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

Abstract

Disclosed are a boom identification method, a processor, a boom identification apparatus, and a computer-readable storage medium. The boom identification method comprises: obtaining an output current IN2 of an Nth boom section, receiving by an Xth boom section an output current I(X+1)2 of an (X+1)th boom section as an input current IX1 of the Xth boom section, and processing the input current IX1 to obtain an output current IX2 of the Xth boom section (S11); processing an output current I12, and obtaining identification parameters of boom sections (S13); and obtaining the current boom section types and the connection relationship of a boom on the basis of the identification parameters of the boom sections, and on the basis of the current boom section types and the connection relationship, determining whether the types and the connection relationship of the boom sections of the boom are correct (S15). The types of the boom sections of the boom can be identified, and the connection sequence relationship of the boom sections can also be identified, thereby ensuring that the boom uses the correct boom section types and connection is performed in a correct sequence, and thus reducing safety accidents caused by boom section identification errors and reducing casualties and property loss.

Description

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

[0001] This disclosure claims priority to Chinese patent application CN2024103694978, filed on March 28, 2024, entitled “Boom Identification Method, Processor, Boom Identification Device and Computer-Readable Storage Medium,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the technical field of engineering machinery, and in particular to a boom identification method, a processor, a boom identification device, and a computer-readable storage medium. Background Art

[0003] To expand the working range and reach of lifting operations, truck cranes typically attach several or even dozens of lattice boom sections to the end of their box-type booms. Crawler cranes, on the other hand, typically utilize lattice booms. These lattice boom sections come in different types and are similar in appearance. However, depending on the operating conditions, they require different installation positions. Manual installation of a lattice boom can easily lead to the incorrect type or position of the boom. Performing a lifting operation under these incorrect installation conditions can result in a safety accident, resulting in personal and property damage. Currently, lattice booms on cranes on the market rely primarily on manual inspection, which can be prone to errors. Besides cranes, pump trucks also feature multi-section booms and suffer from similar issues. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a boom identification method, processor, boom identification device and computer-readable storage medium to identify the type of boom section and the connection sequence, reduce safety accidents caused by boom section identification errors, and thus reduce casualties and property losses.

[0005] The present application provides a boom identification method for identifying the type and installation order of a boom, wherein the boom comprises N boom sections connected in sequence, each of which has built-in identification parameters. , where the parameters and Mapped to the type of the corresponding arm segment, the parameters Characterizing the connection relationship between the current arm segment and the next arm segment, the method includes:

[0006] The Nth arm segment obtains the output current of the Nth arm segment through data processing ; For the N-1th arm segment to the first arm segment, the Xth arm segment receives the output current of the X+1th arm segment As the input current of the Xth arm section , and for the input current Processing is performed to obtain the output current of the Xth arm segment , where X is a positive integer greater than or equal to 1;

[0007] Output current to the first arm section Processing is performed to obtain identification parameters from the first arm segment to the Nth arm segment;

[0008] The current boom section type and connection relationship of the boom are obtained according to the identification parameters of each boom section, and whether the type and connection relationship of each boom section of the boom are correct is judged according to the current boom section type and connection relationship.

[0009] In some embodiments, the boom identification method further includes:

[0010] When the type and connection relationship of the front boom section are incorrect, the boom is restricted from lifting.

[0011] In some embodiments, the output current of the Xth arm segment is obtained In the steps;

[0012] For the Nth arm section: take the current component as the output current of the Nth arm section ;

[0013] For the N-1th arm segment to the first arm segment:

[0014] Receive the output current of the X+1th arm As the input current of the Xth arm section ;

[0015] For the input current Perform Fourier transform to get ;

[0016] right The initial phase of 0 is shifted to obtain ;

[0017] right Perform inverse Fourier transform to obtain ;

[0018] right Adding the current component yields ;

[0019] Will As the output current of the Xth arm .

[0020] In some embodiments, for the Nth arm segment, the current component As the output current of the Nth arm section ;

[0021] For the N-1th arm segment to the first arm segment, The initial phase of 0 is shifted to obtain In the process of The component with initial phase 0 in the right shift ; in getting In the process of Add the current component get .

[0022] In some embodiments, the step of obtaining identification parameters from the first arm segment to the Nth arm segment specifically includes:

[0023] Output current to the first arm section Perform Fourier transform to get ;

[0024] according to Get the identification parameters of the first arm segment to the Nth arm segment 、 、…、 .

