Stroke detection method and device for a variable amplitude cylinder, hydraulic system and working machine

Abstract

The application relates to the field of working machines, and provides a stroke detection method and device of a luffing oil cylinder, a hydraulic system and a working machine. The method comprises the following steps: acquiring length data and angle data related to the luffing oil cylinder and an initial length of the luffing oil cylinder; determining a current length of the luffing oil cylinder based on the length data and the angle data; and obtaining a stroke detection result of the luffing oil cylinder based on the current length and the initial length of the luffing oil cylinder. The current length of the luffing oil cylinder is determined based on the length data and the angle data related to the luffing oil cylinder, the stroke detection result of the luffing oil cylinder is obtained based on the current length and the initial length of the luffing oil cylinder, the stroke of the luffing oil cylinder can be detected without adding a sensor, the detection process is more convenient, the influence of hardware errors is avoided, the detection result is more accurate and reliable, and the problem that the method for detecting the stroke of the luffing oil cylinder by using a sensor can increase the complexity of the whole hydraulic system and is low in accuracy is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of working machines, in particular to a stroke detection method and device of a luffing oil cylinder, a hydraulic system and a working machine. BACKGROUND

[0002] The luffing oil cylinder is widely used due to its long extension working stroke and short length when retracted. In actual application, the stroke of the luffing oil cylinder is often detected. The traditional method mainly realizes the stroke detection of the luffing oil cylinder by arranging corresponding sensors.

[0003] However, the method of detecting the stroke of the luffing oil cylinder by using sensors increases the complexity of the entire hydraulic system, and the accuracy of the stroke detection result is low due to the error of the sensors themselves. SUMMARY

[0004] The present application provides a stroke detection method and device of a luffing oil cylinder, a hydraulic system and a working machine, which solves the defects of the prior art that the method of detecting the stroke of the luffing oil cylinder by using sensors increases the complexity of the entire hydraulic system and is low in accuracy, and realizes convenient and accurate stroke detection of the luffing oil cylinder.

[0005] In a first aspect, the present application provides a stroke detection method of a luffing oil cylinder, which comprises:

[0006] obtaining length data and angle data related to the luffing oil cylinder and an initial length of the luffing oil cylinder;

[0007] determining a current length of the luffing oil cylinder based on the length data and the angle data;

[0008] obtaining a stroke detection result of the luffing oil cylinder based on the current length of the luffing oil cylinder and the initial length.

[0009] According to the stroke detection method of the luffing oil cylinder provided by the present application, the length data related to the luffing oil cylinder is obtained, which comprises:

[0010] connecting the upper winding point of the luffing oil cylinder and the tail winding point of the working mechanism as a first line segment, and determining the length of the first line segment;

[0011] connecting the lower winding point of the luffing oil cylinder and the tail winding point of the working mechanism as a second line segment, and determining the length of the second line segment;

[0012] The length of the first line segment and the length of the second line segment are the length data.

[0013] According to the stroke detection method of the luffing oil cylinder provided by the present application, the angle data related to the luffing oil cylinder is obtained, which comprises:

[0014] An angle between the extension direction of the working mechanism and the first line segment is taken as a first angle, and an angle of the first angle is determined;

[0015] An angle between the second line segment and a horizontal plane is taken as a second angle, and an angle of the second angle is determined;

[0016] An angle between the extension direction of the working mechanism and the horizontal plane is taken as a third angle, and an angle of the third angle is determined;

[0017] The angle of the first angle, the angle of the second angle and the angle of the third angle are the angle data.

[0018] According to the present application, the stroke detection method of the variable amplitude oil cylinder is provided, and the current length of the variable amplitude oil cylinder is determined based on the length data and the angle data, which includes:

[0019] The angle between the first line segment and the second line segment is determined based on the angle of the first angle, the angle of the second angle and the angle of the third angle;

[0020] The current length of the variable amplitude oil cylinder is determined based on the length data and the angle between the first line segment and the second line segment.

[0021] According to the present application, the stroke detection method of the variable amplitude oil cylinder is provided, and the angle between the first line segment and the second line segment is determined based on the angle of the first angle, the angle of the second angle and the angle of the third angle, which includes:

[0022] The sum angle is obtained by summing the angle of the second angle and the angle of the third angle;

[0023] The angle between the first line segment and the second line segment is obtained by subtracting the angle of the first angle from the sum angle.

