Boom identification method, processor, boom identification device, and computer-readable storage medium

Abstract

This invention discloses a boom identification method, a processor, a boom identification device, and a computer-readable storage medium. The boom identification method includes: obtaining the output current I of the Nth boom segment. N2 The Xth arm receives the output current I from the (X+1)th arm. (X+1)2 As the input current I of the Xth arm segment X1 and the input current I X1 The process is performed to obtain the output current I of the Xth arm segment. X2 For the output current I 12 The process involves processing to obtain identification parameters for each boom segment. Based on these parameters, the current boom segment type and connection relationship are determined, and the correctness of these parameters is then assessed. The boom identification method, processor, device, and computer-readable storage medium of this invention can identify both the boom segment type and the connection sequence of each segment, ensuring that the correct boom segment type is used and connected in the correct order. This reduces safety accidents caused by boom segment identification errors, thereby minimizing casualties and property damage.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a boom identification method, processor, boom identification device, and computer-readable storage medium. Background Technology

[0002] To expand the working radius and lifting range during lifting operations, truck cranes often add several or dozens of truss boom sections to the end of their box-type booms; crawler cranes almost exclusively use truss booms. These truss boom sections come in different types and have similar shapes, but their installation positions vary depending on the working conditions. Manual installation of truss booms is prone to errors in truss boom type or position. Performing lifting operations with incorrect installation can easily lead to safety accidents, resulting in personal injury and property damage. Currently, crane truss booms on the market are mainly inspected manually, which is prone to errors. Besides cranes, concrete pump trucks also include multi-section booms and suffer from similar problems. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a boom identification method, processor, boom identification device and computer-readable storage medium to identify boom segment types and connection sequences, reduce safety accidents caused by boom segment identification errors, and thereby reduce personal injury and property loss.

[0004] To achieve the above objectives, the present invention provides a boom identification method for identifying the type and installation sequence of a boom, wherein the boom comprises N boom sections connected sequentially, and each boom section has built-in identification parameters. Where parameter a X and b X Mapped to the corresponding arm segment type, parameters The method for characterizing the connection relationship between this arm segment and the subsequent arm segment includes:

[0005] The output current I of the Nth arm section is obtained through data processing. N2 For segments N-1 to the first segment, segment X receives the output current I from segment X+1. (X+1)2 As the input current I of the Xth arm segment X1 and the input current I X1 The process is performed to obtain the output current I of the Xth arm segment. X2 , where X is a positive integer greater than or equal to 1;

[0006] Output current I of the first arm section 12 The parameters are processed to obtain the identification parameters from the first arm segment to the Nth arm segment;

[0007] The current boom type and connection relationship are obtained based on the identification parameters of each boom section, and the correctness of the boom type and connection relationship is determined based on the current boom type and connection relationship.

[0008] Optionally, the boom identification method further includes:

[0009] When the current boom type and connection relationship are incorrect, the boom lifting is restricted.

[0010] Optionally, the output current I of the Xth arm segment is obtained. X2 In the steps;

[0011] For the Nth arm segment: the current component is used as the output current I of the Nth arm segment. N2 ;

[0012] For arm segment N-1 to arm segment 1:

[0013] Receive the output current I of the (X+1)th arm section (X+1)2 As the input current I of the Xth arm segment X1 ;

[0014] For the input current I X1 Performing a Fourier transform yields F(I) X1 );

[0015] For F(I) X1 The component with an initial phase of 0 in ) is phase-shifted to obtain F2(I) X1 );

[0016] For F2(I) X1 Performing an inverse Fourier transform yields

[0017] right Adding the current component yields I X2 ;

[0018] Will I X2 As the output current I of the Xth arm section X2 .

[0019] Optionally, for the Nth arm segment, the current component a N cos(b N t) is the output current I of the Nth arm section. N2 ;

[0020] For the (N-1)th arm segment to the first arm segment, for F(I) X1 The component with an initial phase of 0 in ) is phase-shifted to obtain F2(I) X1 During the process of ), for F(I) X1 The component with an initial phase of 0 in the equation is shifted to the right. After obtaining IX2 During the process, Add current component a X cos(b X t) obtain

[0021] Optionally, the step of obtaining the identification parameters from the first arm segment to the Nth arm segment specifically includes:

[0022] Output current I of the first arm section 12 Fourier transform yields

[0023]

[0024] according to The recognition parameters (a1, b1, 0) from the first arm segment to the Nth arm segment are obtained.

[0025] Optionally, the boom comprises three GHK boom sections connected in sequence, and the method specifically includes:

[0026] The output current I of the K-arm is obtained through data processing. K2 The H-arm receives the output current I from the K-arm. K2 As the input current I of H-arm H1 and the input current I of the H-arm H1 The output current I of arm H is obtained through processing. H2 The G arm receives the output current I from the H arm. H2 As the input current I of the G-arm G1 And the input current I of the G arm G1 The output current I of arm G is obtained through processing. G2 ;

[0027] The output current I of the G-arm G2 After processing, the recognition parameters from the K-arm to the G-arm are obtained as follows (a G ,b G ,0)

[0028] According to the identification parameters from K-arm to G-arm (a G ,b G ,0) Obtain the current boom segment type and connection relationship, and determine whether the types and connection relationships of the G-arm, H-arm, and K-arm of the boom are correct based on the current boom segment type and connection relationship.