[0025] In some embodiments, the boom comprises three GHK boom sections connected in sequence, and the method specifically comprises:

[0026] The K arm obtains the output current of the K arm through data processing , the H arm receives the output current of the K arm As the input current of H arm , and the input current of the H arm Processing is performed to obtain the output current of the H arm , the G arm receives the output current of the H arm As the input current of G arm , and the input current of the G arm Processing is performed to obtain the output current of the G arm ;

[0027] The output current of the G arm After processing, the identification parameters from K arm to G arm are obtained as follows: 、 、 ;

[0028] According to the identification parameters from K arm to G arm 、 、 The current arm section type and connection relationship of the boom are obtained, and whether the types and connection relationships of the G arm, H arm, and K arm of the boom are correct are determined based on the current arm section type and connection relationship.

[0029] In some embodiments, the output current of the G arm is obtained The steps specifically include:

[0030] The K arm obtains the output current of the K arm through data processing for ;

[0031] Receive the output current of the K arm As the input current of the H arm ;

[0032] The input current to the H arm Perform Fourier transform to get ;

[0033] right The component with initial phase 0 in the right shift get ;

[0034] right Perform Fourier transform to get ;

[0035] right Add the current component Get the output current of the H arm for ;

[0036] Receive the output current of the H arm As the input current of the G arm ;

[0037] The input current to the G arm Perform Fourier transform to get ;

[0038] right The component with initial phase 0 in the right shift get ;

[0039] right Perform Fourier transform to get ;

[0040] right Add the current component Get the output current of the G arm for ;

[0041] The step of obtaining the identification parameters from the K arm to the G arm specifically includes:

[0042] The output current of the G arm Perform Fourier transform to get ;

[0043] according to The identification parameters of the K arm, H arm, and G arm are obtained as follows: 、 、 .

[0044] The present application also provides a processor configured to execute the above-mentioned boom identification method.

[0045] The present application also provides a boom identification device for identifying the type and installation order of a boom, wherein the boom includes multiple boom sections including a first boom section and an Nth boom section, and the boom identification device includes multiple boom section identification devices and a controller, wherein the multiple boom section identification devices are respectively provided on the multiple boom sections in a one-to-one correspondence, and each boom section identification device includes an identification operation module, a current input module, and a current output module connected in sequence, and the current input module of the Xth boom section is connected to the current output module of the X+1th boom section;

[0046] The current output module of the arm segment identification device on the Nth arm segment is used to take the current component as the output current of the Nth arm segment. ;

[0047] The current input module of the arm segment identification device of the Xth arm segment except the Nth arm segment is used to receive the output current of the X+1th arm segment As the input current of the Xth arm section The recognition operation module of the arm segment recognition device of the Xth arm segment is used to obtain the input current of the current input module of the arm segment recognition device of the Xth arm segment. , and the input current of the Xth arm section Processing is performed to obtain the output current of the Xth arm segment ;

[0048] The controller is used to control the output current of the arm segment identification device of the first arm segment Processing is performed to obtain identification parameters from the first arm segment to the Nth arm segment. The controller is also used to obtain the current arm segment type and connection relationship of the boom according to the identification parameters of each arm segment, and to determine whether the type and connection relationship of each arm segment of the boom are correct according to the current arm segment type and connection relationship.

[0049] In some embodiments, the boom identification device further includes a torque limiter, which is used to limit the boom lifting when the type and connection relationship of the current boom section are incorrect.

[0050] In some embodiments, the recognition operation module of the arm segment recognition device of the Xth arm segment other than the Nth arm segment is specifically configured to receive the output current of the X+1th arm segment. As the input current of the Xth arm section , the input current to the Xth arm section Perform Fourier transform to get ,right The initial phase of 0 is shifted to obtain ,right Perform inverse Fourier transform to obtain ,right Adding the current component gives , and As the output current of the Xth arm .

[0051] In some embodiments, the recognition operation module of the arm segment recognition device of the Xth arm segment other than the Nth arm segment The initial phase of 0 is shifted to obtain When, right The component with initial phase 0 in the right shift get ; The recognition operation module of the arm segment recognition device of the X-th arm segment except the N-th arm segment Adding the current component gives When, right Add the current component get .

[0052] In some embodiments, the controller is specifically configured to control the output current of the first arm segment Perform Fourier transform to get

[0053]

[0054] , and according to Obtain the identification parameters of the first arm segment to the Nth arm segment 、 、…、 .