[0024] According to the present application, the stroke detection method of the variable amplitude oil cylinder is provided, and after the stroke detection result of the variable amplitude oil cylinder is obtained based on the current length of the variable amplitude oil cylinder and the initial length, the method further includes:

[0025] Whether the hydraulic pressure of the variable amplitude oil cylinder is distorted is judged based on the stroke detection result.

[0026] According to the present application, the stroke detection method of the variable amplitude oil cylinder is provided, and whether the hydraulic pressure of the variable amplitude oil cylinder is distorted is judged based on the stroke detection result, which includes:

[0027] The stroke detection result is compared with a preset stroke threshold, and whether the hydraulic pressure of the variable amplitude oil cylinder is distorted is determined based on a result of the comparison.

[0028] In a second aspect, the present application further provides a stroke detection device of a variable amplitude oil cylinder, comprising:

[0029] An acquisition module is configured to acquire length data and angle data related to the variable amplitude oil cylinder and an initial length of the variable amplitude oil cylinder.

[0030] A first processing module is configured to determine a current length of the variable amplitude oil cylinder based on the length data and the angle data.

[0031] A second processing module is configured to obtain a stroke detection result of the variable amplitude oil cylinder based on the current length of the variable amplitude oil cylinder and the initial length.

[0032] In a third aspect, the present application further provides a hydraulic system using any of the stroke detection methods of the variable amplitude oil cylinder.

[0033] In a fourth aspect, the present application further provides a working machine using any of the stroke detection methods of the variable amplitude oil cylinder or comprising the hydraulic system.

[0034] The stroke detection method, device, hydraulic system and working machine of the variable amplitude oil cylinder provided by the present application determine the current length of the variable amplitude oil cylinder through the length data and angle data related to the variable amplitude oil cylinder, obtain the stroke detection result of the variable amplitude oil cylinder based on the current length and the initial length of the variable amplitude oil cylinder, and thus the detection of the stroke of the variable amplitude oil cylinder can be realized without adding sensors, the detection process is more convenient, the influence of hardware errors is avoided, and the detection result is more accurate and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0036] Figure 1 is a flowchart of the stroke detection method of the variable amplitude oil cylinder provided by the present application;

[0037] Figure 2 is a structural schematic diagram of a target region related to the variable amplitude oil cylinder in the embodiment of the present application;

[0038] Figure 3 is a structural schematic diagram of a variable amplitude oil cylinder region model in the embodiment of the present application;

[0039] Figure 4 is a structural schematic diagram of a stroke detection device of a variable amplitude oil cylinder provided by the present application;

[0040] Figure 5 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] The present application is described below with reference to the drawings. Figures 1 to 5 The present application provides a stroke detection method of a variable amplitude oil cylinder, a stroke detection device of a variable amplitude oil cylinder, a hydraulic system, a working machine and an electronic device based on the stroke detection method of the variable amplitude oil cylinder.

[0043] Figure 1 The present application provides a stroke detection method of a variable amplitude oil cylinder, which comprises the following steps:

[0044] Step 101: obtaining length data and angle data related to the variable amplitude oil cylinder and an initial length of the variable amplitude oil cylinder;

[0045] Step 102: determining a current length of the variable amplitude oil cylinder based on the length data and the angle data;

[0046] Step 103: obtaining a stroke detection result of the variable amplitude oil cylinder based on the current length and the initial length of the variable amplitude oil cylinder.

[0047] The variable amplitude oil cylinder in the present embodiment can be a common front-mounted variable amplitude oil cylinder, which is connected with a working mechanism through an upper winding point and connected with a workbench through a lower winding point, and the three form a triangular geometric structure to support the working mechanism to perform a variable amplitude action. Taking a crane as an example, the above working mechanism can be a main arm, the workbench can be a rotating table of the crane, and the execution subject of the entire stroke detection method of the variable amplitude oil cylinder can be a main controller of the crane.

[0048] In order to conveniently obtain the length data and the angle data related to the variable amplitude oil cylinder, the present embodiment intercepts a target region related to the variable amplitude oil cylinder, as shown in the figure. Figure 2 The target region involves three key points, i.e. a tail winding point O of the working mechanism, an upper winding point B of the variable amplitude oil cylinder and a lower winding point C of the variable amplitude oil cylinder.

