Method, device, system and controller for monitoring the lifetime of an arm

Abstract

The application discloses a method, device, system and controller for monitoring the service life of an arm support. The method comprises the following steps: determining the force channel and the attitude variable of the arm support according to the force form and the motion form of the arm support, and establishing a unit force damage library of the arm support according to the force channel and the attitude variable of the arm support. Then, the real-time force of the force channel and the real-time attitude variable value of the attitude variable are acquired, the real-time damage of the arm support is determined according to the real-time force, the real-time attitude variable value and the unit force damage library, and finally, the residual life of the arm support is determined according to the real-time damage of the arm support. In the case that the residual life of the arm support is less than a preset threshold, an alarm signal is output. The application can realize high-precision full-area service life monitoring of the arm support, timely remind the user to maintain and replace the parts with low residual life, and thus guarantee the normal use of the aerial work platform and the life safety of the operating personnel.

Description

Technical Field

[0001] This application relates to the field of boom life monitoring technology, and specifically to a method, apparatus, system and controller for boom life monitoring. Background Technology

[0002] With the development of construction machinery and urban economy, aerial work platforms have begun to be gradually applied to various high-altitude operation scenarios such as stadium construction, shipbuilding and repair, municipal maintenance, and landscaping. Aerial work platforms can be divided into several types according to their structural characteristics, such as straight boom, articulated boom, scissor lift, and spider lift. Most of them mainly include a traveling mechanism, a slewing mechanism, a lifting mechanism, and a work platform.

[0003] The lifting mechanism is the main structure that enables the functionality of an aerial work platform. The boom, as the most common lifting mechanism on an aerial work platform, not only bears the load of the work platform and external components, but also transports operators to designated heights for work through its extension, luffing, and leveling functions. Therefore, boom lifespan is one of the decisive factors in the safety and reliability of an aerial work platform, and real-time monitoring of boom lifespan can effectively protect the lives of aerial work platform workers.

[0004] Current technologies for monitoring boom lifespan require first using finite element analysis to locate the location of maximum stress, and then installing stress sensors at that location. However, aerial work platforms operate under multiple conventional conditions, including traveling, telescoping, rotating, and luffing, each with a different location of maximum stress. Using this method would necessitate installing stress sensors at multiple locations, increasing costs and the complexity of wiring. Furthermore, aerial work platforms experience unpredictable conditions during operation, such as operational errors, where the location of maximum stress cannot be predicted in advance. Therefore, simply attaching strain gauges to critical locations is insufficient for monitoring the boom lifespan of aerial work platforms. In other words, current technologies can only monitor the lifespan of a few specific locations on the equipment, while engineering equipment undergoes various uncertain conditions during actual use, and the location of fatigue failure may not be at a pre-defined specific location. Therefore, current boom monitoring technologies do not meet the needs of equipment with multiple and uncertain operating conditions, such as aerial work platforms. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, system, and controller for boom life monitoring, in order to solve the problem that the prior art cannot meet the actual needs of boom life monitoring for aerial work platforms with multiple and uncertain working conditions.

[0006] To achieve the above objectives, the first aspect of this application provides a method for monitoring boom life, applied to a boom life monitoring system, the boom life monitoring system including a controller, the method comprising:

[0007] The force channels and attitude variables of the boom are determined according to the force and motion patterns of the boom.

[0008] Establish a unit force damage library for the boom based on the force channels and attitude variables of the boom;

[0009] Obtain the real-time force and attitude variable values ​​of the force channel;

[0010] The real-time damage of the boom is determined based on real-time force, real-time attitude variable values, and a unit force damage library.

[0011] The remaining life of the boom is determined based on the real-time damage to the boom.

[0012] An alarm signal is output when the remaining lifespan of the boom is less than a preset threshold.

[0013] In this embodiment of the application, establishing a unit force damage library for the boom based on the boom's force channels and attitude variables includes:

[0014] The boom is divided into grids to obtain a preset number of boom units;

[0015] Determine the boom stress under each attitude variable by the unit force of each force channel;

[0016] Determine the boom damage under each attitude variable by the unit force of each force channel based on the boom stress and fatigue curves.

[0017] A unit force damage library for the boom is established based on boom damage and a preset number of boom units. The unit force damage library for the boom includes the boom damage of each boom unit under each attitude variable under the unit force of each force channel.