[0055] The present application also provides a boom identification device for identifying the type and installation order of a boom, wherein the boom includes three boom sections GHK connected in sequence, and the boom identification device includes multiple boom section identification devices and a controller, wherein the multiple boom section identification devices include a G arm section identification device, an H arm section identification device and a K arm section identification device, and the G arm section identification device, the H arm section identification device and the K arm section identification device are respectively arranged on the G arm, the H arm and the K arm in a one-to-one correspondence, and each of the boom section identification devices includes an identification operation module, a current input module and a current output module connected in sequence, and the current output module of the K arm section identification device is connected to the current input module of the H arm section identification device, the current output module of the H arm section identification device is connected to the current input module of the G arm section identification device, and the current output module of the G arm section identification device is connected to the controller;

[0056] The identification operation module of the K-arm segment identification device is used to obtain the output current of the K-arm through data processing. ;

[0057] The current input module of the H arm segment identification device is used to receive the output current output by the current output module of the K arm segment identification device. As the input current of H arm The identification operation module of the H arm segment identification device is used to input the current of the H arm Processing is performed to obtain the output current of the H arm ;

[0058] The current input module of the G arm segment identification device is used to receive the output current of the H arm output by the current output module of the H arm segment identification device. As the input current of G arm The identification operation module of the G arm segment identification device is used to input the current of the G arm Processing is performed to obtain the output current of the G arm The current output module of the G arm segment identification device is used to convert the output current of the G arm output to the controller;

[0059] The controller is used to control the output current of the G arm output by the current output module of the G arm segment identification device. Processing is performed to obtain identification parameters from the K arm to the G arm. The controller is also used to obtain the current arm segment type and connection relationship of the boom based on the identification parameters from the K arm to the G arm, and determine whether the type and connection relationship of each arm segment of the boom are correct based on the current arm segment type and connection relationship.

[0060] In some embodiments, the identification operation module of the H arm segment identification device is specifically used to receive the output current of the K arm As the input current of H arm , the input current to the H arm Perform Fourier transform to get ,right The component with initial phase 0 in the right shift get ,right Perform Fourier transform to get ,right Add the current component Get the output current of H arm for ;

[0061] The identification operation module of the G arm segment identification device is specifically used to receive the output current of the H arm As the input current of G arm , the input current to the G arm Perform Fourier transform to get

[0062] ,right The component with initial phase 0 in the right shift get

[0063] ,right Perform Fourier transform to get ,right Add the current component Get the output current of G arm for ;

[0064] The controller is specifically used to output the current of the G arm Perform Fourier transform to get ;

[0065] according to The identification parameters of the K arm, H arm, and G arm are obtained as follows: 、 、 .

[0066] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented. Beneficial effects

[0067] The boom identification method, processor, boom identification device and computer-readable storage medium of the present application can not only identify the arm section type of the boom, but also identify the connection sequence relationship of each arm section, ensuring that the boom adopts the correct arm section type and is connected in the correct order, thereby reducing safety accidents caused by arm section identification errors, thereby reducing casualties and property losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0069] FIG1 is a flow chart of a boom identification method according to an embodiment of the present application.

[0070] FIG2 is a schematic structural diagram of an arm recognition device according to an embodiment of the present application.

[0071] FIG3 is a schematic structural diagram of an arm recognition device according to another embodiment of the present application.

[0072] FIG4 is a schematic structural diagram of a computer device according to an embodiment of the present application.

[0073] FIG5 is a schematic structural diagram of a computer device according to another embodiment of the present application. Modes for Carrying Out the Invention

[0074] Specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the description of this application without inventive effort are intended to fall within the scope of protection of this application.

[0075] In the description of this application, unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances.

[0076] The terms "first," "second," "third," etc. are merely used to distinguish between values ​​or elements of similar attributes, and do not indicate or imply relative importance or a particular order.