[0049] In order to facilitate the analysis of the target area related to the variable amplitude oil cylinder, the embodiment extracts the above three key points and the working mechanism, establishes a variable amplitude oil cylinder area model, and the model structure is as shown in Figure 3 Figure 3 In the method, the working mechanism can be a main arm of the crane.

[0050] In the example embodiment, the length data related to the variable amplitude oil cylinder is obtained, which can specifically include:

[0051] The line segment between the upper winding point of the variable amplitude oil cylinder and the tail winding point of the working mechanism is taken as a first line segment, and the length of the first line segment is determined;

[0052] The line segment between the lower winding point of the variable amplitude oil cylinder and the tail winding point of the working mechanism is taken as a second line segment, and the length of the second line segment is determined;

[0053] The length of the first line segment and the length of the second line segment are the length data related to the variable amplitude oil cylinder.

[0054] In the example embodiment, the angle data related to the variable amplitude oil cylinder is obtained, which can specifically include:

[0055] The included angle between the extension direction of the working mechanism and the first line segment is taken as a first included angle, and the angle of the first included angle is determined;

[0056] The included angle between the second line segment and the horizontal plane is taken as a second included angle, and the angle of the second included angle is determined;

[0057] The included angle between the extension direction of the working mechanism and the horizontal plane is taken as a third included angle, and the angle of the third included angle is determined;

[0058] The angle of the first included angle, the angle of the second included angle, and the angle of the third included angle are the angle data related to the variable amplitude oil cylinder.

[0059] It can be understood that the extension direction of the working mechanism in the embodiment mainly refers to the direction indicated by the extension line of the working mechanism in the length direction, which can be, for example, Figure 3 The direction of the working mechanism m.

[0060] Referring to the accompanying Figure 3 , the line segment between the upper winding point B of the variable amplitude oil cylinder and the tail winding point O of the working mechanism forms a first line segment OB, the line segment between the lower winding point C of the variable amplitude oil cylinder and the tail winding point O of the working mechanism forms a second line segment OC, and the current length of the variable amplitude oil cylinder can be defined as a third line segment BC formed by the line segment between the upper winding point B of the variable amplitude oil cylinder and the lower winding point C of the variable amplitude oil cylinder, Figure 3 In the embodiment, the dashed line represents the horizontal line, a represents the first included angle, β represents the second included angle, and γ represents the third included angle.

[0061] ​In the example embodiment, determining the current length of the variable amplitude cylinder based on the length data and the angle data can specifically include:

[0062] determining the angle ∠BOC between the first line segment OB and the second line segment OC based on the angle of the first included angle a, the angle of the second included angle β, and the angle of the third included angle γ.

[0063] determining the current length of the variable amplitude cylinder based on the length data and the angle ∠BOC between the first line segment OB and the second line segment OC, i.e., the third line segment BC.

[0064] It can be understood that the current length of the variable amplitude cylinder can be calculated using the cosine theorem, and the specific calculation formula is as follows:

[0065]

[0066] Further, determining the angle between the first line segment and the second line segment based on the angle of the first included angle, the angle of the second included angle, and the angle of the third included angle can specifically include:

[0067] summing the angle of the second included angle β and the angle of the third included angle γ to obtain a sum angle;

[0068] subtracting the sum angle from the angle of the first included angle a to obtain the angle between the first line segment and the second line segment.

[0069] The above-mentioned angle calculation process can be represented by the following formula:

[0070] ∠BOC = β + γ - a (2)

[0071] It can be understood that after obtaining the current length of the variable amplitude cylinder, the stroke of the variable amplitude cylinder can be obtained by subtracting the initial length of the variable amplitude cylinder from the current length of the variable amplitude cylinder.

[0072] In actual application, the first line segment OB, the second line segment OC, the first included angle a, and the second included angle β can all be obtained by pre-measuring based on the physical structure of the variable amplitude cylinder, the third included angle γ can be measured by an inclination sensor on the working mechanism, and the initial length of the variable amplitude cylinder is a performance parameter of the variable amplitude cylinder, which can be understood as a known parameter. Therefore, based on the above processing process, the stroke detection of the variable amplitude cylinder can be realized without additional sensor arrangement, the detection cost is lower, and the detection process is more convenient and reliable.

[0073] In the example embodiment, after obtaining the stroke detection result of the variable amplitude cylinder based on the current length and the initial length of the variable amplitude cylinder, the following can be further included:

[0074] judging whether the hydraulic pressure of the variable amplitude cylinder is distorted based on the stroke detection result.