[0018] In this embodiment of the application, determining the real-time damage of the boom based on real-time force, real-time attitude variable values, and a unit force damage library includes:

[0019] The damage per unit force in each boom unit is determined based on real-time attitude variable values ​​and a unit force damage library.

[0020] The real-time damage of each boom unit is determined based on the damage of each boom unit by the unit force of each force channel and the real-time force of each force channel.

[0021] The real-time damage of the boom is determined based on the real-time damage of each boom unit, wherein the real-time damage of the boom includes the real-time damage of each boom unit.

[0022] In this embodiment of the application, when the remaining lifespan of the boom is less than a preset threshold, the alarm signal output includes:

[0023] An alarm signal is output when the remaining lifespan of any boom unit is less than a preset threshold.

[0024] In this embodiment, the boom life monitoring system further includes multiple pin sensors, multiple angle sensors, and multiple displacement sensors. These sensors communicate with the controller to acquire real-time force and attitude variable values ​​of the force-bearing channel, including:

[0025] Receives force signals from multiple pin sensors;

[0026] The real-time force of the force channel is determined based on the force signal and the gravity information of the boom;

[0027] It receives real-time attitude variable values ​​from multiple angle sensors and multiple displacement sensors.

[0028] In this embodiment of the application, determining the remaining life of the boom based on the real-time damage of the boom includes:

[0029] The cumulative damage to the boom is determined based on the real-time damage to the boom.

[0030] The service life of the boom is determined based on the cumulative damage to the boom.

[0031] The remaining life of the boom is determined based on the boom's consumed life and its preset life, wherein the remaining life of the boom includes the remaining life of each boom unit.

[0032] A second aspect of this application provides a device for monitoring boom life, comprising:

[0033] The determination module is configured to determine the force channel and attitude variables of the boom based on the force and motion of the boom, respectively.

[0034] The unit force damage library module is configured to build a unit force damage library for the boom based on the boom's force channels and attitude variables.

[0035] The acquisition module acquires the real-time force and attitude variable values ​​of the force channel.

[0036] The real-time damage calculation module determines the real-time damage of the boom based on real-time force, real-time attitude variable values, and a unit force damage library.

[0037] The remaining life calculation module determines the remaining life of the boom based on the real-time damage of the boom.

[0038] The alarm module outputs an alarm signal when the remaining lifespan of the boom is less than a preset threshold.

[0039] A third aspect of this application provides a controller, comprising:

[0040] The memory is configured to store instructions; and

[0041] The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the aforementioned method for monitoring boom life.

[0042] A fourth aspect of this application provides a boom life monitoring system, comprising:

[0043] Multiple pin sensors are used to acquire force signals from the boom;

[0044] Multiple angle sensors are used to obtain the angle of the boom;

[0045] Multiple displacement sensors are used to acquire the displacement of the boom; and

[0046] The aforementioned controller communicates with multiple pin sensors, multiple angle sensors, and multiple displacement sensors.

[0047] A fifth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for monitoring boom life.

[0048] The above technical solution first determines the boom's force channels and attitude variables based on its force and motion patterns, and then establishes a unit force damage database for the boom based on these parameters. Next, it acquires the real-time force values ​​of the force channels and the real-time attitude variable values ​​of the attitude variables. Based on these real-time force and attitude variable values, and the unit force damage database, it determines the boom's real-time damage. Finally, it determines the boom's remaining lifespan based on the real-time damage. If the boom's remaining lifespan is less than a preset threshold, an alarm signal is output. This application enables high-precision, full-area lifespan monitoring of the boom, promptly reminding users to repair or replace parts with low remaining lifespans, thereby ensuring the normal operation of the aerial work platform and the safety of operators.

[0049] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0050] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0051] Figure 1A flowchart illustrating a method for monitoring boom life according to an embodiment of this application is shown schematically.

[0052] Figure 2 The diagram schematically illustrates the force channels and attitude variables of a two-section telescopic boom according to an embodiment of this application.

[0053] Figure 3 The diagram schematically illustrates the damage of the boom unit 1 in the unit force damage library according to an embodiment of this application;

[0054] Figure 4 A schematic diagram illustrating the mesh division of a two-section telescopic boom according to an embodiment of this application is shown.