[0029] Optionally, the output current I of the G-arm is obtained. G2 The specific steps include:

[0030] The output current I of the K-arm is obtained through data processing. K2 For I K2 =a K cos(b K t);

[0031] Receive the output current I of the K-arm K2 The input current I of the H-arm H1 ;

[0032] The input current I of the H-arm H1 Performing a Fourier transform yields F(I) H1 )=π{a K [δ(ω-b K )+δ(ω+b K )]};

[0033] For F(I) H1 The component with an initial phase of 0 in the equation is shifted to the right. get

[0034]

[0035] For F2(I) H1 Perform a Fourier transform to obtain

[0036] right Add current component a H cos(b H t) to obtain the output current I of the H-arm H2 for

[0037]

[0038] Receive the output current I of the H arm H2 As the input current I of the G-arm G1 ;

[0039] The input current I of the G-arm G1 Fourier transform to obtain

[0040]

[0041] For F(I) G1 The component with an initial phase of 0 in the equation is shifted to the right. get

[0042]

[0043] For F2(I) G1 Perform a Fourier transform to obtain

[0044]

[0045] right Add current component a G cos(b G t) to obtain the output current I of the G arm G2 for

[0046]

[0047] The steps for obtaining the identification parameters from the K-arm to the G-arm specifically include:

[0048] The output current I of the G-arm G2 Fourier transform yields

[0049]

[0050] according to The identification parameters for the K-arm, H-arm, and G-arm are obtained sequentially as follows (a G ,b G ,0)

[0051] This application also provides a processor configured to perform the above-described boom recognition method.

[0052] This application also provides a boom identification device for identifying the type and installation sequence of a boom. The boom includes multiple boom sections, including a first boom section and an Nth boom section. The boom identification device includes multiple boom section identification devices and a controller. The multiple boom section identification devices are respectively and correspondingly disposed on the multiple boom sections. Each boom section identification device includes an identification calculation module, a current input module, and a current output module connected in sequence. The current input module of the Xth boom section is connected to the current output module of the X+1th boom section.

[0053] The current output module of the arm segment identification device on the Nth arm segment is used to output the current component as the output current I of the Nth arm segment. N2 ;

[0054] The current input module of the segment identification device for the Xth segment (excluding the Nth segment) is used to receive the output current I of the (X+1)th segment. (X+1)2 As the input current I of the Xth arm segment X1 The identification calculation module of the arm segment identification device of the Xth arm segment is used to obtain the input current I of the current input module of the arm segment identification device of the Xth arm segment. X1 And for the input current I of the Xth arm segment X1 The process is performed to obtain the output current I of the Xth arm segment. X2 ;

[0055] The controller is used to control the output current I of the arm segment identification device of the first arm segment. 12 The controller processes the data to obtain identification parameters from the first boom section to the Nth boom section. The controller is also used to obtain the current boom section type and connection relationship of the boom based on the identification parameters of each boom section, and to determine whether the type and connection relationship of each boom section of the boom is correct based on the current boom section type and connection relationship.

[0056] Optionally, the boom identification device further includes a torque limiter, which is used to limit the boom lifting when the current boom type and connection relationship are incorrect.

[0057] Optionally, the identification calculation module of the segment identification device for the Xth segment (excluding the Nth segment) is specifically used to receive the output current I of the (X+1)th segment. (X+1)2 As the input current I of the Xth arm segment X1 The input current I to the Xth arm segment X1 Performing a Fourier transform yields F(I) X1 ), for F(I X1 The component with an initial phase of 0 in ) is phase-shifted to obtain F2(I) X1 ), for F2(I X1 Performing an inverse Fourier transform yields right Adding the current component yields I X2 and I X2 As the output current I of the Xth arm section X2 .

[0058] Optionally, the identification calculation module of the arm segment identification device for the Xth arm segment (excluding the Nth arm segment) performs an operation on F(I). X1 The component with an initial phase of 0 in ) is phase-shifted to obtain F2(I) X1 When ), for F(I) X1 The component with an initial phase of 0 in the equation is shifted to the right. Get F2(I) X1 The identification calculation module of the arm segment identification device for the Xth arm segment (excluding the Nth arm segment) is used for... Adding the current component yields I X2 At that time, Add current component a X cos(b X t) obtain

[0059] Optionally, the controller is specifically used to control the output current I of the first arm segment. 12 Fourier transform yields

[0060] And according to The identification parameters (a1, b1, 0) from the first arm segment to the Nth arm segment are obtained.

