在故障的识别并同时有效实现起重设备吊装作业和/或配重移动的控制。The present invention specifically constructs the correlation between the operating parameters involved in the attitude of the boom and the actual detection value, and performs associated monitoring on the angle sensor on the main arm and the super-lifting mast, and can be based on whether the actual detection value related to the angle is expressed as the corresponding operation parameter The geometric mapping characteristics between them, such as the sum of specified angles such as 180 degrees, realize the identification of whether there is a fault in the attitude monitoring of the boom and at the same time effectively realize the control of the hoisting operation of the lifting equipment and/or the movement of the counterweight.
本发明具体构建了配重行程所涉及的作业参数及实际检测值的相关性,将配重调节机构的角度传感器和位移度量作用的传感器进行关联监测,能够基于位移和呈角度相关的实际检测值是否表现为相应作业参数之间的几何映射特点,如角度换算的位移和检测的位移是否近似相等,实现配重调节机构的配重移动监测是否存在故障的识别并同时有效实现起重设备吊装作业和/或配重移动的控制。The present invention specifically constructs the correlation between the operating parameters involved in the counterweight stroke and the actual detection value, and performs correlation monitoring on the angle sensor of the counterweight adjustment mechanism and the sensor for displacement measurement, and can be based on the actual detection value related to the displacement and angle Whether it shows the geometric mapping characteristics between the corresponding operation parameters, such as whether the displacement converted by angle is approximately equal to the detected displacement, realizes the identification of whether there is a fault in the counterweight movement monitoring of the counterweight adjustment mechanism and effectively realizes the hoisting operation of the lifting equipment at the same time and/or control of counterweight movement.
本发明具体构建了吊载大小(吊载端力矩大小和/或吊载重量大小)所涉及的作业参数及实际检测值的相关性,将臂架主臂靠近吊载端部上的拉力传感器和主臂根部的压力传感器进行关联监测,如拉力换算的吊载大小和压力换算的吊载大小是否近似相等,实现主臂上的吊载大小监测是否存在故障的识别并同时有效实现起重设备吊装作业和/或配重移动的控制,进一步地,本发明还将超起桅杆的后撑杆底部压力传感器与主臂上的拉力传感器和压力传感器进行关联监测,如后撑杆上压力等级与主臂上拉力等级或压力等级是否匹配,进一步实现吊载大小监测是否存在故障的识别并同时有效实现起重设备吊装作业和/或配重移动的控制。The present invention specifically constructs the correlation between the operating parameters involved in the size of the hoisting load (the moment of the hoisting end and/or the size of the hoisting weight) and the actual detection value. The pressure sensor at the root of the main boom carries out associated monitoring, such as whether the hoisting size converted from tension is approximately equal to the hoisting size converted from pressure, so as to realize the identification of whether there is a fault in the monitoring of the hoisting size on the main arm and at the same time effectively realize the hoisting of the lifting equipment The control of operation and/or counterweight movement, further, the present invention also carries out correlation monitoring with the tension sensor and the pressure sensor on the main arm of the rear strut bottom pressure sensor of super-lifting mast, such as the pressure level on the rear strut and the main arm Whether the tension level or pressure level on the arm matches, further realizes the identification of whether there is a fault in the monitoring of the size of the hoisting load, and at the same time effectively realizes the control of the hoisting operation of the hoisting equipment and/or the movement of the counterweight.
本发明具体构建了平衡力矩所涉及的作业参数及实际检测值的相关性,将以回转中心 为基准点的检测力矩计算参数的传感器(如拉力传感器、压力传感器、角度传感器和/或位移度量作业的传感器等)进行关联监测,如计算的吊载端力矩和配重端力矩是否近似相等,实现以回转中心为基准的力矩监测是否存在故障的识别并同时有效实现起重设备吊装作业和/或配重移动的控制。The present invention specifically builds the correlation between the operating parameters involved in the balance torque and the actual detection value, and the sensor (such as a tension sensor, a pressure sensor, an angle sensor and/or a displacement measurement operation) that uses the center of rotation as a reference point to calculate the parameters of the detection torque Sensors, etc.) for associated monitoring, such as whether the calculated moment of the hoisting end and the moment of the counterweight end are approximately equal, realize the identification of whether there is a fault in the moment monitoring based on the center of rotation, and at the same time effectively realize the hoisting operation of the lifting equipment and/or Control of counterweight movement.
本发明实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description.
附图说明Description of drawings
附图是用来提供对本发明实施例的进一步理解,并且构成说明书的一部分,与下面的具体实施方式一起用于解释本发明实施例,但并不构成对本发明实施例的限制。在附图中:The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present invention, but do not constitute limitations to the embodiments of the present invention. In the attached picture:
图1为本发明实施例的主要方法步骤示意图;Fig. 1 is a schematic diagram of main method steps of an embodiment of the present invention;
图2为本发明实施例的示例性作业关键参数与传感器对应关系示意图;Fig. 2 is a schematic diagram of the corresponding relationship between exemplary operation key parameters and sensors according to an embodiment of the present invention;
图3为本发明实施例的示例性起重设备主臂头部的力学分解示意图;Fig. 3 is a mechanical exploded schematic view of the main arm head of an exemplary lifting device according to an embodiment of the present invention;
图4为本发明实施例的示例性监测网络架构示意图;FIG. 4 is a schematic diagram of an exemplary monitoring network architecture according to an embodiment of the present invention;
图5为本发明实施例的示例性监测网络架构下的监测流程示意图;5 is a schematic diagram of a monitoring process under an exemplary monitoring network architecture according to an embodiment of the present invention;
图6为本发明实施例的示例性相对于履带式车体的起重机各结构的位置示意图;Fig. 6 is a schematic diagram showing the positions of various structures of the crane with respect to the crawler car body according to an exemplary embodiment of the present invention;
图7为本发明实施例的图6中起重机局部放大的结构上一些传感器的安装位置示意图;Fig. 7 is a schematic diagram of the installation positions of some sensors on the partially enlarged structure of the crane in Fig. 6 according to the embodiment of the present invention;
图8为本发明实施例的图6中起重机局部放大的结构上再一些传感器的安装位置示意图;Fig. 8 is a schematic diagram of the installation positions of some sensors on the partially enlarged structure of the crane in Fig. 6 according to the embodiment of the present invention;
图9为本发明实施例的图6中起重机局部放大的结构上又一些传感器的安装位置示意图。Fig. 9 is a schematic diagram of the installation positions of some sensors on the partially enlarged structure of the crane in Fig. 6 according to the embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图对本发明实施例的具体实施方式进行详细说明。应当理解的是,此处所描述的具体实施方式仅用于说明和解释本发明实施例,并不用于限制本发明实施例。The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.
实施例1Example 1
本发明实施例提供一种故障双层冗余监测方法,如图1,该故障双层冗余监测方法可包括:An embodiment of the present invention provides a fault double-layer redundancy monitoring method, as shown in Figure 1, the fault double-layer redundancy monitoring method may include:
基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据;Obtain the sensor data of each operating parameter based on the sensor groups grouped according to the operating parameters on the lifting equipment;
在第一层监测中,基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,其中,所述换算关系包括与所述相关的实际检测 值对应的作业参数之间的几何换算关系;In the first layer of monitoring, it is determined whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, wherein the conversion relationship includes the correlation with the The geometric conversion relationship between the operation parameters corresponding to the actual detection value;
在第二层监测中,基于所述传感器数据中与力矩对应的实际检测值是否满足与相应力矩的作业参数之间的力矩平衡关系,确定所述起重设备是否处于第二故障工况,其中,所述起重设备未处于所述第一故障工况。In the second layer of monitoring, based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque, it is determined whether the lifting device is in the second fault condition, wherein , the lifting device is not in the first fault condition.
在一些具体实施中,起重设备可以包括起重机,起重机可以包括汽车起重机、全地面起重机、履带式起重机等,起重设备可以被布置有多个传感器,这些传感器可以被分组,可以按照作业关键参数进行分组,也即同一作业关键参数是有多个传感器同时进行监测的,作业关键参数可以包括关于臂架姿态的作业参数、关于配重行程的作业参数和关于吊载大小的作业参数。In some specific implementations, the lifting equipment may include a crane, and the crane may include a truck crane, an all-terrain crane, a crawler crane, etc., and the lifting equipment may be equipped with a plurality of sensors, and these sensors may be grouped, and the key parameters of the operation may be Grouping means that the key parameters of the same operation are monitored by multiple sensors at the same time. The key parameters of the operation can include the operation parameters about the attitude of the boom, the operation parameters about the stroke of the counterweight and the operation parameters about the size of the hoisting load.
作业参数可以是在吊装作业中直接被传感器测量的参数,起重设备可具有控制系统,控制系统可以确定各个作业参数分别被传感器测量得到的实际检测值,作业参数可以包括起重设备的臂架的各个臂或杆仰角、臂架上的测量压力及测量拉力和配重行程等,各个作业参数的实际检测值可以作为传感器数据;根据起重设备上传感器布置位置、起重设备的结构特点和安全作业要求等,可以确定得出一些作业参数之间的几何换算关系。The operating parameters can be parameters directly measured by sensors during the hoisting operation. The lifting equipment can have a control system that can determine the actual detection values of each operating parameter measured by the sensor. The operating parameters can include the jib of the lifting equipment. The elevation angle of each arm or bar, the measurement pressure on the boom, the measurement tension and the counterweight stroke, etc., the actual detection value of each operation parameter can be used as sensor data; according to the sensor layout position on the lifting equipment, the structural characteristics of the lifting equipment and Safety operation requirements, etc., can determine the geometric conversion relationship between some operation parameters.
在吊装作业中,在第一层监测过程中,可以基于与存在几何换算关系的作业参数对应的相关的实际检测值是否满足该换算关系。对于实际检测值是否满足该换算关系的判断,可以确定判断的返回为是,即满足换算关系,同时也可以确定起重设备处于监测功能正常的作业工况,即未处于第一故障工况;或者可以确定判断的返回为否,即不满足换算关系,同时也可以确定起重设备处于第一故障工况,从而以传感器数据中具备相关性的实际检测值结合作业参数的换算关系实现的判断操作起到故障监测的作用。需要补充说明的是,在一些实施例中,第一故障工况可以通过第一层监测的一种状态标识实现,该状态标识可以被配置为对应一些默认故障、或可根据故障排查结果最终确定的具体故障、或可由多种故障造成、或可指定为不确定型故障并待排查。示例地,该第一故障工况可以包括传感器故障工况、传感器数据不准确的监测功能异常工况、作业环境突变导致的异常工况和/或设备结构异常工况等,以便于实现特定类型的预警和故障排除操作。In the hoisting operation, in the first-level monitoring process, it may be based on whether the relevant actual detection values corresponding to the operation parameters with geometric conversion relationships satisfy the conversion relationship. For the judgment of whether the actual detection value satisfies the conversion relationship, it can be determined that the return of the judgment is yes, that is, the conversion relationship is satisfied, and it can also be determined that the lifting device is in the working condition with normal monitoring function, that is, it is not in the first fault condition; Or it can be determined that the return of the judgment is no, that is, the conversion relationship is not satisfied. At the same time, it can also be determined that the lifting equipment is in the first fault condition, so that the judgment can be realized by combining the actual detection value with correlation in the sensor data with the conversion relationship of the operation parameters The operation acts as a fault monitor. It needs to be added that, in some embodiments, the first fault condition can be realized through a state flag monitored by the first layer, and the state flag can be configured to correspond to some default faults, or can be finally determined according to the troubleshooting results specific faults, or may be caused by multiple faults, or may be designated as indeterminate faults to be investigated. For example, the first fault condition may include a sensor failure condition, an abnormal condition of a monitoring function with inaccurate sensor data, an abnormal condition caused by a sudden change in the working environment, and/or an abnormal condition of the equipment structure, etc., so as to realize a specific type of Early warning and troubleshooting operations.
具体的,相关的实际检测值可以包括第一实际检测值和第二实际检测值,其中,第一实际检测值和第二实际检测值可以都是一个实际检测值,第一实际检测值和/或第二实际检测值也可以是多个实际检测值,与第一实际检测值对应的作业参数和与第二实际检测值对应的作业参数之间至少有几何换算关系。此时,基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,可以具体包括:确定传感 器数据中第一实际检测值经配置的换算关系获得的换算检测值,并判断换算检测值是否与传感器数据中第二实际检测值相同、或判断换算检测值是否属于与第二实际检测值对应的指定数值范围。Specifically, the relevant actual detection value may include a first actual detection value and a second actual detection value, wherein the first actual detection value and the second actual detection value may both be an actual detection value, and the first actual detection value and/or Or the second actual detection value may also be a plurality of actual detection values, and there is at least a geometric conversion relationship between the operation parameter corresponding to the first actual detection value and the operation parameter corresponding to the second actual detection value. At this time, based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, determining whether the lifting device is in the first fault condition may specifically include: determining that the first actual detection value in the sensor data is configured The conversion detection value obtained by the conversion relationship, and judge whether the conversion detection value is the same as the second actual detection value in the sensor data, or judge whether the conversion detection value belongs to the specified numerical range corresponding to the second actual detection value.
可以理解的,换算关系还可以包括具体等式或不等式两侧加或减第一实际检测值或第二实际检测值等式子变换以及使用其他数值的合适变换,可以实现适应具体程序判断方式和设计需求;此外,由于传感器所测量的实际检测值可以与矢量作业参数对应,如这些作业参数可以是位移、作用力和力矩等具有方向的物理量,则换算关系还可以包括矢量换算关系和/或结构力学转换关系等,在一些实际数据处理中,矢量换算关系和/或结构力学转换关系可以被视为或被处理成几何换算关系;需要说明的是,换算关系在监测过程中可以不被再配置,基于实际检测值执行前述的判断可以是循环执行的。It can be understood that the conversion relationship can also include the addition or subtraction of the first actual detection value or the second actual detection value on both sides of the specific equation or inequality, as well as the appropriate transformation using other values, which can be adapted to the specific program judgment method and design requirements; in addition, since the actual detection value measured by the sensor can correspond to vector operating parameters, such as these operating parameters can be physical quantities with directions such as displacement, force and moment, the conversion relationship can also include vector conversion relationships and/or Structural mechanics conversion relationship, etc. In some actual data processing, the vector conversion relationship and/or the structural mechanics conversion relationship can be regarded as or processed as a geometric conversion relationship; It is configured that performing the aforementioned determination based on the actual detection value may be performed cyclically.