[0055] Figure 5 This schematically illustrates a sensor installation diagram for a two-section telescopic boom according to an embodiment of this application;

[0056] Figure 6 This schematic diagram illustrates a structural block diagram of a boom life monitoring device according to an embodiment of this application;

[0057] Figure 7 This schematic diagram illustrates a structural block diagram of a controller according to an embodiment of the present application;

[0058] Figure 8 The diagram schematically illustrates a structural diagram of a boom life monitoring system according to an embodiment of this application. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0060] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0061] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0062] Existing technologies for boom life monitoring can only monitor the lifespan of critical locations on the equipment, failing to meet the lifespan monitoring needs of equipment with multiple and uncertain operating conditions, such as aerial work platforms. Furthermore, existing technologies use strain gauges to obtain stress, which cannot guarantee reliability after long-term use and significantly affects the product's appearance. Therefore, addressing the actual needs of aerial work platform boom life monitoring and the shortcomings of existing solutions, this application proposes a boom life monitoring method that is efficient, reliable, and applicable to aerial work platforms.

[0063] Figure 1 A flowchart illustrating a method for monitoring boom life according to an embodiment of this application is shown schematically. Figure 1 As shown in the figure, this application provides a method for monitoring boom life, which may include the following steps.

[0064] Step 101: Determine the force channel and attitude variables of the boom based on its force and motion characteristics.

[0065] In this embodiment, since the stress on different parts of the boom varies under different boom postures, it is necessary to analyze the stress conditions of the boom in all postures. This allows for the determination of the boom's stress channels and posture variables based on its stress and motion patterns. A reasonable definition of the boom's stress channels and posture variables enables more accurate calculation of boom damage, thereby improving the accuracy of boom life prediction. It should be noted that this solution is applicable to various boom types and cross-sectional shapes, including but not limited to telescopic booms, folding booms, and rectangular booms, as well as polygonal boom cross-sectional shapes.

[0066] In this embodiment of the application, taking a two-section telescopic boom as an example, the force channel and attitude variables of the two-section telescopic boom are determined according to the force and motion forms of the two-section telescopic boom. Figure 2 The diagram schematically illustrates the force distribution and attitude variables of a two-section telescopic boom according to an embodiment of this application. (See diagram below.) Figure 2As shown in this embodiment, based on the force form and direction of the two-section telescopic boom, four hinge points and the structural center of gravity can be selected as the main force points of the two-section telescopic boom. Therefore, the two-section telescopic boom has a total of nine force channels, namely F... c ={F 1x ,F 1z ,F 2x ,F 2z ,F 3x ,F 3z ,F 4x ,F 4z Based on the degree of motion automation of the two-section telescopic boom, the boom tilt angle θ and the overlap length L of the two boom sections can be selected as the boom attitude variables Z. c = {θ, L}, where the range of the boom tilt angle θ and the overlap length L can be defined according to the range of motion of the two-section telescopic boom. In one example, the range of the boom tilt angle θ can be -10° < θ < 80°, and the range of the overlap length between the two boom sections can be 100°. <L<3000mm。

[0067] Step 102: Establish a unit force damage library for the boom based on the force channels and attitude variables of the boom.

[0068] In this embodiment, the unit force damage database represents the unit force damage of each force channel of the boom under various attitude variables. To achieve high-precision full-area life monitoring of the boom, it is necessary to rationally select and arrange pin sensors, angle and displacement sensors based on the unit force damage database to acquire real-time data, namely real-time force and real-time attitude variable values, thereby obtaining the real-time damage of the boom. Based on the real-time damage of the boom, the cumulative damage and remaining life can be calculated. In one example, the processor can divide the boom into a preset number of boom units, thus enabling high-precision full-area life monitoring of the boom. Figure 3 The diagram schematically illustrates the damage pattern of the boom unit 1 in the unit force damage library according to an embodiment of this application. For example... Figure 3 As shown, this includes the real-time values ​​of force channel 1 under various attitude variables. Establishing a unit force damage library enables high-precision full-area life monitoring of the boom, and provides more accurate calculations of real-time boom damage, thus making the prediction of the boom's remaining life more accurate.