[0075] Further, based on the stroke detection result, it is judged whether the hydraulic pressure of the variable amplitude oil cylinder is distorted, which can specifically include:

[0076] The stroke detection result is compared with a preset stroke threshold, and based on the comparison result, it is judged whether the hydraulic pressure of the variable amplitude oil cylinder is distorted.

[0077] Considering that when the extension amount of the variable amplitude oil cylinder reaches a certain critical value, a distortion phenomenon of sudden increase of hydraulic pressure will occur, which leads to reduced reliability of the measured hydraulic pressure, and further leads to reduced accuracy of the calculated load based on the hydraulic pressure. Therefore, after obtaining the stroke detection result of the variable amplitude oil cylinder, the embodiment can further judge whether the hydraulic pressure of the variable amplitude oil cylinder is distorted. Specifically, the stroke detection result is compared with a preset stroke threshold, and based on the comparison result, it is judged whether the hydraulic pressure of the variable amplitude oil cylinder is distorted.

[0078] In the embodiment, if the stroke detection result exceeds the preset stroke threshold, it is determined that the hydraulic pressure of the variable amplitude oil cylinder is distorted. When it is determined that the hydraulic pressure is distorted, a prompt signal can be further generated to prompt the abnormal condition of hydraulic pressure distortion, so as to ensure the accuracy of the calculated load based on the hydraulic pressure.

[0079] Still taking the crane as an example, since the load can be calculated by the hydraulic pressure detection method, the load is used to indicate the current load of the crane, and is compared with the rated weight to obtain the moment percentage, the load and the moment percentage can be used as key data to guide and monitor the crane operator to perform safe hoisting operation.

[0080] Therefore, the embodiment can calibrate the stroke and the hydraulic pressure of the variable amplitude oil cylinder in advance to determine the corresponding relationship between the stroke and the hydraulic pressure of the variable amplitude oil cylinder. After obtaining the stroke detection result of the variable amplitude oil cylinder, the corresponding hydraulic pressure of the stroke detection result can be further obtained, and then the load can be determined based on the obtained hydraulic pressure, so as to realize accurate detection of the load.

[0081] The stroke detection device of the variable amplitude oil cylinder provided by the present application is described below, and the stroke detection device of the variable amplitude oil cylinder described below can be referred to each other corresponding to the stroke detection method of the variable amplitude oil cylinder described above.

[0082] Figure 4 The stroke detection device of the variable amplitude oil cylinder provided by the present application is described below, and the stroke detection device of the variable amplitude oil cylinder described below can be referred to each other corresponding to the stroke detection method of the variable amplitude oil cylinder described above.

[0083] The acquisition module 401 is configured to acquire length data and angle data related to the variable amplitude oil cylinder and an initial length of the variable amplitude oil cylinder.

[0084] The first processing module 402 is configured to determine the current length of the variable amplitude cylinder based on the length data and the angle data.

[0085] The second processing module 403 is configured to obtain the stroke detection result of the variable amplitude cylinder based on the current length of the variable amplitude cylinder and the initial length.

[0086] In an example embodiment, the length data related to the variable amplitude cylinder can be obtained by the following manner by the obtaining module 401:

[0087] The line segment between the upper winding point of the variable amplitude cylinder and the tail winding point of the working mechanism is regarded as the first line segment, and the length of the first line segment is determined;

[0088] The line segment between the lower winding point of the variable amplitude cylinder and the tail winding point of the working mechanism is regarded as the second line segment, and the length of the second line segment is determined;

[0089] The length of the first line segment and the length of the second line segment are the length data related to the variable amplitude cylinder.

[0090] In an example embodiment, the angle data related to the variable amplitude cylinder can be obtained by the following manner by the obtaining module 401:

[0091] The included angle between the extension direction of the working mechanism and the first line segment is regarded as the first included angle, and the angle of the first included angle is determined;

[0092] The included angle between the second line segment and the horizontal plane is regarded as the second included angle, and the angle of the second included angle is determined;

[0093] The included angle between the extension direction of the working mechanism and the horizontal plane is regarded as the third included angle, and the angle of the third included angle is determined;

[0094] The angle of the first included angle, the angle of the second included angle and the angle of the third included angle are the angle data related to the variable amplitude cylinder.