在第二层监测过程中,可以在第一层监测的基础上,已确定了起重设备不处于第一故障工况,可以具体判断吊载端力矩与配重端力矩之差的绝对值是否是属于与起重设备的力矩平衡状态对应的指定数值范围,以确定起重设备处于第二故障工况;需要补充说明的是,在一些实施例中,第二故障工况可以通过第二层监测的一种状态标识实现,该状态标识可以与第一层监测的状态标识不同,并也类似地,可被配置为对应一些默认故障、或可根据故障排查结果最终确定的具体故障、或可由多种故障造成、或可指定为不确定型故障并待排查。示例地,该第二故障工况可以包括配重控制或吊载控制异常工况、作业不规范工况、控制功能异常工况、作业环境突变导致的异常工况和/或设备结构异常工况等,以便于实现特定类型的预警和故障排除操作。In the second-level monitoring process, on the basis of the first-level monitoring, it can be determined that the lifting equipment is not in the first fault condition, and it can be specifically judged whether the absolute value of the difference between the moment at the hoisting end and the moment at the counterweight end is belongs to the specified numerical range corresponding to the moment balance state of the lifting equipment, so as to determine that the lifting equipment is in the second fault condition; it needs to be added that in some embodiments, the second fault condition can pass through the second layer A status identification implementation of monitoring, which can be different from the status identification of the first-level monitoring, and similarly, can be configured to correspond to some default faults, or specific faults that can be finally determined according to the troubleshooting results, or can be configured by Multiple faults cause or can be designated as indeterminate faults to be investigated. Exemplarily, the second fault condition may include abnormal condition of counterweight control or hoisting control, irregular operation condition, abnormal condition of control function, abnormal condition caused by sudden change of working environment and/or abnormal condition of equipment structure etc. to facilitate specific types of early warning and troubleshooting operations.
在本发明公开的一些具体实施中,如图2,本发明实施例分别针对臂架姿态、配重行程以及吊载大小等关键监测参数(或作业关键参数)进行起重设备的关联监测,在一些情况中,可以形成多层监测网络。In some specific implementations disclosed in the present invention, as shown in Fig. 2, the embodiments of the present invention carry out associated monitoring of lifting equipment for key monitoring parameters (or key operating parameters) such as boom attitude, counterweight stroke, and hoisting size. In some cases, a multi-layer monitoring network can be formed.
在第一种示例性第一层监测实施例中,针对臂架姿态的监测,起重设备可具有超起机构,可以通过在主臂(起重臂)根部和头部、超起桅杆头部和根部及主臂和超起桅杆之间等位置布置的夹角传感器(监测夹角的角度传感器、或任意一种用于倾斜度量的检测元件,例如旋转角度传感器、编码器,可以将角位移、线位移转换为电信号),获取关于臂架姿态的作业参数的传感器数据,传感器数据可以包括呈角度相关的实际检测值,与呈角度相关的实际检测值对应的关于臂架姿态的作业参数可以包括起重设备的主臂的第一仰角θ 1、超起机构的超起桅杆的第二仰角θ 2以及主臂与超起桅杆的夹角θ 3In the first exemplary first-level monitoring embodiment, for the monitoring of the attitude of the jib, the lifting device can have a super-lift mechanism, which can Angle sensors (angle sensors that monitor the angle, or any detection element used for inclination measurement, such as rotation angle sensors, encoders, that can change the angular displacement , line displacement is converted into an electrical signal), to obtain sensor data about the operating parameters of the boom attitude, the sensor data can include the actual detection value related to the angle, and the operating parameters about the attitude of the boom corresponding to the actual detection value related to the angle It may include the first elevation angle θ 1 of the main arm of the lifting device, the second elevation angle θ 2 of the super-lifting mast of the super-lifting mechanism, and the angle θ 3 between the main arm and the super-lifting mast.
首先,可以比较主臂的根部和头部分别得到的第一仰角的实际检测值,以及比较超起 桅杆的头部和根部分别得到的第二仰角的实际检测值等,若比较均得出实际检测值的差异不超过指定数值范围(此时可以是不超过指定角度阈值,例如但不限于,不超过1°等),则可以以主臂的根部和头部分别得到的第一仰角的实际检测值均值或任意一者,作为主臂的第一仰角θ 1的实际检测值,同理,也可得到超起桅杆的第二仰角θ 2的实际检测值。 First of all, it is possible to compare the actual detection values of the first elevation angle obtained by the root and head of the main boom, and the actual detection values of the second elevation angle obtained by comparing the head and root of the super-lifting mast. The difference of the detection value does not exceed the specified numerical range (at this time, it can be no more than the specified angle threshold, such as but not limited to, no more than 1°, etc.), then the actual first elevation angle obtained by the root and head of the main arm can be obtained respectively The average of the detection values or any one is used as the actual detection value of the first elevation angle θ 1 of the main arm, and similarly, the actual detection value of the second elevation angle θ 2 of the mast can also be obtained.
其次,换算关系可以为第一仰角、第二仰角和夹角之和为180度(°),写为:Secondly, the conversion relationship can be that the sum of the first elevation angle, the second elevation angle and the included angle is 180 degrees (°), written as:
θ 123=180°     (1) θ 123 = 180° (1)
式(1)中,这三个作业参数中一者所对应的实际检测值可为第一实际检测值,其余两者所对应的实际检测值可为第二实际检测值,可以以三者和进行判断,也可以另以180度与第一实际检测值之差为第二实际检测值进行判断。在一些实际数据处理中,可以确定布置的角度传感器的传感器误差量δ,该误差量δ可以包括各个角度传感器的平均误差、加权平均误差等,式(1)可以进一步写为:In formula (1), the actual detection value corresponding to one of the three operating parameters can be the first actual detection value, and the actual detection value corresponding to the other two can be the second actual detection value, and the three and For judging, the difference between 180 degrees and the first actual detection value can also be used as the second actual detection value for judgment. In some actual data processing, the sensor error δ of the arranged angle sensor can be determined, and the error δ can include the average error, weighted average error, etc. of each angle sensor, and the formula (1) can be further written as:
180°-δ≤θ 123≤180°+δ      (2) 180°-δ≤θ 123 ≤180°+δ (2)
式(2)中,误差量δ还可以初始化为指定数值,结合实际起重设备中的表现进行调整确定,可写为:In formula (2), the error amount δ can also be initialized to a specified value, and adjusted and determined in combination with the performance of the actual lifting equipment, which can be written as:
180°-δ 1≤θ 123≤180°+δ 2        (3) 180°-δ 1 ≤θ 123 ≤180°+δ 2 (3)
式(3)中,调整后的误差量可以包括误差量δ 1和误差量δ 2,该两个误差量的绝对值可以不相等。 In formula (3), the adjusted error amount may include error amount δ 1 and error amount δ 2 , and the absolute values of the two error amounts may not be equal.
基于此时的监测方式,臂架姿态的监测可以形成当前的第一层监测(网络或系统功能层),该第一层监测网络可以包括双层监测子网络(或称系统子功能层),双层监测子网络应当被理解为至少有双层的监测子网络,并且,在本发明实施例中任意位置的双层的术语,都可以是至少双层的具体定义,在本发明实施例中均可以按此理解。该第一层监测网络中,Based on the monitoring method at this time, the monitoring of the attitude of the boom can form the current first layer of monitoring (network or system function layer), and the first layer of monitoring network can include a double-layer monitoring sub-network (or system sub-function layer), A double-layer monitoring subnetwork should be understood as a monitoring subnetwork with at least two layers, and the term double-layer anywhere in the embodiment of the present invention can be a specific definition of at least two layers. In the embodiment of the present invention can be understood accordingly. In the first layer monitoring network,
第一层监测子网络可以是比较针对同一作业参数的多个传感器的实际检测值是否差异过大的监测子网络,如仰角或夹角的各个传感器位置上得出的实际检测值是否差异过大,各个传感器位置上得出的实际检测值超过指定角度阈值可以视为差异过大;The first layer of monitoring sub-network can be a monitoring sub-network that compares whether the actual detection values of multiple sensors for the same operation parameter are too different, such as whether the actual detection values obtained at the positions of the elevation angles or included angles are too large , the actual detection value obtained at each sensor position exceeds the specified angle threshold, which can be regarded as too large difference;
第二层监测子网络可以是前述的判断相关的实际检测值中与第一仰角θ 1、第二仰角θ 2及夹角θ 3对应的实际检测值之和属于指定数值范围([180°-δ,180°+δ]或[180°-δ 1,180°+δ 2])(即是否满足配置的换算关系);此时的换算关系可以视为包括作业参数的实际检测值几何换算和式子变形。 The second layer of monitoring sub-network can be that the sum of the actual detection values corresponding to the first elevation angle θ 1 , the second elevation angle θ 2 and the included angle θ 3 among the actual detection values related to the aforementioned judgment belongs to the specified value range ([180°- δ, 180°+δ] or [180°-δ 1 , 180°+δ 2 ]) (that is, whether the conversion relationship of the configuration is satisfied); the conversion relationship at this time can be regarded as including the geometric conversion of the actual detection value of the operation parameters and The formula is deformed.
若第一层监测网络中的第一层监测子网络比较没有得出实际检测值的差异超过指定角度阈值,可以暂时视各个实际检测值是可用的、准确的,然后,第一层监测网络中的第二 层监测子网络的判断返回为属于指定数值范围(即满足配置的换算关系、返回为是),则可视为传感器数据无异常、起重设备的监测功能正常,确定起重设备未处于第一故障工况;若第一层监测子网络比较没有得出实际检测值的差异超过指定角度阈值,则可以暂时视实际检测值是可用的、准确的。然后,第二层监测子网络的判断返回为超出指定数值范围(即不满足配置的换算关系、返回为否),则可视为存在传感器或设备结构等故障造成数据存在错误,需停止吊装作业,并进行故障排查,确定起重设备处于第一故障工况;若第一层监测子网络比较没有得出实际检测值的差异超过指定角度阈值,则可视为有设备故障或吊装作业的操作不符合安全作业要求等情况,确定起重设备处于第一故障工况,需停止吊装作业,并进行排查。在一些情况中,也可以进一步结合第二监测层返回为否的,确定出起重设备存在监测功能异常或存在设备及作业不规范导致的其他异常。If the first-layer monitoring sub-network in the first-layer monitoring network does not find that the difference of the actual detection value exceeds the specified angle threshold, it can temporarily regard each actual detection value as available and accurate, and then, in the first-layer monitoring network If the judgment returned by the second-layer monitoring subnetwork of the second layer belongs to the specified value range (that is, the conversion relationship of the configuration is met, the return is yes), it can be considered that the sensor data is normal, the monitoring function of the lifting equipment is normal, and it is determined that the lifting equipment is not abnormal. In the first fault condition; if the first-layer monitoring sub-network comparison does not show that the difference of the actual detection value exceeds the specified angle threshold, the actual detection value can be temporarily regarded as available and accurate. Then, if the judgment of the second-layer monitoring sub-network is returned as exceeding the specified value range (that is, the configured conversion relationship is not satisfied, the return is no), it can be considered that there are errors in the data due to faults such as sensors or equipment structures, and the hoisting operation needs to be stopped , and carry out troubleshooting to determine that the lifting equipment is in the first fault condition; if the first-level monitoring sub-network comparison does not show that the difference in the actual detection value exceeds the specified angle threshold, it can be regarded as an equipment failure or hoisting operation If it does not meet the safety operation requirements, etc., it is determined that the lifting equipment is in the first fault condition, and the hoisting operation needs to be stopped and the investigation should be carried out. In some cases, it can also be further combined with the second monitoring layer returning No, it can be determined that there is an abnormality in the monitoring function of the lifting equipment or other abnormalities caused by equipment and irregular operations.
在第二种示例性第一层监测实施例中,针对配重行程的监测,起重设备可具有移动式配重调节机构,该配重调节机构可以有配重支撑臂和配重调节机构,在一些情况中,配重可以被配重支撑臂悬空,配重调节机构可以有油缸,油缸可以被控制系统驱动而推动配重,若是水平方向的推动,则相对起重设备而言可为外推(远离)或内收(靠近),配重行程可以通过配重调节机构上配重底座处配置的长度传感器或位移传感器进行实时监测,也可以通过油缸行程推算配重行程进行实时监测,同时,配重支撑臂根部可以被布置有角度传感器,配重支撑臂的第三仰角(如可以是配重支撑臂与在配重的位移方向上投影的角度)和针对配重调节机构测量的配重实时行程可以作为关于配重行程的作业参数,此时获取的传感器数据包括呈行程相关的实际检测值,与呈行程相关的实际检测值分别对应的配重实时行程和第三仰角,其中,行程在本发明实施例中可以被视为是配重被从调整前位置变动至调整后位置的移动距离或位移,而不是最大移动距离或位移,在本发明实施例中均可按此理解。In the second exemplary first-level monitoring embodiment, for the monitoring of the counterweight stroke, the lifting device may have a mobile counterweight adjustment mechanism, and the counterweight adjustment mechanism may have a counterweight support arm and a counterweight adjustment mechanism, In some cases, the counterweight can be suspended by the counterweight support arm, and the counterweight adjustment mechanism can have an oil cylinder, which can be driven by the control system to push the counterweight. Push (away) or draw in (closer), the counterweight stroke can be monitored in real time through the length sensor or displacement sensor arranged at the counterweight base on the counterweight adjustment mechanism, or the counterweight stroke can be estimated from the cylinder stroke for real-time monitoring. , the root of the counterweight support arm can be arranged with an angle sensor, the third elevation angle of the counterweight support arm (such as the angle between the counterweight support arm and the projection on the displacement direction of the counterweight) and the counterweight adjustment mechanism measured The real-time stroke of the heavy weight can be used as an operation parameter about the stroke of the counterweight, and the sensor data obtained at this time include the actual detection value related to the stroke, and the real-time stroke and the third elevation angle of the counterweight respectively corresponding to the actual detection value related to the stroke, wherein, In the embodiments of the present invention, the stroke can be regarded as the moving distance or displacement of the counterweight from the position before adjustment to the adjusted position, rather than the maximum moving distance or displacement, which can be understood in the embodiments of the present invention.
首先,可以使用长度传感器、位移传感器(示例性地可以安装在长度传感器的附近位置)和油缸行程多个传感器监测配重实时行程,并也使用多个角度传感器监测第三仰角。比较配重实时行程的多个实际检测值的差异是否超过指定数值范围以及比较第三仰角的多个实际检测值的差异是否超过指定数值范围。若比较均得出实际检测值的差异均不超过指定数值范围,则可以以配重实时行程的实际检测值均值或多个实际检测值中任意一者,作为配重实时行程的实际检测值,同理,也可以得到第三仰角的实际检测值。First, a length sensor, a displacement sensor (for example, it can be installed near the length sensor) and a plurality of sensors for the cylinder stroke can be used to monitor the real-time travel of the counterweight, and a plurality of angle sensors can also be used to monitor the third elevation angle. Comparing whether the difference of the multiple actual detection values of the real-time stroke of the counterweight exceeds the specified numerical range and comparing the difference of the multiple actual detection values of the third elevation angle exceeds the specified numerical range. If the comparison shows that the differences of the actual detection values do not exceed the specified numerical range, then the average of the actual detection values of the real-time stroke of the counterweight or any one of multiple actual detection values can be used as the actual detection value of the real-time stroke of the counterweight, Similarly, the actual detection value of the third elevation angle can also be obtained.
其次,可令配重实时行程为L 1和第三仰角为θ,并通过第三仰角θ计算获得的配重换算行程L 2,如L 2=f(θ),f可以为三角函数,可以判断配重实时行程L 1和配重换算行程L 2是否近似相等,即: Secondly, the real-time stroke of the counterweight can be L 1 and the third elevation angle is θ, and the conversion stroke L 2 of the counterweight obtained through the calculation of the third elevation angle θ, such as L 2 =f(θ), f can be a trigonometric function, can be Judging whether the counterweight real-time stroke L 1 and the counterweight conversion stroke L 2 are approximately equal, that is:
|L 1-L 2|≤ε 1     (4) |L 1 -L 2 |≤ε 1 (4)