[0069] Step 103: Obtain the real-time force and attitude variable values ​​of the force channel.

[0070] In this embodiment, since the four hinge points of the two-section telescopic boom are force-bearing points, pin sensors are installed at each of the four hinge points. An angle sensor and a displacement sensor are installed at the tail of one boom section. The displacement sensors include, but are not limited to, laser-type and wire-type sensors. The method of obtaining hinge point forces through pin sensors is less affected by equipment vibration and environmental changes, thus resulting in higher accuracy and reliability of the collected data. Based on the force signals sent by each pin sensor and the known boom gravity information, the real-time force of each force-bearing channel, i.e., F, can be obtained. c ={F 1x ,F 1z ,F 2x ,F 2z ,F 3x ,F 3z ,F 4x ,F 4z Based on signals transmitted from multiple angle sensors and multiple displacement sensors, the real-time values ​​of each attitude variable, i.e., Z, can be obtained. c ={θ,L}, the method of obtaining hinge point force through pin shaft sensor is less affected by equipment vibration and environmental changes, and the collected data has higher accuracy and reliability, thus making the calculation of real-time damage to the boom more accurate.

[0071] Step 104: Determine the real-time damage of the boom based on the real-time force, real-time attitude variable values, and unit force damage library.

[0072] In this embodiment, based on a unit force damage database, pin sensors, angle sensors, and displacement sensors are rationally selected and arranged to acquire real-time data, namely real-time force and real-time attitude variable values, thereby obtaining the real-time damage of the boom. Taking boom unit 1 as an example, firstly, based on the real-time attitude variable value Z... c ={θ,L} and the unit force damage library can be used to obtain the damage D of each unit force in boom element 1. e1 ={D 1x D 1z D 2x D 2z D 3x D 3z D 4x D 4z D G}. Then, combine the real-time force F of each force channel. c ={F 1x ,F 1z ,F 2x ,F 2z ,F 3x ,F 3z ,F 4x ,F 4z The real-time damage D1 = D of boom unit 1 can be calculated using G}. e1 *c ={D 1x D 1z D 2x D 2z D 3x D 3z D 4x D 4z D G}*{F 1x ,F 1z ,F 2x ,F 2z ,F 3x ,F 3z ,F 4x ,F 4z ,G}=D 1x *F 1x +D 1z *F 1z +D 2x *F 2x +D 2z *F 2z +D 3x *F 3x +D 3z *F 3z +D 4x *F 4x +D 4z *F 4Z +D G *G. Similarly, repeating this calculation step allows you to calculate the damage of the remaining units, thus obtaining the real-time damage D of all boom units. now ={D1,D2,…,D n-1 D n By analyzing real-time damage to the boom, its wear and tear can be calculated relatively accurately, thus facilitating the calculation of its remaining lifespan.

[0073] Step 105: Determine the remaining life of the boom based on the real-time damage of the boom.

[0074] In this embodiment, the cumulative damage of the boom is obtained by adding the cumulative damage to the boom before it was built up, and the cumulative lifespan consumed by the boom can be obtained from the cumulative damage. Then, based on the preset total lifespan of the boom and the cumulative lifespan consumed by the boom, the remaining lifespan of the boom can be calculated. The method of calculating the remaining lifespan of the boom through the real-time damage of the boom has higher accuracy and reliability.

[0075] Step 106: If the remaining lifespan of the boom is less than a preset threshold, output an alarm signal.

[0076] In this embodiment, the system can calculate the remaining lifespan of the boom in real time based on cumulative damage, and can display the remaining lifespan of the few boom units with the lowest lifespan, or the lifespan and location information of all boom units, to the user in real time. Furthermore, when the lifespan of a certain location on the boom falls below a set threshold, the system can issue an alarm to the user to indicate a risk. This allows for timely reminders to the user to repair or replace parts with low remaining lifespan, thereby ensuring the normal operation of the aerial work platform and the safety of the workers.