[0061] This application also provides a boom identification device for identifying the type and installation sequence of a boom. The boom includes three boom sections (G, H, and K) connected in sequence. The boom identification device includes multiple boom section identification devices and a controller. The multiple boom section identification devices include a G boom section identification device, an H boom section identification device, and a K boom section identification device. The G boom section identification device, the H boom section identification device, and the K boom section identification device are respectively and correspondingly installed on the G boom, H boom, and K boom. Each boom section identification device includes an identification calculation module, a current input module, and a current output module connected in sequence. The current output module of the K boom section identification device is connected to the current input module of the H boom section identification device, the current output module of the H boom section identification device is connected to the current input module of the G boom section identification device, and the current output module of the G boom section identification device is connected to the controller.

[0062] The identification and calculation module of the K-arm segment identification device is used to obtain the output current I of the K-arm through data processing. K2 ;

[0063] The current input module of the H-arm segment identification device is used to receive the output current I output by the current output module of the K-arm segment identification device. K2 As the input current I of H-arm H1 The identification calculation module of the H-arm segment identification device is used to process the input current I of the H-arm. H1 The output current I of arm H is obtained through processing. H2 ;

[0064] The current input module of the G-arm segment identification device is used to receive the output current I of the H-arm segment from the current output module of the H-arm segment identification device. H2 As the input current I of the G-arm G1 The identification calculation module of the G-arm segment identification device is used to process the input current I of the G-arm. G1 The output current I of arm G is obtained through processing. G2 The current output module of the G-arm segment identification device is used to convert the output current I of the G-arm into the current I of the G-arm segment. G2 Output to the controller;

[0065] The controller is used to control the output current I of the G-arm from the current output module of the G-arm identification device. G2The controller processes the data to obtain identification parameters from the K-arm to the G-arm. It is also used to obtain the current boom segment type and connection relationship of the boom based on the identification parameters from the K-arm to the G-arm, and to determine whether the type and connection relationship of each boom segment of the boom are correct based on the current boom segment type and connection relationship.

[0066] Optionally, the identification calculation module of the H-arm segment identification device is specifically used to receive the output current I of the K-arm. K2 As the input current I of H-arm H1 The input current I of the H-arm H1 Performing a Fourier transform yields F(I) H1 )=π{a K [δ(ω-b K )+δ(ω+b K )]}, for F(I H1 The component with an initial phase of 0 in the equation is shifted to the right. get For F2(I) H1 Perform a Fourier transform to obtain right Add current component a H cos(b H t) to obtain the output current I of arm H. H2 for

[0067]

[0068] The identification and processing module of the G-arm identification device is specifically used to receive the output current I of the H-arm. H2 As the input current I of the G-arm G1 The input current I of the G-arm G1 Fourier transform to obtain

[0069] For F(I) G1 The component with an initial phase of 0 in the equation is shifted to the right. get

[0070] For F2(I) G1 Perform a Fourier transform to obtain right Add current component a G cos(b G t) to obtain the output current I of arm G. G2 for

[0071]

[0072] The controller is specifically used to control the output current I of the G-arm. G2 Fourier transform yields

[0073]

[0074] according to The identification parameters for the K-arm, H-arm, and G-arm are obtained sequentially as follows (a G ,b G ,0)

[0075] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0076] The boom identification method, processor, boom identification device, and computer-readable storage medium of this application can identify both the type of boom segment and the connection sequence of each boom segment, ensuring that the correct boom segment type is used and connected in the correct sequence, thereby reducing safety accidents caused by boom segment identification errors and thus reducing personal injury and property damage. Attached Figure Description

[0077] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0078] Figure 1 This is a flowchart illustrating a boom identification method according to an embodiment of the present invention.

[0079] Figure 2 This is a schematic diagram of the structure of a boom recognition device according to an embodiment of the present invention.

[0080] Figure 3 This is a schematic diagram of the structure of a boom recognition device according to another embodiment of the present invention. Detailed Implementation

[0081] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0082] In the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0083] The terms “first,” “second,” “third,” etc., are used merely to distinguish numerical values ​​or elements with similar properties, rather than to indicate or imply relative importance or a specific order.

[0084] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0085] This invention provides a boom identification method for identifying the type and installation sequence of a boom. The boom comprises N boom sections connected sequentially, each section having built-in identification parameters. Where parameter a X and b X Mapped to the corresponding arm segment type, parameters To characterize the connection between this arm segment and the subsequent arm segment, please refer to [reference needed]. Figure 1 One embodiment of the boom identification method includes:

[0086] S11, the output current I of the Nth arm segment (i.e., the last arm segment) is obtained through data processing. N2 For segments N-1 to the first segment, segment X receives the output current I from segment X+1 (i.e., the preceding segment). (X+1)2 As the input current I of the Xth arm segment X1 and the input current I X1 The process is performed to obtain the output current I of the Xth arm segment. X2 Where X is a positive integer greater than or equal to 1. It can be understood that the first boom section here can be the boom section of a crane or other engineering machinery connected to the vehicle body, or it can be the boom section that is far from the crane or other engineering machinery connected to the vehicle body (i.e., the end boom section). That is to say, from the first boom section to the Nth boom section, it can refer to the boom section connected to the vehicle body to the end boom section, or it can be the other way around, referring to the boom section connected to the vehicle body.