[0077] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0078] The embodiment of the present application provides a boom identification method for identifying the type and installation order of the boom, wherein the boom comprises N boom sections connected in sequence, each boom section having built-in identification parameters. , where the parameters and Mapped to the type of the corresponding arm segment, the parameters Characterizing the connection relationship between the current boom section and the next boom section, referring to FIG1 , a boom identification method according to an embodiment includes:

[0079] S11, the Nth arm segment (i.e. the last arm segment) obtains the output current of the Nth arm segment through data processing ; For the N-1th arm segment to the first arm segment, the Xth arm segment receives the output current of the X+1th arm segment (i.e. the previous arm segment) As the input current of the Xth arm section , and for input current Processing is performed to obtain the output current of the Xth arm segment Wherein, X is a positive integer greater than or equal to 1. It is understood that the first boom section here can be the boom section where the crane or other construction machinery is connected to the vehicle body, or it can be the boom section that is farthest from the crane or other construction machinery and is connected to the vehicle body (i.e., the end boom section). In other words, from the first boom section to the Nth boom section, it can refer to the section from the boom section where the boom is connected to the vehicle body to the end boom section, or vice versa, from the end boom section to the boom section where the boom is connected to the vehicle body.

[0080] S13, output current to the first arm segment After processing, the identification parameters from the first arm segment to the Nth arm segment are obtained as follows: 、 、…、 .

[0081] S15, according to the identification parameters of each arm segment 、 、…、 The current arm section type and connection relationship of the boom are obtained, and whether the type and connection relationship of each arm section of the boom are correct is determined based on the current arm section type and connection relationship.

[0082] In the boom identification method of this embodiment, it is possible to identify both the boom section type and the connection sequence of each boom section, ensuring that the boom uses the correct boom section type and is connected in the correct sequence, thereby reducing safety accidents caused by boom section identification errors and thus reducing casualties and property losses.

[0083] In this embodiment, the boom identification method further includes:

[0084] S17: If the boom section type and connection relationship are incorrect, the boom lift is restricted. When the boom section type and connection relationship are incorrect, a prompt message may be sent to a torque limiter, causing the torque limiter to restrict the boom lift. The torque limiter may indicate a problem with the boom installation.

[0085] In this embodiment, in step S11,

[0086] For the Nth arm, the current component As the output current of the Nth arm It can be understood that the current component here can also be .

[0087] For the N-1th arm segment to the first arm segment, step S11 includes:

[0088] S111, receiving the output current of the X+1th arm segment As the input current of the Xth arm section .

[0089] S112, for input current Perform Fourier transform to get .

[0090] S113, yes The component with initial phase 0 in the left or right phase shift get .

[0091] S114, yes Perform inverse Fourier transform to obtain .

[0092] S115, yes Add the current component get It can be understood that the current component added here can also be , the corresponding .

[0093] S116, will As the output current of the Xth arm .

[0094] In this embodiment, step S13 specifically includes:

[0095] S131, output current to the first arm segment Perform Fourier transform to get .

[0096] S133, according to Get the identification parameters of the first arm segment to the Nth arm segment 、 、…、 .

[0097] In one specific embodiment, the boom may include three boom sections, A, B, and C, and the correct installation sequence is ABC. If the boom actually includes three boom sections, GHK, connected in sequence, where arm K is the Nth boom section (here, the third boom section), H is the middle boom section, and G is the first boom section, the boom identification method described above can be used to identify the correct type and connection sequence of the three GHK boom sections.

[0098] Among them, in step S11, the K arm obtains the output current of the K arm through data processing , the H arm receives the output current of the K arm As the input current of H arm , and for input current Processing is performed to obtain the output current of the H arm , G arm receives the output current of H arm As the input current of G arm , and for input current Processing is performed to obtain the output current of the G arm .

[0099] Among them, in step S13, the output current of the G arm After processing, the identification parameters from K arm to G arm are obtained as follows: 、 、 .

[0100] In step S15, according to the identification parameters from K arm to G arm 、 、 The current boom section type and connection relationship of the boom are obtained, and the types of the three boom sections A, B, and C of the boom and whether the correct installation sequence ABC are consistent are determined based on the current boom section type and connection relationship, thereby determining whether the types and connection relationships of the three boom sections of the boom are correct.

[0101] In step S11,

[0102] The K arm obtains the output current of the K arm through data processing for It can be understood that the output current of the K arm here can also be .

[0103] Receive the output current of K arm As the input current of H arm ;

[0104] For input current Perform Fourier transform to get ;

[0105] right The component with initial phase 0 in the right shift get ; It can be understood that this can also be left-shifted .

[0106] right Perform Fourier transform to get ;

[0107] right Add the current component Get the output current of H arm for It can be understood that the current component added here can also be .

[0108] Receive the output current of H arm As the input current of G arm ;

[0109] For input current Perform Fourier transform to get ;

[0110] right The component with initial phase 0 in the right shift get ; It can be understood that this can also be left-shifted .