式(4)中,ε 1是极小数,可以基于使用的传感器的误差,指定ε 1的具体数值且根据实际使用时表现适应地调整大小,[0,ε 1]可以作为当前的指定数值范围,此时换算关系可以视为既包括作业参数的实际检测值几何换算,也包括作业参数的换算检测值和实际检测值差异比较。 In formula (4), ε 1 is a very small number, based on the error of the sensor used, specify the specific value of ε 1 and adjust the size adaptively according to the performance in actual use, [0, ε 1 ] can be used as the current specified value In this case, the conversion relationship can be regarded as including not only the geometric conversion of the actual detection value of the operation parameter, but also the comparison of the difference between the converted detection value and the actual detection value of the operation parameter.
基于此时的监测方式,配重行程的监测可以形成当前的第一层监测网络,该第一层监测网络中,Based on the monitoring method at this time, the monitoring of the counterweight stroke can form the current first-level monitoring network. In the first-level monitoring network,
第一层监测子网络可以是比较针对同一作业参数的多个传感器的实际检测值是否差异过大的监测子网络,如配重实时行程的多个实际检测值的差异是否超过指定数值范围,该指定数值范围此时可以为指定行程阈值,The first layer of monitoring sub-network can be a monitoring sub-network that compares whether the actual detection values of multiple sensors for the same operation parameter are too different. The specified value range can be the specified travel threshold at this time,
第二层监测子网络可以是判断相关的实际检测值中与第三仰角θ对应的实际检测值在换算后得到的与配重换算行程L 2对应的换算检测值,是否和与配重实时行程L 1对应的实际检测值,存在近似相等。 The second layer of monitoring sub-network can be to determine whether the actual detection value corresponding to the third elevation angle θ in the relevant actual detection value is obtained after conversion and corresponds to the conversion detection value corresponding to the counterweight conversion stroke L2, whether it is consistent with the real - time stroke of the counterweight The actual detection value corresponding to L 1 is approximately equal.
若第一层监测网络中的第一层监测子网络比较没有得出配重实时行程和第三仰角的实际检测值的差异超过指定行程阈值,则可以暂时视实际检测值是可用的、准确的。然后,若第一层监测网络中的第二层监测子网络的判断返回为配重实时行程L 1和配重换算行程L 2的绝对值之差不属于指定数值范围(即不近似相等、不满足配置的换算关系),则可视为存在传感器或设备结构等故障造成数据存在错误,确定起重设备处于第一故障工况,需停止吊装作业,并进行故障排查。其他情况可以继续参照针对臂架姿态的监测,确定各监测层返回结果的组合及相应的设备操作,不再赘述。 If the difference between the real-time travel of the counterweight and the actual detection value of the third elevation angle exceeds the specified travel threshold, the actual detection value can be temporarily considered to be available and accurate. . Then, if the judgment of the second-level monitoring sub-network in the first-level monitoring network returns that the difference between the absolute value of the counterweight real-time stroke L 1 and the counterweight conversion stroke L 2 does not belong to the specified range of values (that is, not approximately equal, not satisfy the conversion relationship of the configuration), it can be considered that there are errors in the data due to faults such as sensors or equipment structures, and it is determined that the lifting equipment is in the first fault condition, and the hoisting operation needs to be stopped and troubleshooting is carried out. In other cases, you can continue to refer to the monitoring of the attitude of the boom to determine the combination of the results returned by each monitoring layer and the corresponding equipment operations, and will not repeat them here.
在第三种示例性第一层监测实施例中,针对吊载大小(包括吊载力矩大小和/或吊载重量大小)的监测,以吊载重量为例,一方面,可以在起重设备的主臂拉板靠近主臂臂头位置处布置拉力传感器,通过该拉力传感器的测量拉力计算获得吊载重量,另一方面,可以在起重设备的主臂根部布置压力传感器,通过该压力传感器的第一测量压力也可计算获得吊载重量,关于吊载大小的作业参数可以包括测量拉力和第一测量压力,传感器数据可以包括呈作用力相关的实际检测值。In the third exemplary first-level monitoring embodiment, for the monitoring of the hoisting load (including the hoisting moment and/or the hoisting weight), the hoisting weight is taken as an example. On the one hand, the hoisting equipment can be The pull plate of the main arm of the main arm is placed close to the position of the arm head of the main arm, and the hoisting weight can be obtained by calculating the measured tension of the force sensor. On the other hand, a pressure sensor can be arranged at the root of the main arm of the lifting equipment, through which the pressure sensor The first measured pressure can also be calculated to obtain the weight of the hoisted load, the operating parameters about the size of the hoisted load can include the measured tension and the first measured pressure, and the sensor data can include actual detection values related to the active force.
首先,可以使用多个传感器分别获得测量拉力和第一测量压力的实际检测值。比较测量拉力的多个实际检测值以及比较第一测量压力的多个实际检测值。若比较均得出实际检测值的差异均不超过指定数值范围,则可以以测量拉力的实际检测值均值或多个实际检测值中任意一者,作为测量拉力的实际检测值,同理,也可以得到第一测量压力的实际检测值。First, a plurality of sensors may be used to respectively obtain actual detection values of the measured tension and the first measured pressure. A plurality of actual detected values of the measured tension and a plurality of actual detected values of the first measured pressure are compared. If the difference of the actual detection values obtained by comparison does not exceed the specified numerical range, then the actual detection value mean value of the measured tension or any one of a plurality of actual detection values can be used as the actual detection value of the measurement tension, and in the same way, also The actual detected value of the first measured pressure can be obtained.
其次,基于具体起重设备的结构特点和传感器布置位置,如图3,可以将吊载重量G力学分解,两个分力分别为测量拉力G la和第一测量压力G ya,换算角度α通过主臂的仰角(如前述的第一仰角θ 1)计算获得,换算角度β可根据主臂长度、超起桅杆长度以及主臂与超起桅杆之间的夹角(如前述的夹角θ 3)结合余弦定理或适合的三角函数计算获得,可以写为: Secondly, based on the structural characteristics of the specific lifting equipment and the location of the sensors, as shown in Figure 3, the hoisting weight G can be mechanically decomposed, and the two component forces are the measured tension G la and the first measured pressure G ya , and the conversion angle α is obtained by The elevation angle of the main boom (such as the aforementioned first elevation angle θ 1 ) is calculated, and the conversion angle β can be based on the length of the main boom, the length of the super-lift mast and the angle between the main boom and the super-lift mast (such as the aforementioned included angle θ 3 ) combined with the cosine theorem or suitable trigonometric functions can be written as:
G la*sinβ/sinα=G| x=la     (5) G la *sinβ/sinα=G| x=la (5)
G ya*sinβ/sin(α+β)=G| x=ya   (6) G ya *sinβ/sin(α+β)=G| x=ya (6)
式(5)和式(6)中,吊载重量G的两个换算参量为第一吊载重量G| x=la和第二吊载重量G| x=ya,使用的三角函数关系或力转换系数不是限制的实施方式,可以基于力学分解方式、传感器布置位置等适应的实施,可写为: In formulas (5) and (6), the two conversion parameters of the hoisting weight G are the first hoisting weight G| x=la and the second hoisting weight G| x=ya , and the trigonometric function relation or force The conversion coefficient is not a limiting implementation, and it can be implemented based on mechanical decomposition methods, sensor layout positions, etc., and can be written as:
G x0*Tr x0=G| x=x0     (7) G x0 *Tr x0 = G | x = x0 (7)
式(7)中,G| x=x0可以表示与吊载重量分量G x0对应的吊载重量G的换算参量,Tr x0表示吊载重量分量G x0的力转换系数或三角函数关系;基于测量拉力以及第一测量压力的实际检测值,结合计算的角度α和β,分别确定第一吊载重量G| x=la和第二吊载重量G| x=ya的换算检测值,然后可以判断第一吊载重量G| x=la和第二吊载重量G| x=ya的换算检测值是否属于指定数值范围ε 2(即是否近似相等),可写为: In formula (7), G| x=x0 can represent the conversion parameter of the hoisting weight G corresponding to the hoisting weight component G x0 , and Tr x0 means the force conversion coefficient or trigonometric function relationship of the hoisting weight component G x0 ; based on measurement The actual detected values of the tension and the first measured pressure are combined with the calculated angles α and β to respectively determine the conversion detected values of the first suspended load G| x=la and the second suspended load G| x=ya , and then it can be judged Whether the conversion detection value of the first hoisting weight G| x=la and the second hoisting weight G| x=ya belongs to the specified value range ε 2 (that is, whether it is approximately equal), can be written as:
|G| x=la-G| x=ya|≤ε 2    (8) |G| x=la -G| x=ya |≤ε 2 (8)
式(8)中,ε 2是极小数,可以基于使用的传感器的误差,指定ε 2的具体数值且根据实际使用时表现适应地调整大小,[0,ε 2]可以作为当前的指定数值范围,此时的换算关系可以视为既包括作业参数的实际检测值力学转换或几何换算,也包括同一目标作业参数的多个换算检测值差异比较。 In formula (8), ε 2 is a very small number, based on the error of the sensor used, specify the specific value of ε 2 and adjust the size adaptively according to the performance in actual use, [0, ε 2 ] can be used as the current specified value The conversion relationship at this time can be regarded as including not only the mechanical conversion or geometric conversion of the actual detection value of the operation parameter, but also the difference comparison of multiple conversion detection values of the same target operation parameter.
基于此时的监测方式,吊载大小的监测可以形成当前的第一层监测网络,该第一层监测网络中,Based on the monitoring method at this time, the monitoring of the size of the hoisting load can form the current first-level monitoring network. In the first-level monitoring network,
第一层监测子网络可以是比较针对同一作业参数的多个传感器的实际检测值是否差异过大的监测子网络,如测量拉力或第一测量压力的多个检测值的差异是否超过指定数值范围,该指定数值范围此时可以为作用力阈值,The first layer of monitoring sub-network can be a monitoring sub-network that compares whether the actual detection values of multiple sensors for the same operation parameter are too different, such as whether the difference of multiple detection values of the measured tension or the first measured pressure exceeds the specified value range , the specified value range can be the force threshold at this time,
第二层监测子网络可以是判断相关的实际检测值中与测量拉力和第一测量压力对应的实际检测值在换算后得到的换算检测值是否存在近似相等;The second layer of monitoring sub-network can be to determine whether the converted detection values obtained after conversion of the actual detection values corresponding to the measured tension and the first measured pressure among the relevant actual detection values are approximately equal;
若第一层监测网络中的第一层监测子网络比较没有得出测量拉力和第一测量压力的实际检测值超过指定作用力阈值,则可以暂时视实际检测值是可用的、准确的。然后,若第一层监测网络中的第二层监测子网络的判断第一吊载重量G| x=la和第二吊载重量G| x=ya的 绝对值之差不属于指定数值范围(即不近似相等、不满足配置的换算关系),则可视为存在传感器或设备结构等故障造成数据存在错误,则确定起重设备处于第一故障工况,需停止吊装作业,并进行故障排查。其他情况可以继续参照针对臂架姿态的监测,确定各监测层返回结果的组合及相应的设备操作,不再赘述。 If the comparison of the first-layer monitoring sub-network in the first-layer monitoring network fails to obtain that the actual detected values of the measured tension and the first measured pressure exceed the specified force threshold, the actual detected values may be considered temporarily available and accurate. Then, if the second-layer monitoring sub-network in the first-layer monitoring network judges that the difference between the absolute value of the first hanging weight G| x=la and the second hanging weight G| x=ya does not belong to the specified value range ( That is, not approximately equal, not satisfying the conversion relationship of the configuration), it can be considered that there are errors in the data caused by faults such as sensors or equipment structures, and it is determined that the lifting equipment is in the first fault condition, and the hoisting operation needs to be stopped and troubleshooting should be carried out . In other cases, you can continue to refer to the monitoring of the attitude of the boom to determine the combination of the results returned by each monitoring layer and the corresponding equipment operations, and will not repeat them here.
吊载大小是起重设备执行吊装作业中非常重要的参数,针对吊载大小的监测,还可以在超起桅杆后撑杆底部布置压力传感器,通过该压力传感器可以确定第二测量压力,可以基于该第二测量压力,形成中间层监测网络,中间层监测网络可以是在第一层监测网络和第二层监测网络之间的监测网络,因此,本发明实施例进一步提供三层的监测网络。The size of the hoisting load is a very important parameter in the hoisting operation of the lifting equipment. For the monitoring of the size of the hoisting load, a pressure sensor can also be arranged at the bottom of the rear strut of the super-lifting mast. The second measurement pressure can be determined through the pressure sensor, which can be based on The second measurement pressure forms an intermediate-layer monitoring network, which may be a monitoring network between the first-layer monitoring network and the second-layer monitoring network. Therefore, embodiments of the present invention further provide a three-layer monitoring network.
在一种中间层监测网络的实施例中,通过第二测量压力,可以基于至少两个压力参考值,确定第三吊载重量(可视为吊载重量G的一个换算参量)的至少三个大小等级,如记第二测量压力F p,压力参考值F 1和F 2(F p≤F 1,F 1<F p≤F 2,F 2<F p分别对应第三吊载重量的大小等级为小、中、大),可以基于第二测量压力的实际检测值确定第三吊载重量的当前大小等级,吊载重量G可以被视为(可以在吊载重量G对应的换算检测值确定近似相等之后)第一吊载重量G| x=la和第二吊载重量G| x=ya中任意一个,也可以基于至少两个重量参考值,如重量参考值G 1和G 2(G≤G 1,G 1<G≤G 2,G 2<G分别对应等级为小、中、大),确定吊载重量G的当前大小等级,如大、中、小,然后,确定吊载重量G的当前大小等级与第三吊载重量的当前大小等级的大小等级匹配关系,判断该大小等级匹配关系是否是与起重设备的的平稳状态对应的匹配关系,其中,起重设备的的平稳状态包括平稳的状态和不平稳的状态,不平稳的状态包括前(主臂位置视为为前)倾状态和后倾状态;在吊载重量G的当前大小等级为大时,起重设备处于前倾状态,第三吊载重量的当前大小等级应当匹配的大小等级为小;在吊载重量G的当前大小等级为中时,起重设备处于平稳的状态,第三吊载重量的当前大小等级应当匹配的大小等级也为中;在吊载重量G的当前大小等级为小时,起重设备处于后倾状态,第三吊载重量的当前大小等级应当匹配的大小等级为大。需要说明的是,前述起重设备的平稳状态可以基于已施加的配重移动操作和吊装作业阶段等确定得出,如完成被起吊重物下发后或被起吊物较轻,配重若处于悬空,平稳状态此时可为后倾状态。 In an embodiment of the middle layer monitoring network, through the second measured pressure, at least three of the third hoisting weight (which can be regarded as a conversion parameter of the hoisting weight G) can be determined based on at least two pressure reference values. Size grades, such as the second measurement pressure F p , pressure reference values F 1 and F 2 (F p ≤ F 1 , F 1 < F p ≤ F 2 , F 2 < F p respectively correspond to the size of the third hoisting weight The grades are small, medium and large), the current size grade of the third hoisting weight can be determined based on the actual detection value of the second measurement pressure, the hoisting weight G can be regarded as (the converted detection value corresponding to the hoisting weight G Any one of the first suspended load weight G| x=la and the second suspended load weight G| x=ya after being determined to be approximately equal can also be based on at least two weight reference values, such as weight reference values G 1 and G 2 ( G≤G 1 , G 1 <G≤G 2 , G 2 <G respectively correspond to grades of small, medium, and large), determine the current size grade of the hoisting weight G, such as large, medium, and small, and then determine the hoisting weight The matching relationship between the current size level of the weight G and the current size level of the third hoisting weight, judging whether the size level matching relationship is a matching relationship corresponding to the steady state of the lifting equipment, wherein the lifting equipment's The stable state includes a stable state and an unstable state, and the unstable state includes a forward (main arm position is regarded as a forward) tilted state and a backward tilted state; when the current size level of the hoisting weight G is large, the lifting equipment In the forward leaning state, the current size grade of the third hoisting weight should match the small grade; when the current size grade of the hoisting weight G is medium, the lifting equipment is in a stable state, and the current size grade of the third hoisting weight is The size class that should match the size class is also medium; when the current size class of the hoisting weight G is small and the lifting device is in a backward tilting state, the size class that should match the current size class of the third hoisting weight G is large. It should be noted that the stable state of the aforementioned lifting equipment can be determined based on the applied counterweight movement operation and hoisting operation stage. Suspended, the stable state can be a backward leaning state at this time.