[0087] S13, the output current I of the first arm section 12 After processing, the recognition parameters from the first arm segment to the Nth arm segment are obtained as (a1, b1, 0).

[0088] S15, based on the identification parameters (a1, b1, 0) of each arm segment, Obtain the current boom section type and connection relationship, and determine whether the types and connection relationships of each boom section are correct based on the current boom section type and connection relationship.

[0089] In the boom identification method of this embodiment, both the type of boom section and the connection sequence of each boom section can be identified, ensuring that the correct type of boom section is used and connected in the correct sequence, thereby reducing safety accidents caused by incorrect boom section identification and thus reducing casualties and property losses.

[0090] In this embodiment, the boom identification method further includes:

[0091] S17. When the current boom type and connection relationship are incorrect, the boom lifting is restricted. Specifically, when the current boom type and connection relationship are incorrect, a prompt message can be sent to the torque limiter, which will then restrict the boom lifting. Specifically, the torque limiter can indicate that there is a problem with the boom installation.

[0092] In this embodiment, in step S11,

[0093] For the Nth arm segment, the current component a N cos(b N t) is the output current I of the Nth arm section. N2 It can be understood that the current component here can also be a. N sin(b N t).

[0094] For the (N-1)th arm segment to the first arm segment, step S11 includes:

[0095] S111, receives the output current I of the (X+1)th arm segment. (X+1)2 As the input current I of the Xth arm segment X1 .

[0096] S112, for input current I X1 Performing a Fourier transform yields F(I) X1 ).

[0097] S113, for F(I) X1 The component with an initial phase of 0 in the equation is shifted to the left or right. Get F2(I) X1 ).

[0098] S114, for F2(I) X1 Performing an inverse Fourier transform yields

[0099] S115, for Add current component aX cos(b X t) obtain It is understandable that the current component added here can also be a. X sin(b X t), at this time the corresponding

[0100] S116, I X2 As the output current I of the Xth arm section X2 .

[0101] In this embodiment, step S13 specifically includes:

[0102] S131, the output current I of the first arm section 12 Fourier transform yields

[0103]

[0104] S133, according to The recognition parameters (a1, b1, 0) from the first arm segment to the Nth arm segment are obtained.

[0105] In one specific embodiment, the boom may include three boom sections A, B, and C, with the correct installation sequence being ABC. When the boom actually includes three boom sections G, H, and K connected in sequence, where K is the Nth boom section (in this case, the third boom section), H is the middle boom section, and G is the first boom section, the above-described boom identification method can be used to identify whether the type and connection sequence of the boom's three boom sections G and H are correct.

[0106] Specifically, in step S11, the output current I of the K-arm is obtained through data processing. K2 The H-arm receives the output current I from the K-arm. K2 As the input current I of H-arm H1 and the input current I H1 The output current I of arm H is obtained through processing. H2 The G arm receives the output current I from the H arm. H2 As the input current I of the G-arm G1 and the input current I G1 The output current I of arm G is obtained through processing. G2 .

[0107] Specifically, in step S13, the output current I of arm G is... G2 After processing, the recognition parameters from the K-arm to the G-arm are obtained as follows (a G ,b G ,0)

[0108] Specifically, in step S15, based on the identification parameters (a) from the K-arm to the G-arm... G ,b G ,0) The system obtains the current boom section type and connection relationship. Based on the current boom section type and connection relationship, it determines whether the types of boom sections A, B, and C and the correct installation sequence ABC are consistent, thereby determining whether the types and connection relationships of each boom section are correct.

[0109] In step S11,

[0110] The output current I of the K-arm is obtained through data processing. K2 For I K2 =a K cos(b K t); It can be understood that the output current of arm K here can also be a K sin(b K t).

[0111] Receive the output current I of the K-arm K2 As the input current I of H-arm H1 ;

[0112] For input current I H1 Performing a Fourier transform yields F(I) H1 )=π{a K [δ(ω-b K )+δ(ω+b K )]};

[0113] For F(I) H1 The component with an initial phase of 0 in the equation is shifted to the right. get It's understandable; this could also be a left-shifted phase.

[0114] For F2(I) H1 Perform a Fourier transform to obtain

[0115] right Add current component a H cos(b H t) to obtain the output current I of arm H. H2 for It is understandable that the current component added here can also be a. H sin(b H t).

[0116] Receive the output current I of the H-arm H2 As the input current I of the G-arm G1 ;

[0117] For input current I G1 Fourier transform to obtain

[0118]

[0119] For F(I) G1 The component with an initial phase of 0 in the equation is shifted to the right. get

[0120] It's understandable; this could also be a left-shifted phase.

[0121] For F2(I) G1 Perform a Fourier transform to obtain

[0122]

[0123] right Add current component a G cos(b G t) to obtain the output current I of arm G. G2 for

[0124] It is understandable that the current component added here can also be a. G sin(b G t).