[0095] In an example embodiment, the first processing module 402 can be specifically configured to:

[0096] determine the included angle between the first line segment and the second line segment based on the angle of the first included angle, the angle of the second included angle and the angle of the third included angle;

[0097] determine the current length of the variable amplitude cylinder based on the length data and the included angle between the first line segment and the second line segment.

[0098] Further, the first processing module 402 can be specifically configured to determine the included angle between the first line segment and the second line segment based on the angle of the first included angle, the angle of the second included angle and the angle of the third included angle by the following manner:

[0099] Sum the angle of the second included angle and the angle of the third included angle to obtain a sum angle;

[0100] Subtract the sum angle from the angle of the first included angle to obtain an included angle between the first line segment and the second line segment.

[0101] In an example embodiment, the stroke detection device of the variable amplitude cylinder described above can further include:

[0102] A judgment module is configured to judge whether the hydraulic pressure of the variable amplitude cylinder is distorted based on the stroke detection result.

[0103] Further, the judgment module can be specifically configured to:

[0104] Compare the stroke detection result with a preset stroke threshold value, and judge whether the hydraulic pressure of the variable amplitude cylinder is distorted based on the comparison result.

[0105] Therefore, the stroke detection device of the variable amplitude cylinder provided by the example embodiment can obtain length data and angle data related to the variable amplitude cylinder through the obtaining module, determine the current length of the variable amplitude cylinder through the first processing module, and obtain the stroke detection result of the variable amplitude cylinder through the second processing module based on the current length and the initial length of the variable amplitude cylinder. The stroke detection process can be realized without adding sensors, the detection process is more convenient, the influence of hardware errors is avoided, and the detection result is more accurate and reliable.

[0106] In addition, the example embodiment of the present application further provides a hydraulic system using the stroke detection method of the variable amplitude cylinder.

[0107] The hydraulic cylinder in the hydraulic system provided by the example embodiment adopts a variable amplitude cylinder, and the stroke detection of the variable amplitude cylinder can be realized without improving the system complexity through the stroke detection method of the variable amplitude cylinder, and the system function is more perfect.

[0108] In addition, the example embodiment of the present application further provides a working machine using the stroke detection method of the variable amplitude cylinder or including the hydraulic system.

[0109] The working machine in the example embodiment can be a crane, such as different types of cranes, such as a tire crane and a caterpillar crane.

[0110] Figure 5 An example of an electronic device entity structure schematic diagram is shown in FIG. 1. Figure 5As shown, the electronic device can include a processor 501, a communications interface 502, a memory 503, and a communications bus 504, wherein the processor 501, the communications interface 502, and the memory 503 complete mutual communication through the communications bus 504. The processor 501 can invoke a logical instruction in the memory 503 to execute a stroke detection method of a variable amplitude oil cylinder, the method including: obtaining length data and angle data related to the variable amplitude oil cylinder and an initial length of the variable amplitude oil cylinder; determining a current length of the variable amplitude oil cylinder based on the length data and the angle data; and obtaining a stroke detection result of the variable amplitude oil cylinder based on the current length of the variable amplitude oil cylinder and the initial length.

[0111] In addition, the logical instruction in the memory 503 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0112] On the other hand, the present application also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the stroke detection method of the variable amplitude oil cylinder provided by each of the above embodiments, the method includes: obtaining length data and angle data related to the variable amplitude oil cylinder and an initial length of the variable amplitude oil cylinder; determining a current length of the variable amplitude oil cylinder based on the length data and the angle data; and obtaining a stroke detection result of the variable amplitude oil cylinder based on the current length of the variable amplitude oil cylinder and the initial length.

[0113] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the stroke detection method of the variable amplitude cylinder provided by any of the above embodiments. The method comprises: obtaining length data and angle data related to the variable amplitude cylinder and an initial length of the variable amplitude cylinder; determining a current length of the variable amplitude cylinder based on the length data and the angle data; and obtaining a stroke detection result of the variable amplitude cylinder based on the current length and the initial length of the variable amplitude cylinder.