在一些数据处理实施中,记第三吊载重量为G p,并将大、中、小等级分别记为1、0、-1,吊载重量G的在各吊装作业时刻i(可为正整数)的大小等级S={s i},以及第三吊载重量G p在各吊装作业时刻i的大小等级V={v i},与起重设备的平稳状态对应的匹配关系可以写为: In some data processing implementations, record the third hoisting weight as G p , and record the large, medium, and small grades as 1, 0, and -1 respectively. Integer) size grade S={s i }, and the size grade V={v i } of the third hoisting weight G p at each hoisting operation moment i, the matching relationship corresponding to the steady state of the lifting device can be written as :
表1理论大小等级匹配关系表Table 1 Theoretical size and grade matching relationship table
s i s i 11 00 -1-1
v i v i -1-1 00 11
对于判断与相关的实际检测值对应的大小等级匹配关系是否是与起重设备的的平稳状态对应的匹配关系,可以通过列向量
Figure PCTCN2022107891-appb-000001
元素和是否为0进行判断,写为:
For judging whether the size and level matching relationship corresponding to the relevant actual detection value is the matching relationship corresponding to the steady state of the lifting equipment, the column vector can be used
Figure PCTCN2022107891-appb-000001
To judge whether the element sum is 0, write as:
s i+v i=0   (9) s i +v i =0 (9)
其中,若式(9)不成立时,则可以确定起重设备处于故障工况,至少作业参数的监测功能不正常,需要停止吊装作业,并进行故障排查。Among them, if the formula (9) is not established, it can be determined that the lifting equipment is in a fault condition, at least the monitoring function of the operation parameters is not normal, and it is necessary to stop the hoisting operation and carry out troubleshooting.
基于此时的监测方式,前述的中间层监测网络也可以有双层监测子网络。该中间层监测网络中,Based on the monitoring method at this time, the aforementioned intermediate layer monitoring network may also have a two-layer monitoring sub-network. The middle layer monitors the network,
第一层监测子网络可以是比较针对同一作业参数的多个传感器的实际检测值是否差异过大的监测子网络,如通过多个压力传感器可以获得的第二测量压力的多个实际检测值的差异是否超过指定数值范围;The first layer of monitoring sub-network can be a monitoring sub-network that compares whether the actual detection values of multiple sensors for the same operation parameter are too different, such as multiple actual detection values of the second measurement pressure that can be obtained through multiple pressure sensors Whether the difference exceeds the specified numerical range;
第二层监测子网络可以是判断相关的实际检测值中与第二测量压力F p对应的实际检测值换算得到的第三吊载重量G p的大小等级,与吊载重量G的大小等级的大小等级匹配关系,是否是与起重设备的平稳状态对应的匹配关系,如通过列向量
Figure PCTCN2022107891-appb-000002
元素和实际是否为0实现。
The second layer of monitoring sub-network can be to determine the size level of the third hoisting weight G p obtained by converting the actual detection value corresponding to the second measurement pressure F p in the relevant actual detection values, and the size level of the hoisting weight G Size and grade matching relationship, whether it is the matching relationship corresponding to the steady state of the lifting equipment, such as through the column vector
Figure PCTCN2022107891-appb-000002
element and actual whether 0 is implemented.
在起重设备未处于第一故障工况时,可以利用中间层监测网络再进行一层监测网络的判断,可以在中间层监测网络判断起重设备未处于第三故障工况之后,再进行后续的第二层监测网络的判断。When the hoisting equipment is not in the first fault condition, the middle layer monitoring network can be used to judge the first layer of monitoring network, and the follow-up can be carried out after the middle layer monitoring network judges that the lifting equipment is not in the third fault condition The judgment of the second layer monitoring network.
若中间层监测网络中的第一层监测子网络比较没有得出的第二测量压力的多个实际检测值的差异超过指定数值范围,则可以暂时视实际检测值是可用的、准确的。然后,若中间层监测网络中的第二层监测子网络可以判断相关的实际检测值中与第二测量压力F p对应的实际检测值换算得到的第三吊载重量G p的大小等级,与吊载重量G的大小等级的大小等级匹配关系,不是与起重设备的平稳状态对应的匹配关系,则确定起重设备处于第三故障工况,需停止吊装作业,并进行排查。可以理解的,第三故障工况可以通过中间层监测的一种状态标识实现,该状态标识可以与第一层监测、第二层监测的状态标识均不同,并也类似地,可被配置为对应一些默认故障、或可根据故障排查结果最终确定的具体故障、或可由多种故障造成、或可指定为不确定型故障并待排查。示例地,该第三故障工况可以包括吊装平衡性异常工况、作业不规范工况、控制功能异常工况、作业环境突变导致的异常工况和/或设备结构异常工况等,以便于实现特定类型的预警和故障排除操作。 If the difference between the multiple actual detected values of the second measured pressure obtained by the first-layer monitoring sub-network comparison in the middle-layer monitoring network exceeds the specified value range, the actual detected value can be temporarily regarded as available and accurate. Then, if the second-level monitoring sub-network in the middle-level monitoring network can judge the size grade of the third hoisting weight Gp converted from the actual detection value corresponding to the second measurement pressure Fp among the relevant actual detection values, and If the matching relationship of the size and level of the hoisting weight G is not the matching relationship corresponding to the steady state of the hoisting equipment, it is determined that the hoisting equipment is in the third fault condition, and the hoisting operation needs to be stopped and checked. It can be understood that the third fault condition can be realized by a state identification of the middle layer monitoring, which can be different from the state identification of the first layer monitoring and the second layer monitoring, and similarly, can be configured as Corresponding to some default faults, or specific faults that can be finally determined according to the troubleshooting results, or can be caused by multiple faults, or can be designated as indeterminate faults to be checked. Exemplarily, the third fault condition may include abnormal condition of hoisting balance, abnormal condition of operation, abnormal condition of control function, abnormal condition caused by sudden change of working environment and/or abnormal condition of equipment structure, etc., so as to facilitate Implement specific types of early warning and troubleshooting actions.
需要额外补充说明的是,基于以上监测实施,在一些实施例中,第一层监测网络可以至少有前述的臂架姿态的监测、配重行程的监测和吊载大小的监测中任意一者,并且,第一层监测网络中的任意一种第一层监测子网络是可以根据实际需求选择的,而第一层监测网络中的第二层监测子网络可以作为第一层监测网络的主要部分。中间层监测网络中的第一层监测子网络也是可以根据实际需求选择的,而中间层监测网络中的第二层监测子网络也可以作为中间层监测网络的主要部分。It needs to be additionally explained that, based on the above monitoring implementation, in some embodiments, the first-level monitoring network can at least have any one of the aforementioned boom attitude monitoring, counterweight stroke monitoring, and hoisting load size monitoring, Moreover, any first-tier monitoring sub-network in the first-tier monitoring network can be selected according to actual needs, and the second-tier monitoring sub-network in the first-tier monitoring network can be used as the main part of the first-tier monitoring network . The first-layer monitoring sub-network in the middle-layer monitoring network can also be selected according to actual needs, and the second-layer monitoring sub-network in the middle-layer monitoring network can also be used as the main part of the middle-layer monitoring network.
在前述吊载大小的监测过程中,已关联使用了臂架姿态的监测中部分作业参数的实际检测值,在一种有利的实施中,可以再将前述的臂架姿态的监测、配重行程的监测和吊载大小的监测中作业参数进行关联,关联监测各个作业参数的实际检测值,具体可以通过吊载端和配重端作业参数的力矩平衡性判断,实现第二层监测网络中针对力矩对应的实际检测值的监测。In the aforementioned monitoring process of the size of the hoisting load, the actual detection values of some operating parameters in the monitoring of the jib attitude have been used in association. In an advantageous implementation, the aforementioned monitoring of the jib attitude, counterweight travel The actual detection value of each operating parameter in the monitoring of the monitoring and the monitoring of the size of the hoisting load is correlated, and the actual detection value of each operating parameter can be correlated. Specifically, the torque balance of the operating parameters at the hoisting end and the counterweight end can be judged to realize the target in the second-layer monitoring network. The monitoring of the actual detection value corresponding to the torque.
在一种示例性第二层监测实施例中,基于起重设备的回转支撑中心,计算吊载端力矩和配重端力矩,判断是否满足力矩平衡,实现关联监测。计算吊载端力矩M 吊载In an exemplary second-level monitoring embodiment, based on the slewing support center of the lifting device, the moment at the hoisting end and the moment at the counterweight end are calculated to determine whether the moment balance is satisfied, and realize associated monitoring. Calculate the lifting end moment M hoisting load :
M 吊载=m 1(G,Θ)     (10) M hanging load = m 1 (G, Θ) (10)
式(10)中,m 1(G,Θ)为基于具体起重设备结构特点和传感器布置位置配置的、关于吊载大小G和臂架姿态Θ(如仰角等)的力矩计算函数。类似地,计算配重端力矩M 配重In formula (10), m 1 (G, Θ) is a moment calculation function about the hoisting load size G and the jib attitude Θ (such as elevation angle, etc.) based on the specific structural characteristics of the lifting equipment and the location configuration of the sensor. Similarly, calculate the counterweight end moment M counterweight :
M 配重=m 2(L)   (11) M counterweight = m 2 (L) (11)
式(11)中,m 2(L)为基于具体起重设备结构特点和传感器布置位置配置的、关于配重行程L的力矩计算函数。在吊装过程中,机手可根据现场情况验证起重设备的力矩平衡状态,若力矩平衡状态为平衡,则满足力矩平衡关系: In formula (11), m 2 (L) is a moment calculation function about the counterweight stroke L based on the structural characteristics of the specific lifting equipment and the sensor arrangement position configuration. During the hoisting process, the operator can verify the moment balance state of the lifting equipment according to the site conditions. If the moment balance state is balanced, the moment balance relationship is satisfied:
M 吊载=M 配重   (12) M hoisting load = M counterweight (12)
由式(12),可确定,臂架姿态、配重行程和吊载大小的监测中作业参数存在内在的力矩平衡关系;可以设定一定的误差范围,可根据力矩平衡方程判断上述三个监测子网络中作业参数的实际检测值是否有表现为故障的,即判断吊载端力矩和配重端力矩的绝对值之差是否属于指定数值范围,写为:From formula (12), it can be determined that there is an inherent moment balance relationship among the operating parameters in the monitoring of boom attitude, counterweight stroke and hoisting size; a certain error range can be set, and the above three monitoring parameters can be judged according to the moment balance equation. Whether the actual detection value of the operating parameters in the sub-network shows a fault, that is, to judge whether the absolute value difference between the moment at the hoisting end and the moment at the counterweight end belongs to the specified value range, written as:
|M 吊载-M 配重|≤ε 3    (13) |M hoisting- M counterweight |≤ε 3 (13)
式(13)中,ε 3是极小数,可以指定ε 3的具体数值且根据实际使用时表现适应地调整大小,[0,ε 3]可以作为当前的指定数值范围,如若式(13)不成立,则确定起重设备处于第 二故障工况,出现了力矩不平衡,有作业参数监测出现错误,应该进行故障排查。 In formula (13), ε 3 is a very small number, you can specify the specific value of ε 3 and adjust the size adaptively according to the performance in actual use, [0, ε 3 ] can be used as the current specified value range, as in formula (13) If it is not established, it is determined that the lifting equipment is in the second fault condition, the moment is unbalanced, and there is an error in the monitoring of operating parameters, and troubleshooting should be carried out.
基于此时的监测方式,力矩平衡的监测可以形成第二层监测网络,该第二层监测网络可以用于判断相关的实际检测值中基于与吊载大小G和臂架姿态Θ对应的实际检测值计算得到的吊载端力矩M 吊载的换算检测值,和基于与配重行程L对应的实际检测值计算得到的配重端力矩M 配重的换算检测值的绝对值之差,是否属于指定数值范围,若不属于指定数值范围(即不近似相等),则确定起重设备处于第二故障工况,可视为存在传感器或设备结构等故障造成数据存在错误,需停止吊装作业,并进行故障排查;该第二层监测网络与第一层监测网络、中间层监测网络构成起重设备的多层的监测网络(或监测系统)。在一些情况中,第二层监测网络也可以有双层监测子网络,也类似地,第一层监测子网络用于判断多个传感器的实际检测值的差异,第二层监测子网络用于判断实际检测值是否符合此处的力矩平衡关系。 Based on the monitoring method at this time, the monitoring of moment balance can form a second-layer monitoring network, which can be used to judge the actual detection value based on the actual detection corresponding to the size G of the hoisting load and the attitude Θ of the jib. Whether the difference between the absolute value of the converted detection value of the hoisting load end moment M calculated based on the actual detection value corresponding to the counterweight stroke L and the conversion detection value of the counterweight end moment M calculated based on the actual detection value corresponding to the counterweight stroke L belongs to Specify the value range, if it does not belong to the specified value range (that is, it is not approximately equal), it is determined that the lifting equipment is in the second fault condition, which can be regarded as a fault in the sensor or equipment structure that causes data errors, and the hoisting operation needs to be stopped, and Troubleshooting; the second-layer monitoring network, the first-layer monitoring network, and the middle-layer monitoring network constitute a multi-layer monitoring network (or monitoring system) of the lifting equipment. In some cases, the second-layer monitoring network can also have a double-layer monitoring sub-network. Similarly, the first-layer monitoring sub-network is used to judge the difference between the actual detection values of multiple sensors, and the second-layer monitoring sub-network is used to Judging whether the actual detection value conforms to the torque balance relationship here.
在本发明实施例示例性的一种公开实施中,如图4,起重设备的监测网络可以包括获取层100、由臂架姿态监测网络200、配重行程监测网络300、吊载大小监测网络400构成的第一层监测网络、第二层监测网络500和故障输出层600,故障输出层600可以输出第一故障状态的状态标识和第二故障状态的状态标识,获取层100用于获取起重设备的各个作业参数的传感器数据,传感器数据中相关的实际检测值包括与关于臂架姿态的作业参数101对应的实际检测值、与关于配重行程的作业参数102对应的实际检测值以及与关于吊载大小的作业参数103对应的实际检测值;臂架姿态监测网络200包括第一层监测子网络204和第二层监测子网络205,第一层监测子网络204和第二层监测子网络205可以执行数据同步接收操作201和202,第二层监测子网络205还可以在第一层监测子网络204将判断的结果208输出至故障输出层600之后异步执行数据接收操作206,判断的结果207、208均可以用于确定起重设备是否处于第一故障工况;配重行程监测网络300和吊载大小监测网络400也可由类似的双层监测子网络结构(子网络301、302以及子网络401、402),配重行程监测网络300和吊载大小监测网络400的工作机制可以参照臂架姿态监测网络200,不再重复。第二层监测网络500可以与各个双层监测子网络对应的数据同步接收操作203、303、403,第二层监测网络500可以将判断的返回结果501也输出至故障输出层600,其中,第二层监测网络500可以在第一层监测网络的判断起重设备未处于第一故障工况的基础上,再执行判断;故障输出层600用于确定任意一个判断的返回为否(N)并确定起重设备处于第一故障工况或第二故障工况,故障输出层600也可用于输出各个返回为是(Y)的结果,即起重设备未处于第一故障工况或第二故障工况。在起重设备的监测网络中,还可配置有中间层监测网络 (图4中未示出),中间层监测网络可对获取层100有数据接收,并在第一层监测网络的判断起重设备未处于第一故障工况且还未执行第二层监测网络的判断的基础上,判断起重设备是否处于第三故障工况,中间层监测网络判断的结果也输出至故障输出层600。