[0077] The above technical solution first determines the boom's force channels and attitude variables based on its force and motion patterns, and then establishes a unit force damage database for the boom based on these parameters. Next, it acquires the real-time force values ​​of the force channels and the real-time attitude variable values ​​of the attitude variables. Based on these real-time force and attitude variable values, and the unit force damage database, it determines the boom's real-time damage. Finally, it determines the boom's remaining lifespan based on the real-time damage. If the boom's remaining lifespan is less than a preset threshold, an alarm signal is output. This application enables high-precision, full-area lifespan monitoring of the boom, promptly reminding users to repair or replace parts with low remaining lifespans, thereby ensuring the normal operation of the aerial work platform and the safety of operators.

[0078] In this embodiment of the application, step 102, establishing a unit force damage library for the boom based on the boom's force channels and attitude variables, may include:

[0079] The boom is divided into grids to obtain a preset number of boom units;

[0080] Determine the boom stress under each attitude variable by the unit force of each force channel;

[0081] Determine the boom damage under each attitude variable by the unit force of each force channel based on the boom stress and fatigue curves.

[0082] A unit force damage library for the boom is established based on boom damage and a preset number of boom units. The unit force damage library for the boom includes the boom damage of each boom unit under each attitude variable under the unit force of each force channel.

[0083] Because existing technologies can only monitor the lifespan of equipment at a few specific locations, and engineering equipment undergoes various uncertain operating conditions during actual use, the location of fatigue life failure may not be at the pre-defined specific location. Therefore, this application embodiment establishes a unit force damage library for each force channel of the boom under various attitude variables through finite element calculation to achieve high-precision full-area lifespan monitoring of the boom. First, the boom can be meshed using meshing software such as Hypermesh to obtain a preset number of boom elements. Each boom element has an independent ID and corresponding coordinates x, y, z. The smaller the mesh size, the more precise the meshing, resulting in higher consistency with the actual object, but also a greater computational load. Therefore, the mesh size can be reasonably set according to the actual situation. The unit force damage library of the boom represents the boom damage of each boom element under each attitude variable with a unit force for each force channel.

[0084] Figure 4 A schematic diagram illustrating the mesh division of a two-section telescopic boom according to an embodiment of this application is shown. Figure 4 As shown, after dividing the boom into a preset number of boom units, it is necessary to determine and calculate the stress and damage corresponding to the unit force in each channel and each attitude sequentially. That is, the boom stress of the unit force in each force channel under each attitude variable, and store the unit force damage in the database. Taking the boom tilt angle θ increment step as 0.5° and the overlap length increment as 1mm as an example, that is, {θ}={-10,-9.5,…,79.5,80}, {L}={100,101,…,2999,3000}. Using finite element software such as Abaqus, the boom stress under each θ and L value can be calculated when the force channel 1 has a unit force, that is, F1={1,0,0,0,0,0,0,0,0}. Repeating this step can obtain the boom stress of the unit force in each channel under each attitude variable. Based on the boom stress and corresponding fatigue curves under each stress channel unit force and various attitude variables, the boom damage under each stress channel unit force and various attitude variables can be calculated. The fatigue curve is plotted with the fatigue strength of a standard material specimen on the ordinate and the logarithm of fatigue life (lgN) on the abscissa, representing the relationship between the fatigue strength and fatigue life of the standard specimen under certain cyclic characteristics. Finally, based on the boom damage and a preset number of boom units, a unit force damage library for the boom can be established, representing the boom damage of each boom unit under each stress channel unit force and each attitude variable.

[0085] In this embodiment of the application, step 104, determining the real-time damage of the boom based on the real-time force, real-time attitude variable values, and the unit force damage library, may include:

[0086] The damage per unit force in each boom unit is determined based on real-time attitude variable values ​​and a unit force damage library.

[0087] The real-time damage of each boom unit is determined based on the damage of each boom unit by the unit force of each force channel and the real-time force of each force channel.

[0088] The real-time damage of the boom is determined based on the real-time damage of each boom unit, wherein the real-time damage of the boom includes the real-time damage of each boom unit.