[0111] right Perform Fourier transform to get ;

[0112] right Add the current component Get the output current of G arm for It can be understood that the current component added here can also be .

[0113] Wherein, step S13 includes:

[0114] Output current to G arm Perform Fourier transform to get ;

[0115] according to The identification parameters of K arm, H arm and G arm are: 、 .

[0116] Among them, in step S15, compare 、 、 and 、 、 , determine whether the types and connection relationships of the various arm sections of the boom are correct.

[0117] An embodiment of the present application provides a processor configured to execute the above-mentioned boom identification method.

[0118] The processor of this embodiment can not only identify the arm section type of the boom, but also identify the connection sequence of each arm section, ensuring that the boom uses the correct arm section type and is connected in the correct sequence, thereby reducing safety accidents caused by arm section identification errors, thereby reducing casualties and property losses.

[0119] The present application further provides a boom identification device for identifying the type and installation order of a boom, wherein the boom includes a plurality of boom sections including a first boom section and an Nth boom section (herein, the number of boom sections may be two or more), and the Nth boom section is the last boom section. Referring to FIG. 2 , the boom identification device of one embodiment includes:

[0120] Multiple arm segment identification devices 31 and controllers 33, multiple arm segment identification devices 31 are respectively provided on multiple arm segments, each arm segment identification device 31 includes an identification operation module 311, a current input module 313 and a current output module 315 connected in sequence, and the current input module 313 of the Xth arm segment is connected to the current output module 315 of the X+1th 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 As the output current The current input module 313 of the arm segment identification device of the Xth arm segment except the Nth arm segment is used to receive the output current of the X+1th arm segment. As the input current of the Xth arm section The recognition operation module 311 of the arm segment recognition device of the Xth arm segment is used to obtain the input current of the current input module 313 of the arm segment recognition device of the Xth arm segment. , and for input current Processing is performed to obtain the output current of the Xth arm segment The controller 33 is used to control the output current of the arm segment identification device 31 of the first arm segment. After processing, the identification parameters from the first arm segment to the Nth arm segment are obtained as follows: 、 、…、 The controller 33 is also used to identify the parameters of each arm segment. 、 、…、 The current boom segment type and connection relationship of the boom are obtained, and based on the current boom segment type and connection relationship, it is determined whether the types and connection relationships of the boom segments are correct. It is understood that the recognition operation module 311, current input module 313, and current output module 315 of each boom segment recognition device can be integrated into a single module, or the recognition operation 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.

[0121] The boom identification device of this embodiment can not only identify the type of boom sections, but also identify the connection sequence of each boom section, ensuring that the boom uses the correct boom section type and is connected in the correct sequence, thereby reducing safety accidents caused by boom section identification errors, thereby reducing casualties and property losses.

[0122] In this embodiment, the boom identification device further includes a torque limiter 35 , which is used to limit the boom lifting when the type and connection relationship of the current boom section are incorrect.

[0123] In this embodiment, the recognition operation module 311 of the arm segment recognition device of the Xth arm segment except the Nth arm segment is specifically used to receive the output current of the X+1th arm segment. As the input current of the Xth arm section , for input current Perform Fourier transform to get ,right The component with initial phase 0 in the left or right phase shift get ,right Perform inverse Fourier transform to obtain ,right Add the current component get , and As the output current of the Xth arm It can be understood that the current component added here can also be .

[0124] In this embodiment, the controller 33 is specifically used to control the output current of the first arm segment. Perform Fourier transform to get , and according to Get the identification parameters of the first arm segment to the Nth arm segment 、 、…、 .

[0125] In one embodiment, the boom includes three GHK boom sections connected in sequence. Referring to FIG. 3 , the boom identification device of one embodiment includes:

[0126] Multiple arm segment identification devices and a controller 33, the multiple arm segment identification devices include a G arm segment identification device 31A, an H arm segment identification device 31B and a K arm segment identification device 31C, the G arm segment identification device 31A, the H arm segment identification device 31B and the K arm segment identification device 31C are respectively arranged on the G arm, the H arm and the K arm, each arm segment identification device includes an identification operation module 311, a current input module 313 and a current output module 315 connected in sequence, and the current output module 315 of the K arm segment identification device 31C is connected to the current input module 313 of the H arm segment identification device 31B, the current output module 315 of the H arm segment identification device 31B is connected to the current input module 313 of the G arm segment identification device 31A, and the current output module 315 of the G arm segment identification device 31A is connected to the controller 33. The identification operation module 311 of the K arm segment identification device 31C is used to obtain the output current of the K arm through data processing for The current input module 313 of the H arm segment identification device 31B is used to receive the output current output by the current output module 315 of the K arm segment identification device 31C. As the input current of H arm The recognition operation module 311 of the H arm segment recognition device 31B is used to input current Processing is performed to obtain the output current of the H arm The current input module 313 of the G arm segment identification device 31A is used to receive the output current output by the current output module 315 of the H arm segment identification device 31B. As the input current of G arm The recognition operation module 311 of the G arm segment recognition device 31A is used to input current Processing is performed to obtain the output current of the G arm The current output module 315 of the G arm segment identification device 31A is used to convert the output current of the G arm Output to the controller 33. The controller 33 is used to output the output current of the G arm to the current output module 315 of the G arm segment identification device 31A. After processing, the identification parameters from K arm to G arm are obtained as follows: 、 、 The controller 33 is also used to change the identification parameters from the K arm to the G arm. 、 、 The current arm section type and connection relationship of the boom are obtained, and whether the type and connection relationship of each arm section of the boom are correct is determined based on the current arm section type and connection relationship.

[0127] The identification operation module 311 of the H arm segment identification device 31B is specifically used to receive the output current of the K arm As the input current of H arm , for input current Perform Fourier transform to get ,right The component with initial phase 0 in the right shift get ,right Perform Fourier transform to get ,right Add the current component Get the output current of H arm for It can be understood that this can also be a left-shift phase It can be understood that the current component added here can also be .

[0128] The identification operation module 311 of the G arm segment identification device 31A is specifically used to receive the output current of the H arm As the input current of G arm , for input current Perform Fourier transform to get ,right The component with initial phase 0 in the right shift get ,right Perform Fourier transform to get ,right Add the current component Get the output current of G arm for It can be understood that this can also be a left-shift phase It can be understood that the current component added here can also be .

[0129] The controller 33 is specifically used to control the output current of the G arm. Perform Fourier transform to get ;

[0130] according to The identification parameters of K arm, H arm and G arm are: 、 、 .

[0131] In this embodiment, the boom identification device further includes a torque limiter 35 , which is used to limit the boom lifting when the type and connection relationship of the current boom section are incorrect.

[0132] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in Figure 4. The computer device includes a processor, memory, network interface, display screen, and input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer-readable instructions are executed by the processor, a boom recognition method is implemented. The display screen of the computer device may be a liquid crystal display or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a key, trackball, or touchpad provided on the computer device housing, or an external keyboard, touchpad, or mouse.

[0133] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in Figure 5. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer-readable instructions, and a database. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium. The database of the computer device is used to store usage data and device configuration item data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer-readable instructions are executed by the processor, a boom identification method is implemented.

[0134] Those skilled in the art will understand that the structure shown in Figure 4 or Figure 5 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0135] In one embodiment, a computer device is also provided, comprising at least one processor and at least one memory, wherein the memory stores computer-readable instructions; when the computer-readable instructions are executed by the processor, the computer device implements the steps in the above-mentioned method embodiments.

[0136] In one embodiment, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by one or more processors, the one or more processors are enabled to implement the steps in the above-mentioned method embodiments.

[0137] In one embodiment, a computer program product or computer program is provided, comprising computer-readable instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer-readable instructions from the computer-readable storage medium and executes the computer-readable instructions, causing the computer device to perform the steps of each of the above-described method embodiments.

[0138] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile computer-readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0139] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the appended claims.

Claims

1. A boom identification method, executed by a processor, for identifying the type and installation order of a boom, wherein the boom comprises N boom sections connected in sequence, each of which has built-in identification parameters. , where the parameters and Mapped to the type of the corresponding arm segment, the parameters Represents the connection relationship between this arm segment and the next arm segment, where: The method comprises: The Nth arm segment obtains the output current of the Nth arm segment through data processing ; For the N-1th arm segment to the first arm segment, the Xth arm segment receives the output current of the X+1th arm segment As the input current of the Xth arm section , and for the input current Processing is performed to obtain the output current of the Xth arm segment , where X is a positive integer greater than or equal to 1; Output current to the first arm section Processing is performed to obtain identification parameters from the first arm segment to the Nth arm segment; The current boom section type and connection relationship of the boom are obtained according to the identification parameters of each boom section, and whether the type and connection relationship of each boom section of the boom are correct is judged according to the current boom section type and connection relationship.