[0125] More specifically, step S13 includes:

[0126] Output current I of G arm G2 Fourier transform yields

[0127]

[0128] according to

[0129] The recognition parameters for the K-arm, H-arm, and G-arm are obtained as follows (a G ,b G ,0)

[0130] More specifically, in step S15, the comparison (a) G ,b G ,0) and (a A ,b A ,0) Determine whether the types and connections of the boom sections are correct.

[0131] This invention provides a processor configured to execute the above-described boom recognition method.

[0132] In the processor of this embodiment, it can identify both the type of boom segment and the connection sequence of each boom segment, ensuring that the correct boom segment type is used and connected in the correct sequence, thereby reducing safety accidents caused by incorrect boom segment identification and thus reducing casualties and property damage.

[0133] This invention also provides a boom identification device for identifying the type and installation sequence of a boom. The boom includes multiple boom sections, including a first boom section and an Nth boom section (here, the number of boom sections can be two or more), with the Nth boom section being the last boom section. Please refer to [reference needed]. Figure 2 One embodiment of the boom identification device includes:

[0134] Multiple arm segment identification devices 31 and a controller 33 are provided. Each arm segment identification device 31 is correspondingly mounted on one of the multiple arm segments. Each arm segment identification device 31 includes a recognition calculation module 311, a current input module 313, and a current output module 315 connected in sequence. The current input module 313 of the Xth arm segment is connected to the current output module 315 of the (X+1)th arm segment. The current output module 315 of the arm segment identification device 31 on the Nth arm segment is used to convert the current component a... N cos(b N t) as the output current I N2 The current input module 313 of the segment identification device for the Xth segment (excluding the Nth segment) is used to receive the output current I of the (X+1)th segment. (X+1)2 As the input current I of the Xth arm segment X1 The identification calculation module 311 of the arm segment identification device of the Xth arm segment is used to obtain the input current I of the current input module 313 of the arm segment identification device of the Xth arm segment. X1 and the input current I X1 The process is performed to obtain the output current I of the Xth arm segment. X2 The controller 33 is used to control the output current I of the arm segment identification device 31 of the first arm segment. 12 After processing, the recognition parameters from the first arm segment to the Nth arm segment are obtained as (a1, b1, 0). The controller 33 is also used to determine the identification parameters (a1, b1, 0) of each arm segment. The system obtains the current boom section type and connection relationship, and determines whether the types and connection relationships of each boom section are correct based on the current boom section type and connection relationship. It can be understood that the identification calculation module 311, current input module 313, and current output module 315 of each boom section identification device can be integrated into a single module, or the identification calculation module 311 can be integrated into the current input module 313 or the current output module 315, or the current input module 313 and the current output module 315 can be integrated into a single module.

[0135] In this embodiment of the boom identification device, it can identify both the type of boom section and the connection sequence of each boom section, ensuring that the correct boom section type is used and connected in the correct sequence, thereby reducing safety accidents caused by incorrect boom section identification and thus reducing casualties and property losses.

[0136] In this embodiment, the boom identification device also includes a torque limiter 35, which is used to limit boom lifting when the current boom type and connection relationship are incorrect.

[0137] In this embodiment, the identification calculation module 311 of the arm segment identification device for the Xth arm segment (excluding the Nth arm segment) is specifically used to receive the output current I of the (X+1)th arm segment. (X+1)2 As the input current I of the Xth arm segment X1 For input current I X1 Performing a Fourier transform yields F(I) X1 ), for F(I X1 The component with an initial phase of 0 in the equation is shifted to the left or right. Get F2(I) X1 ), for F2(I X1 Performing an inverse Fourier transform yields right Add current component a X cos(b X t) obtain and I X2 As the output current I of the Xth arm section X2 It is understandable that the current component added here can also be a. X sin(b X t).

[0138] In this embodiment, the controller 33 is specifically used to control the output current I of the first arm segment. 12 Fourier transform yields

[0139] And according to The recognition parameters (a1, b1, 0) from the first arm segment to the Nth arm segment are obtained.

[0140] In one embodiment, the boom comprises three GHK boom sections connected in sequence, please refer to... Figure 3 One embodiment of the boom identification device includes:

[0141] Multiple arm segment recognition devices and a controller 33 are provided. The multiple arm segment recognition devices include a G-arm segment recognition device 31A, an H-arm segment recognition device 31B, and a K-arm segment recognition device 31C. Each of these devices is correspondingly located on a G-arm, an H-arm, and a K-arm, respectively. Each arm segment recognition device includes a recognition calculation module 311, a current input module 313, and a current output module 315 connected in sequence. The current output module 315 of the K-arm segment recognition device 31C is connected to the current input module 313 of the H-arm segment recognition device 31B, the current output module 315 of the H-arm segment recognition device 31B is connected to the current input module 313 of the G-arm segment recognition device 31A, and the current output module 315 of the G-arm segment recognition device 31A is connected to the controller 33. The recognition calculation module 311 of the K-arm segment recognition device 31C is used to obtain the output current I of the K-arm through data processing. K2 For I K2 =a K cos(b K t). The current input module 313 of the H-arm joint identification device 31B is used to receive the output current I output by the current output module 315 of the K-arm joint identification device 31C. K2 As the input current I of H-arm H1 The identification and calculation module 311 of the H-arm joint identification device 31B is used to process the input current I. H1 The output current I of arm H is obtained through processing. H2 The current input module 313 of the G-arm segment identification device 31A is used to receive the output current I output by the current output module 315 of the H-arm segment identification device 31B. H2 As the input current I of the G-arm G1 The identification and calculation module 311 of the G-arm segment identification device 31A is used to process the input current I. G1 The output current I of arm G is obtained through processing. G2 The current output module 315 of the G-arm segment identification device 31A is used to convert the output current I of the G-arm segment into the current I of the G-arm segment. G2 The output is sent to controller 33. Controller 33 is used to output the output current I of the G-arm to the current output module 315 of the G-arm identification device 31A. G2 After processing, the recognition parameters from the K-arm to the G-arm are obtained as follows (a G ,b G ,0) Controller 33 is also used to identify parameters (a) from the K-arm to the G-arm. G ,b G ,0) Obtain the current boom section type and connection relationship, and determine whether the types and connection relationships of each boom section are correct based on the current boom section type and connection relationship.

[0142] Specifically, the identification and processing module 311 of the H-arm segment identification device 31B is specifically used to receive the output current I of the K-arm. K2 As the input current I of H-arm H1 For input current I H1 Performing a Fourier transform yields F(I) H1 )=π{a K [δ(ω-b K )+δ(ω+b K )]}, for F(I H1 The component with an initial phase of 0 in the equation is shifted to the right. get For F2(I) H1 Perform a Fourier transform to obtain right Add current component a H cos(b H t) to obtain the output current I of arm H. H2 for It's understandable; this could also be a left-shifted phase. It is understandable that the current component added here can also be a. H sin(b H t).

[0143] Specifically, the identification and processing module 311 of the G-arm segment identification device 31A is specifically used to receive the output current I of the H-arm. H2 As the input current I of the G-arm G1 For input current I G1 Fourier transform to obtain

[0144] For F(I) G1 The component with an initial phase of 0 in the equation is shifted to the right. get

[0145] For F2(I) G1 Perform a Fourier transform to obtain right Add current component a G cos(b G t) to obtain the output current I of arm G. G2 for

[0146] It's understandable; this could also be a left-shifted phase. It is understandable that the current component added here can also be a. G sin(b G t).

[0147] Specifically, controller 33 is specifically used to control the output current I of the G-arm.G2 Fourier transform yields

[0148]

[0149] according to

[0150] The recognition parameters for the K-arm, H-arm, and G-arm are obtained as follows (a G ,b G ,0)

[0151] In this embodiment, the boom identification device also includes a torque limiter 35, which is used to limit boom lifting when the current boom type and connection relationship are incorrect.

[0152] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the boom identification method as described in any of the above embodiments. In this embodiment, the computer-readable storage medium can identify both the type of boom segment and the connection sequence of each segment, ensuring that the correct type of boom segment is used and connected in the correct order. This reduces safety accidents caused by incorrect boom segment identification, thereby minimizing personal injury and property damage.

[0153] Computer-readable storage media can be magnetic random access memory (FRAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various devices that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. The computer program stored in the computer-readable storage medium is executed by a processor to implement the above-described arm recognition method.

[0154] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A boom identification method for identifying the type and installation sequence of a boom, wherein the boom comprises N boom sections connected sequentially, and each boom section has built-in identification parameters. Where parameter a X and b X Mapped to the corresponding arm segment type, parameters Characterizing the connection relationship between this arm segment and the subsequent arm segment, characterized in that, The method includes: The output current I of the Nth arm section is obtained through data processing. N2 For segments N-1 to the first segment, segment X receives the output current I from segment X+1. (X+1)2 As the input current I of the Xth arm segment X1 and the input current I X1 The process is performed to obtain the output current I of the Xth arm segment. X2 , where X is a positive integer greater than or equal to 1; Output current I of the first arm section 12 The parameters are processed to obtain the identification parameters from the first arm segment to the Nth arm segment; The current boom type and connection relationship are obtained based on the identification parameters of each boom section, and the correctness of the boom type and connection relationship is determined based on the current boom type and connection relationship.

2. The method as described in claim 1, characterized in that, The boom identification method also includes: When the current boom type and connection relationship are incorrect, the boom lifting is restricted.

3. The method as described in claim 1, characterized in that, The output current I of the Xth arm section is obtained. X2 In the steps; For the Nth arm segment: the current component is used as the output current I of the Nth arm segment. N2 ; For arm segment N-1 to arm segment 1: Receive the output current I of the (X+1)th arm section (X+1)2 As the input current I of the Xth arm segment X1 ; For the input current I X1 Performing a Fourier transform yields F(I) X1 ); For F(I) X1 The component with an initial phase of 0 in ) is phase-shifted to obtain F2(I) X1 ); For F2(I) X1 F2 is obtained by performing an inverse Fourier transform. -1 (I X1 ); For F2 -1 (I X1 Adding the aforementioned current component yields I. X2 ; Will I X2 As the output current I of the Xth arm section X2 .