[0114] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Some or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0115] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software and the necessary universal hardware platform, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0116] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of detecting the stroke of a variable amplitude cylinder, characterized by, The method comprises the following steps: obtaining length data and angle data related to the variable amplitude oil cylinder and an initial length of the variable amplitude oil cylinder; determining a current length of the variable amplitude oil cylinder based on the length data and the angle data; obtaining a stroke detection result of the variable amplitude oil cylinder based on the current length of the variable amplitude oil cylinder and the initial length; after obtaining the stroke detection result of the variable amplitude oil cylinder based on the current length of the variable amplitude oil cylinder and the initial length, the method further comprises the following steps: judging whether the hydraulic pressure of the variable amplitude oil cylinder is distorted based on the stroke detection result; wherein the step of judging whether the hydraulic pressure is distorted is used to ensure the accuracy of the load result calculated by the hydraulic pressure; the step of judging whether the hydraulic pressure of the variable amplitude oil cylinder is distorted based on the stroke detection result specifically comprises the following steps: comparing the stroke detection result with a preset stroke threshold value, and judging whether the hydraulic pressure of the variable amplitude oil cylinder is distorted based on the comparison result; generating a prompt signal to prompt the hydraulic pressure distortion when it is determined that the hydraulic pressure distortion condition occurs.

2. The method of stroke detection of a variable amplitude cylinder according to claim 1, wherein, The length data related to the variable amplitude oil cylinder comprises the following steps: taking a line segment between an upper winding point of the variable amplitude oil cylinder and a tail winding point of a working mechanism as a first line segment, and determining a length of the first line segment; taking a line segment between a lower winding point of the variable amplitude oil cylinder and the tail winding point of the working mechanism as a second line segment, and determining a length of the second line segment; the length of the first line segment and the length of the second line segment are the length data.

3. The method of stroke detection of a variable amplitude cylinder according to claim 2, wherein, The angle data related to the variable amplitude oil cylinder comprises the following steps: taking an included angle between an extension direction of the working mechanism and the first line segment as a first included angle, and determining an angle of the first included angle; taking an included angle between the second line segment and a horizontal plane as a second included angle, and determining an angle of the second included angle; taking an included angle between the extension direction of the working mechanism and the horizontal plane as a third included angle, and determining an angle of the third included angle; the angle of the first included angle, the angle of the second included angle and the angle of the third included angle are the angle data.

4. The method of stroke detection of a variable amplitude cylinder according to claim 3, wherein, The current length of the variable amplitude oil cylinder is determined based on the length data and the angle data, which comprises the following steps: determining an included angle between the first line segment and the second line segment based on the angle of the first included angle, the angle of the second included angle and the angle of the third included angle; determining the current length of the variable amplitude oil cylinder based on the length data and the included angle between the first line segment and the second line segment.

5. The method of stroke detection of a variable amplitude cylinder according to claim 4, wherein, The included angle between the first line segment and the second line segment is determined based on the angle of the first included angle, the angle of the second included angle and the angle of the third included angle, which comprises the following steps: summing the angle of the second included angle and the angle of the third included angle to obtain a sum angle; subtracting the sum angle from the angle of the first included angle to obtain the included angle between the first line segment and the second line segment.

6. A stroke detection device for a variable amplitude cylinder, characterized by The method comprises the following steps: an obtaining module is configured to obtain length data and angle data related to a variable amplitude oil cylinder and an initial length of the variable amplitude oil cylinder; a first processing module is configured to determine a current length of the variable amplitude oil cylinder based on the length data and the angle data; The second processing module is configured to obtain a stroke detection result of the variable amplitude oil cylinder based on the current length of the variable amplitude oil cylinder and the initial length. After obtaining the stroke detection result of the variable amplitude oil cylinder based on the current length of the variable amplitude oil cylinder and the initial length, the second processing module is further configured to: determine whether the hydraulic pressure of the variable amplitude oil cylinder is distorted based on the stroke detection result, so as to ensure the accuracy of the hoisting weight result calculated by the hydraulic pressure; The step of determining whether the hydraulic pressure of the variable amplitude oil cylinder is distorted based on the stroke detection result is specifically configured to: compare the stroke detection result with a preset stroke threshold value, and determine whether the hydraulic pressure of the variable amplitude oil cylinder is distorted based on the comparison result; when it is determined that the hydraulic pressure is distorted, generate a prompt signal to prompt the hydraulic pressure distortion.

7. A hydraulic system characterized by, The hydraulic system uses the stroke detection method of the variable amplitude oil cylinder according to any one of claims 1 to 5.

8. A work machine characterized by, The working machine uses the stroke detection method of the variable amplitude oil cylinder according to any one of claims 1 to 5 or the hydraulic system according to claim 7.

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