2. The method according to claim 1, wherein The boom identification method further includes: When the type and connection relationship of the front boom section are incorrect, the boom is restricted from lifting.

3. The method according to claim 1, wherein The output current of the Xth arm section is obtained In the steps; For the Nth arm section: take the current component as the output current of the Nth arm section ； For the N-1th arm segment to the first arm segment: Receive the output current of the X+1th arm As the input current of the Xth arm section ； For the input current Perform Fourier transform to get ； right The initial phase of 0 is shifted to obtain ； right Perform inverse Fourier transform to obtain ； right Adding the current component yields ； Will As the output current of the Xth arm 。 4. The method according to claim 3, wherein: For the Nth arm, the current component As the output current of the Nth arm section ; For the N-1th arm segment to the first arm segment, The initial phase of 0 is shifted to obtain In the process of The component with initial phase 0 in the right shift ; in getting In the process of Add the current component get 。 5. The method according to claim 4, wherein: The step of obtaining identification parameters from the first arm segment to the Nth arm segment specifically includes: Output current to the first arm section Perform Fourier transform to get ； according to Get the identification parameters of the first arm segment to the Nth arm segment 、 、…、 。 6. The method of claim 1, wherein: The boom comprises three GHK boom sections connected in sequence, and the method specifically comprises: The K arm obtains the output current of the K arm through data processing , the H arm receives the output current of the K arm As the input current of H arm , and the input current of the H arm Processing is performed to obtain the output current of the H arm , the G arm receives the output current of the H arm As the input current of G arm , and the input current of the G arm Processing is performed to obtain the output current of the G arm ； The output current of the G arm After processing, the identification parameters from K arm to G arm are obtained as follows: 、 、 ； According to the identification parameters from K arm to G arm 、 、 The current arm section type and connection relationship of the boom are obtained, and whether the types and connection relationships of the G arm, H arm, and K arm of the boom are correct are determined based on the current arm section type and connection relationship.

7. The method according to claim 6, wherein: The output current of the G arm is obtained The steps specifically include: The K arm obtains the output current of the K arm through data processing for ； Receive the output current of the K arm As the input current of the H arm ； The input current to the H arm Perform Fourier transform to get ； right The component with initial phase 0 in the right shift get ； right Perform Fourier transform to get ； right Add the current component Get the output current of the H arm for ； Receive the output current of the H arm As the input current of the G arm ； The input current to the G arm Perform Fourier transform to get ； right The component with initial phase 0 in the right shift get ； right Perform Fourier transform to get ； right Add the current component Get the output current of the G arm for ； The step of obtaining the identification parameters from the K arm to the G arm specifically includes: The output current of the G arm Perform Fourier transform to get ； according to The identification parameters of the K arm, H arm, and G arm are obtained as follows: 、 。 8. A processor, wherein: The method is configured to execute the boom identification method according to any one of claims 1 to 7.

9. A boom identification device for identifying the type and installation order of a boom, wherein the boom includes a plurality of boom sections including a first boom section and an Nth boom section, wherein: The arm recognition device comprises a plurality of arm segment recognition devices (31) and a controller (33), wherein the plurality of arm segment recognition devices (31) are respectively provided on the plurality of arm segments in a one-to-one correspondence, and each arm segment recognition device (31) comprises an identification operation module (311), a current input module (313) and a current output module (315) connected in sequence, and the current input module (313) of the Xth arm segment is connected to the current output module (315) of the X+1th arm segment; The current output module (315) of the arm segment identification device (31) on the Nth arm segment is used to use the current component as the output current of the Nth arm segment. ； The current input module (313) of the arm segment identification device (31) of the Xth arm segment except the Nth arm segment is used to receive the output current of the X+1th arm segment As the input current of the Xth arm section The recognition operation module (311) of the arm segment recognition device of the Xth arm segment is used to obtain the input current of the current input module (313) of the arm segment recognition device of the Xth arm segment. , and the input current of the Xth arm section Processing is performed to obtain the output current of the Xth arm segment ； The controller (33) is used to control the output current of the arm segment identification device (31) of the first arm segment Processing is performed to obtain identification parameters from the first arm section to the Nth arm section, and the controller (33) is further used to obtain the current arm section type and connection relationship of the boom according to the identification parameters of each arm section, and to judge whether the type and connection relationship of each arm section of the boom is correct according to the current arm section type and connection relationship.