[0089] Specifically, based on a unit force damage database, by rationally selecting and arranging pin sensors, angle sensors, and displacement sensors to acquire real-time data—namely, real-time force and real-time attitude variable values—the real-time damage of the boom can be obtained. Taking boom unit 1 as an example, firstly, based on the real-time attitude variable value Z... c ={θ,L} and the unit force damage library can be used to obtain the damage D of each unit force in boom element 1. e1 ={D 1x D 1z D 2x D 2z D 3x D 3z D 4x D 4z D G}. Then, combine the real-time force F of each force channel. c ={F 1x ,F 1z ,F 2x ,F 2z ,F 3x ,F 3z ,F 4x ,F 4z The real-time damage D1 = D of boom unit 1 can be calculated using G}. e1 * c ={D 1x D 1z D 2x D 2z D 3x D 3z D 4x D 4z D G}*{F 1x ,F 1z ,F 2x ,F 2z ,F 3x ,F 3z ,F 4x ,F 4z ,G}=D 1x *F 1x +D 1z *F 1z +D 2x *F 2x+D 2z *F 2z +D 3x *F 3x +D 3z *F 3z +D 4x *F 4x +D 4z *F 4Z +D G *G. Similarly, repeating this calculation step allows you to calculate the damage of the remaining units, thus obtaining the real-time damage D of all boom units. now ={D1,D2,…,D n-1 D n}

[0090] In this embodiment of the application, step 106, outputting an alarm signal when the remaining lifespan of the boom is less than a preset threshold, may include:

[0091] An alarm signal is output when the remaining lifespan of any boom unit is less than a preset threshold.

[0092] In this embodiment, the boom is divided into a preset number of high-precision grids, or boom units. Each boom unit has its own position and lifespan information, enabling high-precision full-area lifespan monitoring of the boom. If the remaining lifespan of any boom unit is less than a preset threshold, it indicates that the corresponding part needs repair or replacement. Workers can determine the parts requiring replacement or repair based on the position information of each boom unit, such as its ID and coordinates. At this time, the boom lifespan monitoring system outputs an alarm signal to ensure the normal operation of the aerial work platform and the safety of the workers.

[0093] In this embodiment, the boom life monitoring system further includes multiple pin sensors, multiple angle sensors, and multiple displacement sensors. These sensors communicate with the controller to acquire real-time force and attitude variable values ​​of the force channel.

[0094] Receives force signals from multiple pin sensors;

[0095] The real-time force of the force channel is determined based on the force signal and the gravity information of the boom;

[0096] It receives real-time attitude variable values ​​from multiple angle sensors and multiple displacement sensors.

[0097] Figure 5 A schematic diagram illustrating the sensor installation of a two-section telescopic boom according to an embodiment of this application is provided. Figure 5As shown in this embodiment, since the four hinge points and the structural center of gravity of the two-section telescopic boom are selected as the main force-bearing points, pin sensors are installed at the four hinge points of the two-section telescopic boom, and angle and displacement sensors are installed at the tail of one boom section. The displacement sensors include, but are not limited to, laser and wire-type sensors. The method of obtaining the hinge point force through pin sensors is less affected by equipment vibration and environmental changes, thus the collected data has higher accuracy and reliability. Based on the force signals sent by each pin sensor and the known boom gravity information, the real-time force of each force channel, i.e., F, can be obtained. c ={F 1x ,F 1z ,F 2x ,F 2z ,F 3x ,F 3z ,F 4x ,F 4z Based on signals transmitted from multiple angle sensors and multiple displacement sensors, the real-time values ​​of each attitude variable, i.e., the value Z, can be obtained. c ={θ,L}.

[0098] In this embodiment of the application, determining the remaining lifespan of the boom based on its real-time damage may include:

[0099] The cumulative damage to the boom is determined based on the real-time damage to the boom.

[0100] The service life of the boom is determined based on the cumulative damage to the boom.

[0101] The remaining life of the boom is determined based on the boom's consumed life and its preset life, wherein the remaining life of the boom includes the remaining life of each boom unit.

[0102] In this embodiment of the application, the cumulative damage, i.e., D, is obtained through real-time damage calculation. tot =D tot-last +D now ={D 1-tot-last D 2-tot-last ,…,D n-1-tot-last D n-tot-last}+{D1,D2,…,D n-1 D n}={D 1-tot-last +D1,D 2-tot-last +D2,…,D n-1-tot-last +D n-1 D n-tot-last +D n}=D 1-tot D 2-tot ,…,D n-1-tot D n-tot}. Convert cumulative damage into lifespan, i.e., T. D ={1 / D 1-tot ,1 / D 2-tot ,…,1 / D n-1-tot ,1 / D n-tot Assume the total lifespan of the telescopic boom is T = {T1, T2, ..., T}. n-1 ,T n The remaining lifespan of the boom, T, can be obtained by subtracting the consumed lifespan from the set total lifespan. r =TT D ={T1-1 / D 1-tot T2-1 / D 2-tot ,…,T n-1 -1 / D n-1-tot ,T n -1 / D n-tot}={T r1 ,T r2 ,…,T r(n-1) ,T rn}