4. The method as described in claim 3, characterized in that, For the Nth arm segment, the current component a N cos(b N t) is the output current I of the Nth arm section. N2 ; For the (N-1)th arm segment to the first arm segment, for F(I) X1 The component with an initial phase of 0 in ) is phase-shifted to obtain F2(I) X1 During the process of ), for F(I) X1 The component with an initial phase of 0 in the equation is shifted to the right. After obtaining I X2 During the process, for F2 -1 (I X1 Add current component a X cos(b X t) to obtain I X2 =F2 -1 (I X1 )+a X cos(b X t).

5. The method as described in claim 4, characterized in that, The steps for obtaining the identification parameters from the first arm segment to the Nth arm segment specifically include: Output current I of the first arm section 12 Fourier transform yields according to The recognition parameters (a1, b1, 0) from the first arm segment to the Nth arm segment are obtained.

6. The method as described in claim 1, characterized in that, The boom comprises three GHK boom sections connected in sequence, and the method specifically includes: The output current I of the K-arm is obtained through data processing. K2 The H-arm receives the output current I from the K-arm. K2 As the input current I of H-arm H1 and the input current I of the H-arm H1 The output current I of arm H is obtained through processing. H2 The G arm receives the output current I from the H arm. H2 As the input current I of the G-arm G1 And the input current I of the G arm G1 The output current I of arm G is obtained through processing. G2 ; The output current I of the G-arm G2 After processing, the recognition parameters from the K-arm to the G-arm are obtained as follows (a G ,b G ,0) According to the identification parameters (a) from the K-arm to the G-arm G ,b G ,0) Obtain the current boom segment type and connection relationship, and determine whether the types and connection relationships of the G-arm, H-arm, and K-arm of the boom are correct based on the current boom segment type and connection relationship.

7. The method as described in claim 6, characterized in that, The output current I of the G-arm is obtained. G2 The specific steps include: The output current I of the K-arm is obtained through data processing. K2 For I K2 =a K cos(b K t); Receive the output current I of the K-arm K2 The input current I of the H-arm H1 ; The input current I of the H-arm H1 Performing a Fourier transform yields F(I) H1 )=π{a K [δ(ω-b K )+δ(ω+b K )]}; For F(I) H1 The component with an initial phase of 0 in the equation is shifted to the right. get For F2(I) H1 Perform a Fourier transform to obtain For F2 -1 (I H1 Add current component a H cos(b H t) to obtain the output current I of the H-arm H2 for Receive the output current I of the H arm H2 As the input current I of the G-arm G1 ; The input current I of the G-arm G1 Fourier transform to obtain For F(I) G1 The component with an initial phase of 0 in the equation is shifted to the right. get For F2(I) G1 Perform a Fourier transform to obtain For F2 -1 (I G1 Add current component a G cos(b G t) to obtain the output current I of the G arm G2 for The steps for obtaining the identification parameters from the K-arm to the G-arm specifically include: The output current I of the G-arm G2 Fourier transform yields according to The identification parameters for the K-arm, H-arm, and G-arm are obtained sequentially as follows (a G ,b G ,0) 8. A processor, characterized in that, It is configured to perform the boom identification method as described in any one of claims 1-7.

9. A boom identification device for identifying the type and installation sequence of a boom, wherein the boom comprises multiple boom sections including a first boom section and an Nth boom section, characterized in that, The boom identification device includes multiple boom segment identification devices (31) and a controller (33). The multiple boom segment identification devices (31) are respectively disposed on the multiple boom segments. Each boom segment identification device (31) includes an identification calculation module (311), a current input module (313) and a current output module (315) connected in sequence. The current input module (313) of the Xth boom segment is connected to the current output module (315) of the X+1th boom segment. The current output module (315) of the arm segment identification device (31) on the Nth arm segment is used to output the current component as the output current I of the Nth arm segment. N2 ; The current input module (313) of the segment identification device (31) of the Xth segment (excluding the Nth segment) is used to receive the output current I of the (X+1)th segment. (X+1)2 As the input current I of the Xth arm segment X1 The identification calculation module (311) of the arm segment identification device of the Xth arm segment is used to obtain the input current I of the current input module (313) of the arm segment identification device of the Xth arm segment. X1 And for the input current I of the Xth arm segment X1 The process is performed to obtain the output current I of the Xth arm segment. X2 ; The controller (33) is used to control the output current I of the arm segment identification device (31) of the first arm segment. 12 The controller (33) is further configured to obtain the identification parameters from the first boom section to the Nth boom section based on the identification parameters of each boom section, and to determine whether the type and connection relationship of each boom section of the boom is correct based on the current boom section type and connection relationship.

10. The boom identification device as described in claim 9, characterized in that, The boom identification device also includes a torque limiter (35), which is used to limit the boom lifting when the current boom type and connection relationship are incorrect.