10. The boom identification device according to claim 9, wherein: The boom identification device further comprises a torque limiter (35), which is used to limit the boom lifting when the type and connection relationship of the current boom section are incorrect.

11. The boom identification device according to claim 9, wherein: The identification operation module (311) of the arm segment identification device (31) of the Xth arm segment except the Nth arm segment is specifically used to receive the output current of the X+1th arm segment As the input current of the Xth arm section , the input current to the Xth arm section Perform Fourier transform to get ,right The initial phase of 0 is shifted to obtain ,right Perform inverse Fourier transform to obtain ,right Adding the current component gives , and As the output current of the Xth arm .

12. The boom identification device according to claim 10, wherein: The recognition operation module (311) of the arm segment recognition device (31) of the Xth arm segment other than the Nth arm segment The initial phase of 0 is shifted to obtain When, right The component with initial phase 0 in the right shift get The recognition operation module (311) of the arm segment recognition device (31) of the X-th arm segment except the N-th arm segment Adding the current component gives When, right Add the current component get .

13. The boom identification device according to claim 9, wherein: The controller (33) is specifically used to control the output current of the first arm section Perform Fourier transform to get , and according to Obtain the identification parameters of the first arm segment to the Nth arm segment 、 、…、 .

14. A boom identification device for identifying the type and installation sequence of a boom, wherein the boom comprises three GHK boom sections connected in sequence, wherein: The arm recognition device includes a plurality of arm segment recognition devices and a controller (33), wherein the plurality of 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), wherein the G arm segment recognition device (31A), the H arm segment recognition device (31B) and the K arm segment recognition device (31C) are respectively and one-to-one arranged on the G arm, the H arm and the K arm, and each arm segment recognition device includes an identification operation module (311), a current input module (312) and a current input module (313) connected in sequence. 13) and a current output module (315), and the current output module (315) of the K arm segment identification device (31C) is connected to the current input module (313) of the H arm segment identification device (31B), the current output module (315) of the H arm segment identification device (31B) is connected to the current input module (313) of the G arm segment identification device (31A), and the current output module (315) of the G arm segment identification device (31A) is connected to the controller (33); The identification operation module (311) of the K-arm segment identification device (31C) is used to obtain the output current of the K-arm through data processing. ； The current input module (313) of the H arm segment identification device (31B) is used to receive the output current output by the current output module (315) of the K arm segment identification device (31C). As the input current of H arm The identification operation module (311) of the H-arm segment identification device (31B) is used to identify the input current of the H-arm Processing is performed to obtain the output current of the H arm ； The current input module (313) of the G arm segment identification device (31A) is used to receive the output current of the H arm output by the current output module (315) of the H arm segment identification device (31B). As the input current of G arm The identification operation module (311) of the G arm segment identification device (31A) is used to input current of the G arm Processing is performed to obtain the output current of the G arm The current output module (315) of the G arm segment identification device (31A) is used to convert the output current of the G arm Output to the controller (33); The controller (33) is used to control the output current of the G arm output by the current output module (315) of the G arm segment identification device (31A) Processing is performed to obtain identification parameters from the K arm to the G arm, and the controller (33) is further used to obtain the current arm segment type and connection relationship of the boom according to the identification parameters from the K arm to the G arm, and to judge whether the type and connection relationship of each arm segment of the boom are correct according to the current arm segment type and connection relationship.

15. The boom identification device according to claim 14, wherein: The identification operation module (311) of the H arm segment identification device (31B) is specifically used to receive the output current of the K arm As the input current of H arm , the input current to the H arm Perform Fourier transform to get ,right The component with initial phase 0 in the right shift get ,right Perform Fourier transform to get ,right Add the current component Get the output current of H arm for ; The identification operation module (311) of the G arm segment identification device (31A) is specifically used to receive the output current of the H arm As the input current of G arm , the input current to the G arm Perform Fourier transform to get ,right The component with initial phase 0 in the right shift get ,right Perform Fourier transform to get ,right Add the current component Get the output current of G arm for ； The controller (33) is specifically used to control the output current of the G arm Perform Fourier transform to get ； according to The identification parameters of the K arm, H arm, and G arm are obtained as follows: 、 ,in 。 16. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

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