In an exemplary public implementation of the embodiment of the present invention, as shown in Figure 4, the monitoring network of the lifting equipment may include an acquisition layer 100, a boom posture monitoring network 200, a counterweight stroke monitoring network 300, and a hoisting load size monitoring network 400 constitutes a first-layer monitoring network, a second-layer monitoring network 500, and a fault output layer 600. The fault output layer 600 can output the state identification of the first fault state and the state identification of the second fault state, and the acquisition layer 100 is used to obtain the The sensor data of each operating parameter of the heavy equipment, the relevant actual detected values in the sensor data include the actual detected value corresponding to the operating parameter 101 about the attitude of the boom, the actual detected value corresponding to the operating parameter 102 about the counterweight stroke, and the actual detected value corresponding to the operating parameter 102 about the stroke of the counterweight. The actual detection value corresponding to the operating parameter 103 of the size of the hoist; the boom posture monitoring network 200 includes a first-layer monitoring sub-network 204 and a second-layer monitoring sub-network 205, and the first-layer monitoring sub-network 204 and the second-layer monitoring sub-network 205 The network 205 can perform the data synchronous receiving operations 201 and 202, and the second-layer monitoring subnetwork 205 can also perform the data receiving operation 206 asynchronously after the first-layer monitoring subnetwork 204 outputs the result 208 of judgment to the fault output layer 600. Results 207 and 208 can be used to determine whether the lifting equipment is in the first fault condition; the counterweight stroke monitoring network 300 and the hoisting size monitoring network 400 can also be composed of similar double-layer monitoring subnetwork structures ( subnetworks 301, 302 and Sub-networks 401, 402), the working mechanism of the counterweight stroke monitoring network 300 and the hoisting size monitoring network 400 can refer to the jib attitude monitoring network 200, and will not be repeated. The second-layer monitoring network 500 can receive and operate 203, 303, and 403 synchronously with the data corresponding to each two-layer monitoring sub-network, and the second-layer monitoring network 500 can also output the returned result 501 of the judgment to the fault output layer 600, wherein the first The two-layer monitoring network 500 can execute the judgment on the basis of the first-layer monitoring network's judgment that the hoisting equipment is not in the first fault condition; the fault output layer 600 is used to determine that any one of the judgments returns to No (N) and If it is determined that the lifting device is in the first fault condition or the second fault condition, the fault output layer 600 can also be used to output the result of each return being yes (Y), that is, the lifting device is not in the first fault condition or the second fault working conditions. In the monitoring network of the hoisting equipment, an intermediate layer monitoring network (not shown in Figure 4) can also be configured, and the intermediate layer monitoring network can receive data from the acquisition layer 100, and the first layer monitoring network can judge the lifting Based on the fact that the equipment is not in the first fault condition and the judgment of the second-level monitoring network has not been executed, it is judged whether the lifting equipment is in the third fault condition, and the judgment result of the middle-level monitoring network is also output to the fault output layer 600 .
如图5,故障双层冗余监测方法可具体包括:As shown in Figure 5, the fault double-layer redundancy monitoring method may specifically include:
S1)通过第一层监测网络接收获取层100传送的传感器数据,具体可以是,臂架姿态监测网络200、配重行程监测网络300和吊载大小监测网络400接收获取层100传送的传感器数据;S1) receiving the sensor data transmitted by the acquisition layer 100 through the first layer monitoring network, specifically, the jib attitude monitoring network 200, the counterweight stroke monitoring network 300 and the hoisting size monitoring network 400 receiving the sensor data transmitted by the acquisition layer 100;
S2)通过第一层监测网络判断传感器数据是否符合换算关系,具体可以是,基于传感器数据,通过臂架姿态监测网络200、配重行程监测网络300和吊载大小监测网络400中任意至少一者判断传感器数据是否符合换算关系,确定起重设备是否处于第一故障工况;S2) Judging whether the sensor data conforms to the conversion relationship through the first-layer monitoring network, specifically, based on the sensor data, through any at least one of the boom attitude monitoring network 200, the counterweight stroke monitoring network 300, and the hoisting size monitoring network 400 Judging whether the sensor data conforms to the conversion relationship, and determining whether the lifting equipment is in the first fault condition;
S3)通过第二层监测网络500判断传感器数据是否符合力矩平衡关系,确定起重设备是否处于第二故障工况,此时起重设备已被确定未处于第一故障工况。其中,传感器数据可以同步或异步传送至双层监测网络,一些情况中,第二层监测网络接收到的传感器数据也可以是由第一层监测网络转发的。S3) Determine whether the sensor data conforms to the moment balance relationship through the second-layer monitoring network 500, and determine whether the lifting equipment is in the second fault condition, and at this time the lifting equipment has been determined not to be in the first fault condition. Wherein, the sensor data can be transmitted to the two-layer monitoring network synchronously or asynchronously, and in some cases, the sensor data received by the second-layer monitoring network can also be forwarded by the first-layer monitoring network.
在进一步的实施方式中,故障双层冗余监测方法还可具体包括:在确定起重设备未处于第一故障工况之后,还通过中间层监测网络判断传感器数据是否符合大小等级匹配关系,确定起重设备是否处于第三故障工况。In a further embodiment, the fault double-layer redundancy monitoring method may also specifically include: after determining that the lifting equipment is not in the first fault condition, it is also judged through the middle layer monitoring network whether the sensor data conforms to the size-level matching relationship, and determining Whether the lifting equipment is in the third fault condition.
在进一步的实施方式中,故障双层冗余监测方法还可具体包括:在确定起重设备未处于第二故障工况和第三故障工况之后,可以使用此时的传感器数据,实时控制配重移动和执行吊装作业。In a further embodiment, the fault double-layer redundancy monitoring method may also specifically include: after determining that the lifting equipment is not in the second fault condition and the third fault condition, the sensor data at this time may be used to control the allocation in real time. Heavy moving and performing lifting operations.
本发明实施例还提供一种故障双层冗余预警方法,该故障双层冗余预警方法包括前述的故障双层冗余监测方法,该故障双层冗余预警方法还可以包括:The embodiment of the present invention also 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 the fault double-layer redundancy early warning method may also include:
S1’)确定所述起重设备处于任意一种故障工况;S1') determine that the lifting device is in any fault condition;
S2’)停止所述起重设备执行吊装作业,并执行配置的预警。S2') Stop the hoisting device from performing the hoisting operation, and execute the configured early warning.
在一些具体实施中,配置的预警可以包括执行起重设备的操作屏提示及播报、执行声光报警和执行故障排查等。In some specific implementations, the configured early warning may include prompting and broadcasting on the operation screen of the lifting equipment, performing sound and light alarms, and performing troubleshooting, etc.
相较于传统固定式配重,移动式配重可扩大起重机同等配重大小情况下的起吊能力,若可灵活调整配重位置保持系统重心处于回转支撑中心点处则能够提高吊装稳定性,但是,配重可移动大多需要基于配重悬空,配重离地后,系统只有回转支撑一个支点,吊载端和配重端都可能存在倾翻风险,在吊装作业过程中,需要根据吊载变化实时匹配合适的配重行程, 导致整体控制的安全要求大幅增加,安全监测的难度也大幅提升。在本发明实施例中,在配重悬空以及可移动后,将起重设备的可靠监测分为第一层监测网络和第二层监测网络的双层冗余监测网络,在第一层监测网络中主要有三个作业关键参数的可靠精确监测,三个作业关键参数分别是臂架姿态、配重行程以及吊载大小,根据上述三个作业关键参数的换算检测值或相关的实际检测值,可实时确定是否有第一故障工况存在,在无第一故障工况时,第二层监测网络可进行力矩平衡的判断,并可实时计算起重设备的力矩平衡状态并实时给出精确的配重行程(配重匹配或移动位置),从而既能够根据力矩平衡状态判断系统作业工况是否处于安全控制范围,又能够保障离地悬空配重移动的控制和吊载控制的可用性和准确性,因此,本发明实施例针对上述三个关键参数的几何换算关系和有力矩关联的作业参数的力矩平衡关系,实现了可靠的起重设备安全冗余监测方案,特别能够提高履带式起重机配重悬空后动态变行程的安全稳定性能。Compared with the traditional fixed counterweight, the mobile counterweight can expand the hoisting capacity of the crane with the same counterweight size. If the position of the counterweight can be flexibly adjusted to keep the center of gravity of the system at the center of the slewing support, the hoisting stability can be improved, but , the movable counterweight mostly needs to be based on the counterweight being suspended in the air. After the counterweight is off the ground, the system only has one fulcrum of slewing support. There may be a risk of tipping over at both the hoisting end and the counterweight end. Matching the appropriate counterweight stroke in real time has led to a substantial increase in the safety requirements of the overall control, and the difficulty of safety monitoring has also been greatly increased. In the embodiment of the present invention, after the counterweight is suspended and movable, the reliable monitoring of the lifting equipment is divided into a double-layer redundant monitoring network of the first-layer monitoring network and the second-layer monitoring network. There are mainly three reliable and accurate monitoring of the key parameters of the operation. The three key parameters of the operation are the attitude of the boom, the stroke of the counterweight, and the size of the hoisting load. According to the converted detection values or related actual detection values of the above three key parameters of the operation, Determine whether there is a first fault condition in real time. When there is no first fault condition, the second-layer monitoring network can judge the moment balance, and can calculate the moment balance state of the lifting equipment in real time and give an accurate configuration in real time. Heavy travel (counterweight matching or moving position), so that it can not only judge whether the system operating condition is in the safe control range according to the moment balance state, but also ensure the usability and accuracy of the control of the movement of the counterweight suspended from the ground and the control of the hoisting load. Therefore, the embodiments of the present invention aim at the geometric conversion relationship of the above three key parameters and the torque balance relationship of the operation parameters related to the torque, and realize a reliable safety redundancy monitoring scheme for lifting equipment, especially to improve the suspension of the counterweight of crawler cranes. The safe and stable performance of rear dynamic variable stroke.
本发明实施例可特别对配重可移动悬空的履带起重机这一新型起重机设定作业关键参数(臂架姿态、吊载大小和配重行程)安全冗余监测方案,确保作业过程中关键参数的监测精度,可用于系统相关故障监测,增设作业安全裕度,提升安全性能,同时从系统整体力矩平衡出发,实现各监测参数的关联性分析,构建了起重机整体系统监测网络,为配重不落地吊装新式起重机的开发提供新的系统安全监测方案。The embodiment of the present invention can especially set a safety redundant monitoring scheme for the key parameters of the operation (arm frame attitude, hoisting load size and counterweight stroke) for the new type of crane, which is a crawler crane with a movable and suspended counterweight, so as to ensure the accuracy of the key parameters during the operation process. The monitoring accuracy can be used to monitor system-related faults, increase the operating safety margin, and improve safety performance. At the same time, starting from the overall moment balance of the system, the correlation analysis of each monitoring parameter is realized, and the overall system monitoring network of the crane is built to ensure that the counterweight does not fall to the ground. The development of hoisting new cranes provides a new system safety monitoring solution.
本发明实施例可在起重设备已有传感器的硬件监测网络基础上,针对同一作业关键参数,配置双层或三层安全冗余监测,确保作业过程中各关键参数监测精度满足安全作业需求;本发明实施例除了单独对作业参数进行冗余监测以外还根据系统力矩平衡建立各参数间的相关性,并给出系统级监测精度判断,形成监测网络。In the embodiment of the present invention, on the basis of the hardware monitoring network of the existing sensors of the lifting equipment, two-layer or three-layer safety redundancy monitoring can be configured for the key parameters of the same operation, so as to ensure that the monitoring accuracy of each key parameter during the operation process meets the requirements of safe operation; In the embodiment of the present invention, in addition to redundant monitoring of operating parameters, the correlation between parameters is established according to the system moment balance, and the system-level monitoring accuracy judgment is given to form a monitoring network.
本发明实施例多层冗余监测方案可以实时对比获得的检测值的差异,当差异大于安全误差允许范围时则可判断发生故障,暂停设备操作,便可进行系统故障分析;本发明实施例冗余监测方案可单独作为独立的监测系统来分别监测臂架姿态、吊载大小、配重行程三个作业关键参数,实现多个可选的起重设备监测系统。The multi-layer redundant monitoring scheme of the embodiment of the present invention can compare the difference of the obtained detection values in real time. When the difference is greater than the allowable range of safety error, it can be judged that a fault has occurred, and the operation of the equipment can be suspended to perform system fault analysis; the redundancy of the embodiment of the present invention The rest of the monitoring scheme can be used as an independent monitoring system to monitor the three key parameters of the boom attitude, hoisting load size, and counterweight stroke, and realize multiple optional monitoring systems for lifting equipment.
实施例2Example 2
本发明实施例与实施例1属于同一发明构思,本发明实施例提供了故障双层冗余预警系统,故障双层冗余预警系统应当理解为该系统至少有双层监测模块,该故障双层冗余预警系统可以包括:The embodiment of the present invention and embodiment 1 belong to the same inventive concept. The embodiment of the present invention provides a fault double-layer redundant early warning system. The fault double-layer redundant early warning system should be understood as that the system has at least a double-layer monitoring module. Redundant early warning systems can include:
获得模块,用于基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据;The obtaining module is used to obtain the sensor data of each operation parameter based on the sensor groups correspondingly grouped according to the operation parameters on the lifting equipment;
第一层监测模块,用于在第一层监测中,基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,其中,所述换算关系包括与所述相关的实际检测值对应的作业参数之间的几何换算关系;The first-level monitoring module is used to determine whether the lifting equipment is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship during the first-level monitoring, wherein the The conversion relationship includes a geometric conversion relationship between the operation parameters corresponding to the relevant actual detection value;
第二层监测模块,用于在第二层监测中,基于所述传感器数据中与力矩对应的实际检测值是否满足与相应力矩的作业参数之间的力矩平衡关系,确定所述起重设备是否处于第二故障工况,其中,所述起重设备未处于所述第一故障工况。The second-level monitoring module is used to determine whether the lifting device is based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque during the second-level monitoring. In a second fault condition, wherein the lifting device is not in the first fault condition.
该故障双层冗余预警系统还包括:The failure double-layer redundant early warning system also includes:
预警模块,用于确定所述起重设备处于任意一种故障工况,以及an early warning module, configured to determine that the lifting device is in any fault condition, and
停止所述起重设备执行吊装作业,并执行配置的预警。Stop the hoisting equipment to perform hoisting operations, and execute configured early warnings.
具体的,所述起重设备具有超起机构,所述获得模块具体用于获得关于臂架姿态的作业参数的传感器数据,其中,所述传感器数据包括呈角度相关的实际检测值,Specifically, the lifting device has a super-lifting mechanism, and the obtaining module is specifically used to obtain sensor data about operating parameters of the attitude of the boom, wherein the sensor data includes actual detection values related to angles,
与呈角度相关的实际检测值对应的作业参数包括所述起重设备的主臂的第一仰角、所述超起机构的超起桅杆的第二仰角以及所述主臂与所述超起桅杆的夹角。The operating parameters corresponding to the actual detection values related to the angle include the first elevation angle of the main arm of the lifting device, the second elevation angle of the super-lifting mast of the super-lifting mechanism, and the relationship between the main arm and the super-lifting mast. angle.
具体的,所述起重设备还具有移动式配重调节机构,所述获得模块具体用于获得关于配重行程的作业参数的传感器数据,其中,所述传感器数据包括呈行程相关的实际检测值,Specifically, the lifting device also has a mobile counterweight adjustment mechanism, and the obtaining module is specifically used to obtain sensor data about operating parameters of the counterweight stroke, wherein the sensor data includes actual detection values related to the stroke ,
与呈行程相关的实际检测值对应的作业参数包括所述移动式配重调节机构的配重支撑臂的第三仰角和针对所述移动式配重调节机构测量的配重实时行程。The operating parameters corresponding to the actual detection values related to stroke include the third elevation angle of the counterweight support arm of the mobile counterweight adjustment mechanism and the real-time stroke of the counterweight measured for the mobile counterweight adjustment mechanism.