11. The boom identification device as described in claim 9, characterized in that, The identification calculation module (311) of the segment identification device (31) of the Xth segment (excluding the Nth segment) is specifically used to receive the output current I of the (X+1)th segment. (X+1)2 As the input current I of the Xth arm segment X1 The input current I to the Xth arm segment X1 Performing a Fourier transform yields F(I) X1 ), for F(I X1 The component with an initial phase of 0 in ) is phase-shifted to obtain F2(I) X1 ), for F2(I X1 F2 is obtained by performing an inverse Fourier transform. -1 (I X1 ), for F2 -1 (I X1 Adding the current component yields I. X2 and I X2 As the output current I of the Xth arm section X2 .

12. The boom identification device as described in claim 10, characterized in that, The identification calculation module (311) of the arm segment identification device (31) for the Xth arm segment (excluding the Nth arm segment) performs an operation on F(I) X1 The component with an initial phase of 0 in ) is phase-shifted to obtain F2(I) X1 When ), for F(I) X1 The component with an initial phase of 0 in the equation is shifted to the right. Get F2(I) X1 The identification calculation module (311) of the arm segment identification device (31) for the Xth arm segment (excluding the Nth arm segment) is for F2. -1 (I X1 Adding the current component yields I. X2 At that time, for F2 -1 (I X1 Add current component a X cos(b X t) to obtain I X2 =F2 -1 (I X1 )+a X cos(b X t).

13. The boom identification device as described in claim 9, characterized in that, The controller (33) is specifically used to control the output current I of the first arm section. 12 Fourier transform yields And according to The identification parameters (a1, b1, 0) from the first arm segment to the Nth arm segment are obtained.

14. A boom identification device for identifying the type and installation sequence of a boom, said boom comprising three GHK boom sections connected in sequence, characterized in that, The boom identification device includes multiple boom segment identification devices and a controller (33). The multiple boom segment identification devices include a G boom segment identification device (31A), an H boom segment identification device (31B), and a K boom segment identification device (31C). The G boom segment identification device (31A), the H boom segment identification device (31B), and the K boom segment identification device (31C) are respectively installed on the G boom, H boom, and K boom. Each boom segment identification device includes an identification calculation module (311) and a current input module (32C) connected in sequence. 13) and current output module (315), wherein the current output module (315) of the K-arm joint identification device (31C) is connected to the current input module (313) of the H-arm joint identification device (31B), the current output module (315) of the H-arm joint identification device (31B) is connected to the current input module (313) of the G-arm joint identification device (31A), and the current output module (315) of the G-arm joint identification device (31A) is connected to the controller (33); The identification and calculation module (311) of the K-arm segment identification device (31C) is used to obtain the output current I of the K-arm through data processing. K2 ; The current input module (313) of the H-arm joint identification device (31B) is used to receive the output current I output by the current output module (315) of the K-arm joint identification device (31C). K2 As the input current I of H-arm H1 The identification calculation module (311) of the H-arm segment identification device (31B) is used to process the input current I of the H-arm segment. H1 The output current I of arm H is obtained through processing. H2 ; The current input module (313) of the G-arm segment identification device (31A) is used to receive the output current I of the H-arm segment from the current output module (315) of the H-arm segment identification device (31B). H2 As the input current I of the G-arm G1 The identification calculation module (311) of the G-arm segment identification device (31A) is used to process the input current I of the G-arm segment. G1 The output current I of arm G is obtained through processing. G2 The current output module (315) of the G-arm segment identification device (31A) is used to convert the output current I of the G-arm segment into the current output I of the G-arm segment. G2 The output is sent to the controller (33); The controller (33) is used to output the output current I of the G-arm from the current output module (315) of the G-arm identification device (31A). G2 The controller (33) is further configured to obtain the identification parameters from the K-arm to the G-arm based on the identification parameters from the K-arm to the G-arm, and to determine whether the types and connections of each arm section of the boom are correct based on the current arm section types and connections.

15. The boom identification device as described in claim 14, characterized in that, The identification calculation module (311) of the H-arm segment identification device (31B) is specifically used to receive the output current I of the K-arm. K2 As the input current I of H-arm H1 The input current I of the H-arm H1 Performing a Fourier transform yields F(I) H1 )=π{a K [δ(ω-b K )+δ(ω+b K )]}, for F(I H1 The component with an initial phase of 0 in the equation is shifted to the right. get For F2(I) H1 Perform a Fourier transform to obtain For F2 -1 (I H1 Add current component a H cos(b H t) to obtain the output current I of arm H. H2 for The identification calculation module (311) of the G-arm identification device (31A) is specifically used to receive the output current I of the H-arm. H2 As the input current I of the G-arm G1 The input current I of the G-arm G1 Fourier transform to obtain For F(I) G1 The component with an initial phase of 0 in the equation is shifted to the right. get For F2(I) G1 Perform a Fourier transform to obtain For F2 -1 (I G1 Add current component a G cos(b G t) to obtain the output current I of arm G. G2 for The controller (33) is specifically used to control the output current I of the G-arm. G2 Fourier transform yields according to The identification parameters for the K-arm, H-arm, and G-arm are obtained sequentially as follows (a G ,b G ,0) 16. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 7.

Images