WO2023005917A1

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

Info

Publication number: WO2023005917A1
Application number: PCT/CN2022/107891
Authority: WO
Inventors: 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: 2021-07-26
Filing date: 2022-07-26
Publication date: 2023-02-02
Also published as: CN113697679A; AU2022317506A1; CN113697679B

Abstract

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

Description

Fault double-layer redundant monitoring method, early warning method and system

Cross References to Related Applications

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.

technical field

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.

Background technique

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.

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.

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.

Contents of the invention

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.

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:

Obtain the sensor data of each operating parameter based on the sensor groups grouped according to the operating parameters on the lifting equipment;

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;

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.

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,

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.

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:

obtaining sensor data about operating parameters of the boom attitude, 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.

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:

obtaining sensor data about operating parameters of the counterweight travel, wherein the sensor data include travel-related actual detected values,

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.

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:

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,

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.

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:

determining the converted detection value obtained through the configured conversion relationship of the first actual detection value in the sensor data, and

judging whether the converted detection value is the same as the second actual detection value in the sensor data, or

judging whether the converted detection value belongs to a specified numerical range corresponding to the second actual detection value, wherein,

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;

If the return of the judgment is yes, it is determined that the lifting device is not in the first fault condition;

If the judgment returns no, it is determined that the lifting device is in the first fault condition.

Specifically, among them,

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.

Reading the actual detected values corresponding to the three in the sensor data;

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.

Specifically, wherein the method of obtaining the specified numerical range includes:

Determining a sensor error amount for the angle sensor of the arrangement;

Configure the value range from the first value to the second value as the specified value range, where,

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.

Specifically, among them,

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.

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 ;

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.

Specifically, among them,

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.

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;

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.

Specifically, the failure double-layer redundancy monitoring method also includes:

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,

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;

If the return of the judgment is yes, it is determined that the lifting device is not in the third fault condition;

If the judgment returns no, it is determined that the lifting device is in the third fault condition.

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:

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,

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;

If the return of the judgment is yes, it is determined that the lifting device is not in the second fault condition;

If the judgment returns no, it is determined that the lifting device is in the second fault condition.

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:

Determining that the lifting device is in any fault condition;

Stop the hoisting equipment to perform hoisting operations, and execute configured early warnings.

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.

Specifically, 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, and

In another aspect, an embodiment of the present invention provides an electronic device, and the electronic device includes:

at least one processor;

a memory coupled to the at least one processor;

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.

In yet another aspect, an embodiment of the present invention provides a construction machine, the construction machine having the aforementioned electronic device.

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.

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 hoisting equipment and/or the movement of the counterweight.

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.

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

Description of drawings

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:

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;

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.

Detailed ways

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.

Example 1

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:

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.

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.

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.

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.

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.

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.

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.

In 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.

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.

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 ₁ +θ ₂ +θ ₃ = 180° (1)

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 ₁ +θ ₂ +θ ₃ ≤180°+δ (2)

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 ₁ +θ ₂ +θ ₃ ≤180°+δ ₂ (3)

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.

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,

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 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.

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.

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.

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.

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)

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.

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,

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 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.

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.

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.

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.

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 _ya *sinβ/sin(α+β)=G| _x=ya (6)

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)

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)

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.

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,

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;

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.

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.

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.

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 :

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

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

To judge whether the element sum is 0, write as:

s _i +v _i =0 (9)

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.

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,

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.

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.

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.

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.

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.

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 _{hanging load} = m ₁ (G, Θ) (10)

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 _{counterweight} = m ₂ (L) (11)

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 _{hoisting load} = M _{counterweight} (12)

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 _hoisting- M _{counterweight} |≤ε ₃ (13)

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.

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.

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 .

As shown in Figure 5, the fault double-layer redundancy monitoring method may specifically include:

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) 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) 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.

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.

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.

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') determine that the lifting device is in any fault condition;

S2') Stop the hoisting device from performing the hoisting operation, and execute the configured early warning.

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.

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.

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.

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.

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.

Example 2

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 failure double-layer redundant early warning system also includes:

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,

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 ,

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,

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

Specifically, the first layer monitoring module is specifically used for:

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 .

Specifically, 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 .

Specifically, the first-level monitoring module, wherein the method of obtaining the specified value range includes:

Determining a sensor error amount for the angle sensor of the arrangement;

The second value is the sum of the specified angle and the sensor error amount.

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.

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;

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.

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,

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;

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 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,

The magnitude grade of the third suspended load is obtained through the second measured pressure.

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.

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,

The torque at the counterweight end is obtained by calculating the actual detection value related to the stroke.

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.

Example 3

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. 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.

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.

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.

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.

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.

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

A failure double-layer redundant monitoring method is characterized in that the failure double-layer redundant monitoring method comprises:

Obtain the sensor data of each operating parameter based on the sensor groups grouped according to the operating parameters on the lifting equipment;

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;

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.
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,

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.
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:

obtaining sensor data about operating parameters of the boom attitude, 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.
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:

obtaining sensor data about operating parameters of counterweight travel, wherein said sensor data include travel-related actual measured values,

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 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:

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,

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 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:

determining the converted detection value obtained through the configured conversion relationship of the first actual detection value in the sensor data, and

judging whether the converted detection value is the same as the second actual detection value in the sensor data, or

judging whether the converted detection value belongs to a specified numerical range corresponding to the second actual detection value, wherein,

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;

If the return of the judgment is yes, it is determined that the lifting device is not in the first fault condition;

If the judgment returns no, it is determined that the lifting device is in the first fault condition.
The fault double-layer redundancy monitoring method according to claim 3, wherein,

The configured conversion relationship includes that the sum of the first elevation angle, the second elevation angle, and the included angle is a specified angle, or belongs to a specified numerical range corresponding to the specified angle.
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:

Reading the actual detected values corresponding to the three in the sensor data;

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.
The fault double-layer redundancy monitoring method according to claim 8, wherein the method of obtaining the specified value range includes:

Determining a sensor error amount for the angle sensor of the arrangement;

Configure the value range from the first value to the second value as the specified value range, where,

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 fault double-layer redundancy monitoring method according to claim 4, wherein,

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.
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:

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 ;

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.
The fault double-layer redundancy monitoring method according to claim 5, wherein,

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.
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:

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;

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.
The failure double-layer redundancy monitoring method according to claim 13, wherein the failure double-layer redundancy monitoring method further comprises:

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,

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,

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;

If the return of the judgment is yes, it is determined that the lifting device is not in the third fault condition;

If the judgment returns no, it is determined that the lifting device is in the third fault condition.
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:

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,

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;

If the return of the judgment is yes, it is determined that the lifting device is not in the second fault condition;

If the judgment returns no, it is determined that the lifting device is in the second fault condition.
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:

Determining that the lifting device is in any fault condition;

Stop the hoisting equipment to perform hoisting operations, and execute configured early warnings.
A double-layer redundant early warning system for failure, characterized in that the double-layer redundant early warning system for failure comprises:

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 according to claim 17, wherein 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, and

Stop the hoisting equipment to perform hoisting operations, and execute configured early warnings.
An electronic device, characterized in that the electronic device comprises:

at least one processor;

a memory coupled to the at least one processor;

Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor implements the method according to any one of claims 1 to 16 by executing the instructions stored in the memory.
A construction machine, characterized in that the construction machine has the electronic device according to claim 19.
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.