具体的,所述获得模块具体用于获得关于吊载大小的作业参数的传感器数据,其中,所述传感器数据包括呈作用力相关的实际检测值,Specifically, the obtaining module is specifically used to obtain sensor data related to the operating parameters of the size of the hoisting load, wherein the sensor data includes actual detection values related to the force,
与呈作用力相关的实际检测值对应的作业参数包括所述主臂的头部处的测量拉力、所述主臂的根部处的第一测量压力和所述超起桅杆的后撑杆底部的第二测量压力。The operating parameters corresponding to the actual detection values related to the active force include the measured tension at the head of the main boom, the first measured pressure at the root of the main boom and the bottom of the rear strut of the superlift mast. Second measure pressure.
具体的,所述第一层监测模块可以具有与实施例1中第一层监测网络相同的功能,所述第二层监测模块可以具有与第二层监测网络相同的功能。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.
具体的,所述第一层监测模块具体用于:Specifically, the first layer monitoring module is specifically used for:
确定所述传感器数据中第一实际检测值经配置的换算关系获得的换算检测值,并determining the converted detection value obtained through the configured conversion relationship of the first actual detection value in the sensor data, and
判断所述换算检测值是否与所述传感器数据中第二实际检测值相同、或judging whether the converted detection value is the same as the second actual detection value in the sensor data, or
判断所述换算检测值是否属于与所述第二实际检测值对应的指定数值范围,其中,judging whether the converted detection value belongs to a specified numerical range corresponding to the second actual detection value, wherein,
所述换算关系包括与所述第一实际检测值对应的作业参数和与所述第二实际检测值对应的作业参数之间的几何换算关系;The conversion relationship includes a geometric conversion relationship between the operation parameter corresponding to the first actual detection value and the operation parameter corresponding to the second actual detection value;
若判断的返回为是,则确定所述起重设备未处于第一故障工况;If the return of the judgment is yes, it is determined that the lifting device is not in the first fault condition;
若判断的返回为否,则确定所述起重设备处于所述第一故障工况。If the judgment returns no, it is determined that the lifting device is in the first fault condition.
具体的,所述第一层监测模块,其中,配置的换算关系包括所述第一仰角、所述第二仰角以及所述夹角三者之和是指定角度、或属于与所述指定角度对应的指定数值范围。Specifically, in the first-floor 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 the specified angle The specified value range for .
具体的,所述第一层监测模块具体用于读取所述传感器数据中与所述三者对应的实际检测值;Specifically, the first-layer monitoring module is specifically used to read the actual detection values corresponding to the three in the sensor data;
所述第一层监测模块具体用于根据配置的换算关系,判断与所述三者对应的实际检测值之和,是否是所述指定角度、或是否属于与所述指定角度对应的指定数值范围。The first-layer monitoring module is specifically used to determine whether the sum of the actual detection values corresponding to the three is the specified angle or whether it belongs to the specified numerical range corresponding to the specified angle according to the configured conversion relationship .
具体的,所述第一层监测模块,其中,所述指定数值范围的获取方式包括:Specifically, the first-level monitoring module, wherein the method of obtaining the specified value range includes:
确定布置的角度传感器的传感器误差量;Determining a sensor error amount for the angle sensor of the arrangement;
配置第一数值至第二数值的数值范围为指定数值范围,其中,Configure the value range from the first value to the second value as the specified value range, where,
所述第一数值为所述指定角度与所述传感器误差量之差,The first numerical value is the difference between the specified angle and the sensor error amount,
所述第二数值为所述指定角度与所述传感器误差量之和。The second value is the sum of the specified angle and the sensor error amount.
具体的,所述第一层监测模块,其中,配置的换算关系包括通过所述第三仰角计算获得的配重换算行程与所述配重实时行程之差的绝对值属于指定数值范围。Specifically, in the first-level monitoring module, the configured conversion relationship includes that the absolute value of the difference between the counterweight conversion stroke obtained through the calculation of the third elevation angle and the counterweight real-time stroke falls within a specified value range.
具体的,所述第一层监测模块具体用于读取所述传感器数据中与所述第三仰角和所述配重实时行程对应的实际检测值,并通过与所述第三仰角对应的实际检测值确定所述配重换算行程的换算检测值;Specifically, the first-layer monitoring module is specifically used to read the actual detection value corresponding to the third elevation angle and the real-time stroke of the counterweight in the sensor data, and pass the actual detection value corresponding to the third elevation angle. The detection value determines the conversion detection value of the conversion stroke of the counterweight;
所述第一层监测模块具体用于根据配置的换算关系,判断与所述配重实时行程对应的实际检测值与所述换算检测值之差的绝对值是否属于所述指定数值范围。The first layer monitoring module is specifically used to judge whether the absolute value of the difference between the actual detection value corresponding to the real-time stroke of the counterweight and the conversion detection value belongs to the specified numerical range according to the configured conversion relationship.
具体的,所述第一层监测模块,其中,配置的换算关系包括第一吊载重量和第二吊载重量之差的绝对值是属于指定数值范围,Specifically, in the first-layer monitoring module, the configured conversion relationship includes that the absolute value of the difference between the first hoisting weight and the second hoisting weight belongs to a specified value range,
所述第一吊载重量通过所述测量拉力经第一三角函数关系换算获得,The first suspended load weight is obtained by converting the measured pulling force through a first trigonometric function relationship,
所述第二吊载重量通过所述第一测量压力经第二三角函数关系换算获得。The second suspended load weight is obtained by converting the first measured pressure through a second trigonometric function relationship.
具体的,所述第一层监测模块具体用于读取所述传感器数据中与所述测量拉力和所述第一测量压力对应的实际检测值,并分别确定与所述第一吊载重量和所述第二吊载重量对应的换算检测值;Specifically, the first-layer monitoring module is specifically configured to read the actual detected values corresponding to the measured tension and the first measured pressure in the sensor data, and determine the values corresponding to the first suspended load and the first measured pressure respectively. The converted detection value corresponding to the second suspended load;
所述第一层监测模块具体用于根据配置的换算关系,判断与所述第一吊载重量和所述第二吊载重量对应的换算检测值之差的绝对值是否是属于所述指定数值范围。The first-layer monitoring module is specifically used to determine whether the absolute value of the difference between the conversion detection values corresponding to the first hoisting weight and the second hoisting weight belongs to the specified value according to the configured conversion relationship. scope.
具体的,该故障双层冗余预警系统还包括:Specifically, the fault double-layer redundant early warning system also includes:
中间层监测模块,用于判断大小等级匹配关系是否是与所述起重设备的平稳状态对应 的匹配关系,其中,The middle layer monitoring module is used to judge whether the size and grade matching relationship is a matching relationship corresponding to the steady state of the lifting equipment, wherein,
所述大小等级匹配关系为第三吊载重量的大小等级与所述第一吊载重量的大小等级的大小等级的匹配关系、或所述第三吊载重量的大小等级与所述第二吊载重量的大小等级的匹配关系,The size level matching relationship is the matching relationship between the size level of the third hoisting weight and the size level of the first hoisting weight, or the matching relationship between the size level of the third hoisting weight and the second hoisting weight. The matching relationship of the size and grade of the load capacity,
所述第三吊载重量的大小等级通过所述第二测量压力获得。The magnitude grade of the third suspended load is obtained through the second measured pressure.
具体的,所述中间层监测模块可以具有与实施例1中起重设备的监测网络中中间层监测网络相同的功能。Specifically, the middle layer monitoring module may have the same function as the middle layer monitoring network in the lifting equipment monitoring network in Embodiment 1.
具体的,所述第二层监测模块用于判断吊载端力矩与配重端力矩之差的绝对值是否是属于与所述起重设备的力矩平衡状态对应的指定数值范围,其中,Specifically, the second-layer monitoring module is used to judge whether the absolute value of the difference between the moment at the hoisting end and the moment at the counterweight end belongs to a specified value range corresponding to the moment balance state of the lifting device, wherein,
所述吊载端力矩通过呈角度相关的实际检测值和呈作用力相关的实际检测值计算获得,The moment at the hoisting end is obtained by calculating the actual detection value related to the angle and the actual detection value related to the force,
所述配重端力矩通过呈行程相关的实际检测值计算获得。The torque at the counterweight end is obtained by calculating the actual detection value related to the stroke.
在一些具体实施中,故障双层冗余预警系统(或其中的获取模块和任意至少一个监测模块)可以基于一个或多个控制器和/或具有处理器的电子设备等硬件实施,在一些情况中,故障双层冗余预警系统可以在数字电子电路系统、集成电路系统、现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SoC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。In some specific implementations, the failure double-layer redundant early warning system (or the acquisition module and any at least one monitoring module therein) can be implemented based on hardware such as one or more controllers and/or electronic equipment with a processor, in some cases Among them, the fault double-layer redundant early warning system can be used in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), and systems on chips (SoCs). ), load programmable logic device (CPLD), computer hardware, firmware, software, and/or a combination thereof.
实施例3Example 3
本发明实施例与实施例1和2均属于同一发明构思,本发明实施例提供了电子设备、工程机械和计算机可读存储介质。The embodiment of the present invention and the embodiment 1 and 2 all belong to the same inventive concept, and the embodiment of the present invention provides an electronic device, a construction machine, and a computer-readable storage medium.
电子设备旨在表示各种形式的具备指令处理能力和计算能力的设备,例如,计算机、工控机和服务器等,处理器和存储器可以以片上系统型芯片形式实施(SoC或MCU)或直接使用具备连接接口的电路主板的组装方式。存储器存储有能被至少一个处理器执行的指令,至少一个处理器通过执行所述存储器存储的指令实现前述实施例1中的方法,电子设备可以用于形成实施例1中的起重设备的监测网络,在一些有利的实施例中,电子设备和传感器组可以作为监测网络的实体设备。Electronic equipment is intended to represent various forms of equipment with instruction processing capabilities and computing capabilities, such as computers, industrial computers, and servers. Processors and memories can be implemented in the form of a system-on-chip (SoC or MCU) or directly using The assembly method of the circuit board connecting the interface. The memory stores instructions that can be executed by at least one processor, and at least one processor implements the method in the foregoing embodiment 1 by executing the instructions stored in the memory, and the electronic device can be used to form the monitoring of the lifting device in embodiment 1 Network, in some advantageous embodiments, electronic devices and sensor groups can be used as physical devices to monitor the network.
工程机械可以具有前述的电子设备,工程机械可以包括起重设备,起重设备包括汽车起重机、全地面起重机和履带式起重机等。在本发明实施例的示例性一种有利的公开实施例中,如图6,履带式起重机包括履带式车体、主臂、超起桅杆、(后)撑杆、用于配重悬空的调节臂的油缸等,该履带式起重机的配重可以离地悬空。该履带式起重机通过电子设备实 现实施例2中的故障双层冗余预警系统,受到多层监测网络故障预警。该履带式起重机可以被安装有传感器组。如图7,在主臂上,安装有主臂拉板(指此拉板位置区域)拉力传感器和主臂头部角度传感器。如图8,在超起桅杆上,安装有超起桅杆头部第一位置区域内角度传感器A和第二位置区域内角度传感器B。如图9,在油缸上,安装有用于换算配重行程的油缸行程传感器;在配重支撑臂上,安装有角度传感器,该角度传感器被安装的优选区域在图9中以图的顶层示出;在撑杆上,安装有撑杆底部(指底部位置区域内)压力传感器;在主臂和超起桅杆之间,安装有主臂和超起桅杆的夹角传感器;在主臂上,安装有主臂根部(指根部位置区域内)角度传感器和压力传感器;在超起桅杆上,安装有超起桅杆根部角度传感器。Construction machinery may have the aforementioned electronic equipment, and construction machinery may include lifting equipment, including truck cranes, all-terrain cranes, crawler cranes, and the like. In an exemplary advantageous disclosed embodiment of the embodiment of the present invention, as shown in Fig. 6, the crawler crane includes a crawler car body, a main arm, a superlift mast, a (rear) strut, and an adjustment for counterweight suspension. The cylinder of the arm, etc., the counterweight of the crawler crane can be suspended from the ground. This crawler crane realizes the failure double-layer redundant early warning system in embodiment 2 by electronic equipment, and is subjected to multi-layer monitoring network failure early warning. The crawler crane may be fitted with a sensor set. As shown in Fig. 7, on the main arm, a tension sensor of the main arm pull plate (referring to the position area of the pull plate) and a head angle sensor of the main arm are installed. As shown in FIG. 8 , on the super-lifting mast, an angle sensor A in the first position area of the head of the super-lifting mast and an angle sensor B in the second position area are installed. As shown in Figure 9, on the oil cylinder, a cylinder stroke sensor for converting the stroke of the counterweight is installed; on the counterweight support arm, an angle sensor is installed, and the preferred area where the angle sensor is installed is shown in the top layer of the figure in Figure 9 ; On the strut, the pressure sensor at the bottom of the strut (referring to the bottom position area) is installed; between the main arm and the super-lifting mast, the angle sensor between the main arm and the super-lifting mast is installed; on the main arm, install An angle sensor and a pressure sensor are arranged at the root of the main boom (in the region of the root position); on the super-lifting mast, an angle sensor at the root of the super-lifting mast is installed.
计算机可读存储介质可以是非瞬时的,可以被配置有计算机程序,所述计算机程序在被处理器执行时实现前述实施例1中的方法,实现起重设备的故障监测。The computer-readable storage medium may be non-transitory, and may be configured with a computer program. When the computer program is executed by the processor, the method in the foregoing Embodiment 1 is implemented to realize fault monitoring of the lifting equipment.
以上结合附图详细描述了本发明实施例的可选实施方式,但是,本发明实施例并不限于上述实施方式中的具体细节,在本发明实施例的技术构思范围内,可以对本发明实施例的技术方案进行多种简单变型,这些简单变型均属于本发明实施例的保护范围。The optional implementations of the 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-mentioned embodiments. Within the scope of the technical concept of the embodiments of the present invention, the embodiments of the present invention can be Various simple modifications are made to the technical solution, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
另外需要说明的是,在上述具体实施方式中所描述的各个具体技术特征,在不矛盾的情况下,可以通过任何合适的方式进行组合。为了避免不必要的重复,本发明实施例对各种可能的组合方式不再另行说明。In addition, it should be noted that the various specific technical features described in the above specific implementation manners may be combined in any suitable manner if there is no contradiction. In order to avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.
本领域技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成,该程序存储在一个存储介质中,包括若干指令用以使得单片机、芯片或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的监测网络(或监测系统)可以是传感器网络或其他测量记录、分析处理的设备群,监测网络或监测系统可包括具有感测、数据记录、数据处理等功能的多个硬件和/或软件。前述的存储介质可以是非瞬时的,存储介质可包括:U盘、硬盘、只读存储器(ROM,Read-Only Memory)、闪存(FlashMemory)、磁碟或者光盘等各种可以存储程序代码的介质。Those skilled in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be completed by instructing the relevant hardware through a program. (processor) executes all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned monitoring network (or monitoring system) may be a sensor network or other equipment groups for measurement recording, analysis and processing, and the monitoring network or monitoring system may include multiple hardware and/or software. The aforementioned storage medium can be non-transitory, and the storage medium can include various media that can store program codes such as U disk, hard disk, read-only memory (ROM, Read-Only Memory), flash memory (FlashMemory), magnetic disk or optical disk.
此外,本发明实施例的各种不同的实施方式之间也可以进行任意组合,只要其不违背本发明实施例的思想,其同样应当视为本发明实施例所公开的内容。In addition, various 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 (21)

  1. 一种故障双层冗余监测方法,其特征在于,该故障双层冗余监测方法包括:A failure double-layer redundant monitoring method is characterized in that the failure double-layer redundant monitoring method comprises:
    基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据;Obtain the sensor data of each operating parameter based on the sensor groups grouped according to the operating parameters on the lifting equipment;
    在第一层监测中,基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,其中,所述换算关系包括与所述相关的实际检测值对应的作业参数之间的几何换算关系;In the first layer of monitoring, it is determined whether the lifting device is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, wherein the conversion relationship includes the correlation with the The geometric conversion relationship between the operation parameters corresponding to the actual detection value;
    在第二层监测中,基于所述传感器数据中与力矩对应的实际检测值是否满足与相应力矩的作业参数之间的力矩平衡关系,确定所述起重设备是否处于第二故障工况,其中,所述起重设备未处于所述第一故障工况。In the second layer of monitoring, based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque, it is determined whether the lifting device is in the second fault condition, wherein , the lifting device is not in the first fault condition.
  2. 根据权利要求1所述的故障双层冗余监测方法,所述起重设备具有超起机构,其特征在于,所述基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据,其中,According to the failure double-layer redundant monitoring method of claim 1, the lifting equipment has a super-lifting mechanism, and it is characterized in that, based on the sensor groups grouped according to the operation parameters on the lifting equipment, the values of each operation parameter are obtained. sensor data, where,
    所述传感器组具体被按同一作业关键参数对应分组,The sensor groups are specifically grouped according to the key parameters of the same operation,
    所述作业关键参数包括关于臂架姿态的作业参数、关于配重行程的作业参数和关于吊载大小的作业参数中任意一者。The key operating parameters include any one of the operating parameters about the attitude of the boom, the operating parameters about the stroke of the counterweight, and the operating parameters about the size of the hoisting load.
  3. 根据权利要求1所述的故障双层冗余监测方法,所述起重设备具有超起机构,其特征在于,所述基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据,包括:According to the failure double-layer redundant monitoring method of claim 1, the lifting equipment has a super-lifting mechanism, and it is characterized in that, based on the sensor groups grouped according to the operation parameters on the lifting equipment, the values of each operation parameter are obtained. Sensor data, including:
    获得关于臂架姿态的作业参数的传感器数据,其中,所述传感器数据包括呈角度相关的实际检测值,obtaining sensor data about operating parameters of the boom attitude, wherein the sensor data includes actual detection values related to angles,
    与呈角度相关的实际检测值对应的作业参数包括所述起重设备的主臂的第一仰角、所述超起机构的超起桅杆的第二仰角以及所述主臂与所述超起桅杆的夹角。The operating parameters corresponding to the actual detection values related to the angle include the first elevation angle of the main arm of the lifting device, the second elevation angle of the super-lifting mast of the super-lifting mechanism, and the relationship between the main arm and the super-lifting mast. angle.
  4. 根据权利要求3所述的故障双层冗余监测方法,所述起重设备还具有移动式配重调节机构,其特征在于,所述基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据,还包括:According to the double-layer redundancy monitoring method for faults according to claim 3, the lifting equipment also has a mobile counterweight adjustment mechanism, wherein, based on the sensor groups correspondingly grouped according to the operation parameters on the lifting equipment, the obtained Sensor data for individual operating parameters, including:
    获得关于配重行程的作业参数的传感器数据,其中,所述传感器数据包括 呈行程相关的实际检测值,obtaining sensor data about operating parameters of counterweight travel, wherein said sensor data include travel-related actual measured values,
    与呈行程相关的实际检测值对应的作业参数包括所述移动式配重调节机构的配重支撑臂的第三仰角和针对所述移动式配重调节机构测量的配重实时行程。The operating parameters corresponding to the actual detection values related to stroke include the third elevation angle of the counterweight support arm of the mobile counterweight adjustment mechanism and the real-time stroke of the counterweight measured for the mobile counterweight adjustment mechanism.
  5. 根据权利要求4所述的故障双层冗余监测方法,其特征在于,所述基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据,还包括:The failure double-layer redundant monitoring method according to claim 4, characterized in that, obtaining the sensor data of each operation parameter based on the sensor group correspondingly grouped according to the operation parameters on the lifting equipment also includes:
    获得关于吊载大小的作业参数的传感器数据,其中,所述传感器数据包括呈作用力相关的实际检测值,obtaining sensor data on operating parameters related to the size of the hoist, wherein said sensor data comprise actual measured values in relation to forces,
    与呈作用力相关的实际检测值对应的作业参数包括所述主臂的头部处的测量拉力、所述主臂的根部处的第一测量压力和所述超起桅杆的后撑杆底部的第二测量压力。The operating parameters corresponding to the actual detection values related to the active force include the measured tension at the head of the main boom, the first measured pressure at the root of the main boom and the bottom of the rear strut of the superlift mast. Second measure pressure.
  6. 根据权利要求1所述的故障双层冗余监测方法,其特征在于,所述基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,包括:The fault double-layer redundancy monitoring method according to claim 1, characterized in that, based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, it is determined whether the lifting device is in the first fault conditions, including:
    确定所述传感器数据中第一实际检测值经配置的换算关系获得的换算检测值,并determining the converted detection value obtained through the configured conversion relationship of the first actual detection value in the sensor data, and
    判断所述换算检测值是否与所述传感器数据中第二实际检测值相同、或judging whether the converted detection value is the same as the second actual detection value in the sensor data, or
    判断所述换算检测值是否属于与所述第二实际检测值对应的指定数值范围,其中,judging whether the converted detection value belongs to a specified numerical range corresponding to the second actual detection value, wherein,
    所述换算关系包括与所述第一实际检测值对应的作业参数和与所述第二实际检测值对应的作业参数之间的几何换算关系;The conversion relationship includes a geometric conversion relationship between the operation parameter corresponding to the first actual detection value and the operation parameter corresponding to the second actual detection value;
    若判断的返回为是,则确定所述起重设备未处于第一故障工况;If the return of the judgment is yes, it is determined that the lifting device is not in the first fault condition;
    若判断的返回为否,则确定所述起重设备处于所述第一故障工况。If the judgment returns no, it is determined that the lifting device is in the first fault condition.
  7. 根据权利要求3所述的故障双层冗余监测方法,其特征在于,其中,The fault double-layer redundancy monitoring method according to claim 3, wherein,
    配置的换算关系包括所述第一仰角、所述第二仰角以及所述夹角三者之和是指定角度、或属于与所述指定角度对应的指定数值范围。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 numerical range corresponding to the specified angle.
  8. 根据权利要求7所述的故障双层冗余监测方法,其特征在于,所述基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,包括:The fault double-layer redundancy monitoring method according to claim 7, characterized in that, based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, it is determined whether the lifting device is in the first fault conditions, including:
    读取所述传感器数据中与所述三者对应的实际检测值;Reading the actual detected values corresponding to the three in the sensor data;
    根据配置的换算关系,判断与所述三者对应的实际检测值之和,是否是所述指定角度、或是否属于与所述指定角度对应的指定数值范围。According to the configured conversion relationship, it is judged whether the sum of the actual detected values corresponding to the three is the specified angle, or whether it belongs to the specified numerical range corresponding to the specified angle.
  9. 根据权利要求8所述的故障双层冗余监测方法,其特征在于,其中,所述指定数值范围的获取方式包括:The fault double-layer redundancy monitoring method according to claim 8, wherein the method of obtaining the specified value range includes:
    确定布置的角度传感器的传感器误差量;Determining a sensor error amount for the angle sensor of the arrangement;
    配置第一数值至第二数值的数值范围为指定数值范围,其中,Configure the value range from the first value to the second value as the specified value range, where,
    所述第一数值为所述指定角度与所述传感器误差量之差,The first numerical value is the difference between the specified angle and the sensor error amount,
    所述第二数值为所述指定角度与所述传感器误差量之和。The second value is the sum of the specified angle and the sensor error amount.
  10. 根据权利要求4所述的故障双层冗余监测方法,其特征在于,其中,The fault double-layer redundancy monitoring method according to claim 4, wherein,
    配置的换算关系包括通过所述第三仰角计算获得的配重换算行程与所述配重实时行程之差的绝对值属于指定数值范围。The configured conversion relationship includes that the absolute value of the difference between the converted stroke of the counterweight obtained through the calculation of the third elevation angle and the real-time stroke of the counterweight belongs to a specified value range.
  11. 根据权利要求10所述的故障双层冗余监测方法,其特征在于,所述基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,包括:The fault double-layer redundancy monitoring method according to claim 10, characterized in that, based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, it is determined whether the lifting device is in the first fault conditions, including:
    读取所述传感器数据中与所述第三仰角和所述配重实时行程对应的实际检测值,并通过与所述第三仰角对应的实际检测值确定所述配重换算行程的换算检测值;Reading the actual detection value corresponding to the third elevation angle and the real-time stroke of the counterweight in the sensor data, and determining the conversion detection value of the conversion stroke of the counterweight through the actual detection value corresponding to the third elevation angle ;
    根据配置的换算关系,判断与所述配重实时行程对应的实际检测值与所述换算检测值之差的绝对值是否属于所述指定数值范围。According to the configured conversion relationship, it is judged whether the absolute value of the difference between the actual detected value corresponding to the real-time stroke of the counterweight and the converted detected value belongs to the specified numerical range.
  12. 根据权利要求5所述的故障双层冗余监测方法,其特征在于,其中,The fault double-layer redundancy monitoring method according to claim 5, wherein,
    配置的换算关系包括第一吊载重量和第二吊载重量之差的绝对值是属于指定数值范围,The configured conversion relationship includes that the absolute value of the difference between the first hoisting weight and the second hoisting weight belongs to the specified value range,
    所述第一吊载重量通过所述测量拉力经第一三角函数关系换算获得,The first suspended load weight is obtained by converting the measured pulling force through a first trigonometric function relationship,
    所述第二吊载重量通过所述第一测量压力经第二三角函数关系换算获得。The second suspended load weight is obtained by converting the first measured pressure through a second trigonometric function relationship.
  13. 根据权利要求12所述的故障双层冗余监测方法,其特征在于,所述基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,包括:The fault double-layer redundancy monitoring method according to claim 12, characterized in that, based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship, it is determined whether the lifting device is in the first fault conditions, including:
    读取所述传感器数据中与所述测量拉力和所述第一测量压力对应的实际检 测值,并分别确定与所述第一吊载重量和所述第二吊载重量对应的换算检测值;Reading the actual detection values corresponding to the measured tension and the first measured pressure in the sensor data, and determining converted detection values corresponding to the first suspended load weight and the second suspended load weight respectively;
    根据配置的换算关系,判断与所述第一吊载重量和所述第二吊载重量对应的换算检测值之差的绝对值是否是属于所述指定数值范围。According to the configured conversion relationship, it is judged whether the absolute value of the difference between the converted detection values corresponding to the first suspended load weight and the second suspended load weight belongs to the specified numerical range.
  14. 根据权利要求13所述的故障双层冗余监测方法,其特征在于,该故障双层冗余监测方法还包括:The failure double-layer redundancy monitoring method according to claim 13, wherein the failure double-layer redundancy monitoring method further comprises:
    在中间层监测中,判断大小等级匹配关系是否是与所述起重设备的平稳状态对应的匹配关系,其中,In the monitoring of the middle layer, it is judged whether the matching relationship of size and grade is a matching relationship corresponding to the steady state of the lifting equipment, wherein,
    所述大小等级匹配关系为第三吊载重量的大小等级与所述第一吊载重量的大小等级的匹配关系、或所述第三吊载重量的大小等级与所述第二吊载重量的大小等级的匹配关系,The size level matching relationship is the matching relationship between the size level of the third hoisting weight and the size level of the first hoisting weight, or the matching relationship between the size level of the third hoisting weight and the second hoisting weight Matching relationship of size class,
    所述第三吊载重量的大小等级通过所述第二测量压力获得,所述起重设备未处于所述第一故障工况;The magnitude level of the third suspended load is obtained through the second measured pressure, and the lifting device is not in the first fault condition;
    若判断的返回为是,则确定所述起重设备未处于第三故障工况;If the return of the judgment is yes, it is determined that the lifting device is not in the third fault condition;
    若判断的返回为否,则确定所述起重设备处于所述第三故障工况。If the judgment returns no, it is determined that the lifting device is in the third fault condition.
  15. 根据权利要求5所述的故障双层冗余监测方法,其特征在于,所述基于所述传感器数据中与力矩对应的实际检测值是否满足与相应力矩的作业参数之间的力矩平衡关系,确定所述起重设备是否处于第二故障工况,包括:The fault double-layer redundancy monitoring method according to claim 5, characterized in that, based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque, determine Whether the lifting device is in the second fault condition, including:
    判断吊载端力矩与配重端力矩之差的绝对值是否是属于与所述起重设备的力矩平衡状态对应的指定数值范围,其中,judging whether the absolute value of the difference between the moment at the hoisting end and the moment at the counterweight end belongs to a specified value range corresponding to the moment balance state of the lifting device, wherein,
    所述吊载端力矩通过呈角度相关的实际检测值和呈作用力相关的实际检测值计算获得,The moment at the hoisting end is obtained by calculating the actual detection value related to the angle and the actual detection value related to the force,
    所述配重端力矩通过呈行程相关的实际检测值计算获得;The torque at the counterweight end is obtained by calculating the actual detection value related to the stroke;
    若判断的返回为是,则确定所述起重设备未处于第二故障工况;If the return of the judgment is yes, it is determined that the lifting device is not in the second fault condition;
    若判断的返回为否,则确定所述起重设备处于所述第二故障工况。If the judgment returns no, it is determined that the lifting device is in the second fault condition.
  16. 一种故障双层冗余预警方法,该故障双层冗余预警方法包括权利要求1至15中任意一项所述的故障双层冗余监测方法,其特征在于,该故障双层冗余预警方法还包括:A failure double-layer redundancy early warning method, the failure double-layer redundancy early warning method includes the failure double-layer redundancy monitoring method described in any one of claims 1 to 15, characterized in that the failure double-layer redundancy early warning Methods also include:
    确定所述起重设备处于任意一种故障工况;Determining that the lifting device is in any fault condition;
    停止所述起重设备执行吊装作业,并执行配置的预警。Stop the hoisting equipment to perform hoisting operations, and execute configured early warnings.
  17. 一种故障双层冗余预警系统,其特征在于,该故障双层冗余预警系统包括:A double-layer redundant early warning system for failure, characterized in that the double-layer redundant early warning system for failure comprises:
    获得模块,用于基于起重设备上按作业参数对应分组的传感器组,获得各个作业参数的传感器数据;The obtaining module is used to obtain the sensor data of each operation parameter based on the sensor groups correspondingly grouped according to the operation parameters on the lifting equipment;
    第一层监测模块,用于在第一层监测中,基于所述传感器数据中相关的实际检测值是否满足配置的换算关系,确定所述起重设备是否处于第一故障工况,其中,所述换算关系包括与所述相关的实际检测值对应的作业参数之间的几何换算关系;The first-level monitoring module is used to determine whether the lifting equipment is in the first fault condition based on whether the relevant actual detection value in the sensor data satisfies the configured conversion relationship during the first-level monitoring, wherein the The conversion relationship includes a geometric conversion relationship between the operation parameters corresponding to the relevant actual detection value;
    第二层监测模块,用于在第二层监测中,基于所述传感器数据中与力矩对应的实际检测值是否满足与相应力矩的作业参数之间的力矩平衡关系,确定所述起重设备是否处于第二故障工况,其中,所述起重设备未处于所述第一故障工况。The second-level monitoring module is used to determine whether the lifting device is based on whether the actual detection value corresponding to the torque in the sensor data satisfies the torque balance relationship with the operating parameters of the corresponding torque during the second-level monitoring. In a second fault condition, wherein the lifting device is not in the first fault condition.
  18. 根据权利要求17所述的故障双层冗余预警系统,其特征在于,该故障双层冗余预警系统还包括:The failure double-layer redundant early warning system according to claim 17, wherein the failure double-layer redundant early warning system also includes:
    预警模块,用于确定所述起重设备处于任意一种故障工况,以及an early warning module, configured to determine that the lifting device is in any fault condition, and
    停止所述起重设备执行吊装作业,并执行配置的预警。Stop the hoisting equipment to perform hoisting operations, and execute configured early warnings.
  19. 一种电子设备,其特征在于,该电子设备包括:An electronic device, characterized in that the electronic device comprises:
    至少一个处理器;at least one processor;
    存储器,与所述至少一个处理器连接;a memory coupled to the at least one processor;
    其中,所述存储器存储有能被所述至少一个处理器执行的指令,所述至少一个处理器通过执行所述存储器存储的指令实现权利要求1至16中任意一项权利要求所述的方法。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. 一种工程机械,其特征在于,所述工程机械具有权利要求19所述的电子设备。A construction machine, characterized in that the construction machine has the electronic device according to claim 19.
  21. 一种计算机可读存储介质,存储有计算机指令,当所述计算机指令在计算机上运行时,使得计算机执行权利要求1至16中任意一项权利要求所述的方法。A computer-readable storage medium storing computer instructions, which, when run on a computer, cause the computer to execute the method described in any one of claims 1 to 16.
PCT/CN2022/107891 2021-07-26 2022-07-26 Fault double-layer redundancy monitoring method, and fault double-layer redundancy early-warning method and system WO2023005917A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2022317506A AU2022317506A1 (en) 2021-07-26 2022-07-26 Fault double-layer redundancy monitoring method, and fault double-layer redundancy early-warning method and system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110843305.9 2021-07-26
CN202110843305.9A CN113697679B (en) 2021-07-26 2021-07-26 Fault double-layer redundancy monitoring method, early warning method and system

Publications (1)

Publication Number Publication Date
WO2023005917A1 true WO2023005917A1 (en) 2023-02-02

Family

ID=78650649

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/107891 WO2023005917A1 (en) 2021-07-26 2022-07-26 Fault double-layer redundancy monitoring method, and fault double-layer redundancy early-warning method and system

Country Status (3)

Country Link
CN (1) CN113697679B (en)
AU (1) AU2022317506A1 (en)
WO (1) WO2023005917A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113697679B (en) * 2021-07-26 2022-07-22 中联重科股份有限公司 Fault double-layer redundancy monitoring method, early warning method and system
CN115353006A (en) * 2022-06-30 2022-11-18 湖南中联重科履带起重机有限公司 Safety control method for crawler-type mechanical equipment and crawler-type mechanical equipment

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2659755A1 (en) * 1976-12-31 1978-07-06 Krueger & Co Kg DEVICE FOR SENDING A SET POINT SIGNAL FOR A MONITORING DEVICE OF A JIB CRANE OR THE LIKE.
US20070034587A1 (en) * 2005-07-22 2007-02-15 Liebherr-Werk Ehingen Gmbh Crane, preferably crawler or truck crane
CN102807160A (en) * 2011-06-03 2012-12-05 徐州励精紧固件制造有限公司 Crane detection device
CN204057727U (en) * 2014-09-12 2014-12-31 哈尔滨第一机械集团有限公司 For the data acquisition unit of limiter of moment
CN110498341A (en) * 2019-07-25 2019-11-26 中联重科股份有限公司 Safety control method and system for hoisting equipment
CN111232846A (en) * 2020-01-14 2020-06-05 江苏徐工工程机械研究院有限公司 Safety control device and method and crane moment safety monitoring system
CN113697679A (en) * 2021-07-26 2021-11-26 中联重科股份有限公司 Fault double-layer redundancy monitoring method, early warning method and system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2659755A1 (en) * 1976-12-31 1978-07-06 Krueger & Co Kg DEVICE FOR SENDING A SET POINT SIGNAL FOR A MONITORING DEVICE OF A JIB CRANE OR THE LIKE.
US20070034587A1 (en) * 2005-07-22 2007-02-15 Liebherr-Werk Ehingen Gmbh Crane, preferably crawler or truck crane
CN102807160A (en) * 2011-06-03 2012-12-05 徐州励精紧固件制造有限公司 Crane detection device
CN204057727U (en) * 2014-09-12 2014-12-31 哈尔滨第一机械集团有限公司 For the data acquisition unit of limiter of moment
CN110498341A (en) * 2019-07-25 2019-11-26 中联重科股份有限公司 Safety control method and system for hoisting equipment
CN111232846A (en) * 2020-01-14 2020-06-05 江苏徐工工程机械研究院有限公司 Safety control device and method and crane moment safety monitoring system
CN113697679A (en) * 2021-07-26 2021-11-26 中联重科股份有限公司 Fault double-layer redundancy monitoring method, early warning method and system

Also Published As

Publication number Publication date
CN113697679A (en) 2021-11-26
AU2022317506A1 (en) 2024-02-22
CN113697679B (en) 2022-07-22

Similar Documents

Publication Publication Date Title
WO2023005917A1 (en) Fault double-layer redundancy monitoring method, and fault double-layer redundancy early-warning method and system
CN102464270B (en) Overturning-preventing torque limiter and movable crane
CN201882830U (en) Anti-overturning moment limiter system and traveling crane
CN103613014B (en) Anti-collision system, method and device for tower crane and tower crane
CN102556866B (en) Stability monitoring system and stability monitoring method of lifting equipment
US9156663B2 (en) Device and method for ascertaining and monitoring an assembled counterweight on a crane
CN102653380B (en) Torque limiting method of folding-arm type lorry-mounted crane
CN102502405A (en) Boom angle detecting device, detection method and crane comprising detecting device
CN111042261A (en) Dynamic weighing method and system for excavator
CN101891125B (en) Device and method for detecting deviation of superlift counterweight of crane
CN102344093A (en) Tower crane anti-leaning intelligent monitoring system
CN115238447A (en) Control method and control system of arm support and engineering machinery
CN106829821A (en) A kind of scissors type elevating workbench pair load weighing systems
CN103285549A (en) Method, equipment and system for monitoring load of fire fighting truck and fire fighting truck
CN103569871A (en) Method and device for limiting torque of hoisting equipment and hoisting equipment
CN102431912B (en) Method for assessing balance weight of tower crane
CN206692292U (en) A kind of double load weighing systems of scissors type elevating workbench
RU2827642C2 (en) Method of monitoring faults with double-level redundancy and method and fault early warning system with double-level redundancy
CN206359135U (en) A kind of hot-metal car weighing system
JP6431005B2 (en) Sensor device
KR102053373B1 (en) Real-time on-site alarm system for disaster using ultra power-saving wireless sensor network
CN105217468B (en) Hoisting equipment, counterweight loading equipment thereof and counterweight load detection method
CN114455474B (en) Method and device for determining stability of engineering equipment and engineering equipment
CN107915162A (en) Cantilever crane amplitude, tilting moment and lifting altitude measurement and control device
JP2020034306A (en) Structure inspection system and structure inspection method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22848522

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: AU2022317506

Country of ref document: AU

ENP Entry into the national phase

Ref document number: 2022317506

Country of ref document: AU

Date of ref document: 20220726

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2024103280

Country of ref document: RU

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22848522

Country of ref document: EP

Kind code of ref document: A1