[0103] Figure 6 A schematic block diagram of a boom life monitoring device according to an embodiment of this application is shown. Figure 6 As shown in the figure, this application provides a device for monitoring the lifespan of a boom, which may include:

[0104] The determination module 610 is configured to determine the force channel and attitude variables of the boom based on the force and motion of the boom, respectively.

[0105] The unit force damage library module 620 is configured to establish a unit force damage library for the boom based on the force channels and attitude variables of the boom.

[0106] The acquisition module 630 acquires the real-time force and attitude variable values ​​of the force channel.

[0107] The real-time damage calculation module 640 determines the real-time damage of the boom based on real-time force, real-time attitude variable values, and a unit force damage library.

[0108] The remaining life calculation module 650 determines the remaining life of the boom based on the real-time damage of the boom.

[0109] The alarm module 660 outputs an alarm signal when the remaining lifespan of the boom is less than a preset threshold.

[0110] In this embodiment, the determination module 610 first determines the force channel and attitude variables of the boom based on its force and motion characteristics. Then, the unit force damage database module 620 establishes a unit force damage database for the boom based on these parameters. In actual use, the acquisition module 630 acquires the real-time force values ​​of the force channel and the real-time attitude variable values ​​of the attitude variables. Combined with the unit force damage database, the real-time damage calculation module 640 determines the real-time damage to the boom. The remaining lifespan calculation module 650 determines the remaining lifespan of the boom based on its real-time damage. If the remaining lifespan of the boom is less than a preset threshold, the alarm module 660 outputs an alarm signal.

[0111] Figure 7 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 7 As shown in the figure, this application provides a controller that may include:

[0112] Memory 710 is configured to store instructions; and

[0113] The processor 720 is configured to retrieve instructions from the memory 710 and, when executing the instructions, to implement the aforementioned method for monitoring boom life.

[0114] Specifically, in this embodiment of the application, the processor 720 can be configured to:

[0115] Based on the force and motion patterns of the boom, determine the force channels and attitude variables of the boom, and establish a unit force damage library for the boom based on the force channels and attitude variables of the boom.

[0116] Establish a unit force damage library for the boom based on the force channels and attitude variables of the boom;

[0117] Obtain the real-time force and attitude variable values ​​of the force channel;

[0118] The real-time damage of the boom is determined based on real-time force, real-time attitude variable values, and a unit force damage library.

[0119] The remaining life of the boom is determined based on the real-time damage to the boom.

[0120] An alarm signal is output when the remaining lifespan of the boom is less than a preset threshold.

[0121] Furthermore, the processor 720 can also be configured as follows:

[0122] The boom is divided into grids to obtain a preset number of boom units;

[0123] Determine the boom stress under each attitude variable by the unit force of each force channel;

[0124] Determine the boom damage under each attitude variable by the unit force of each force channel based on the boom stress and fatigue curves.

[0125] A unit force damage library for the boom is established based on boom damage and a preset number of boom units. The unit force damage library for the boom includes the boom damage of each boom unit under each attitude variable under the unit force of each force channel.

[0126] Furthermore, the processor 720 can also be configured as follows:

[0127] The damage per unit force in each boom unit is determined based on real-time attitude variable values ​​and a unit force damage library.

[0128] The real-time damage of each boom unit is determined based on the damage of each boom unit by the unit force of each force channel and the real-time force of each force channel.

[0129] The real-time damage of the boom is determined based on the real-time damage of each boom unit, wherein the real-time damage of the boom includes the real-time damage of each boom unit.

[0130] Furthermore, the processor 720 can also be configured as follows:

[0131] An alarm signal is output when the remaining lifespan of any boom unit is less than a preset threshold.

[0132] Furthermore, the processor 720 can also be configured as follows:

[0133] Receives force signals from multiple pin sensors;

[0134] The real-time force of the force channel is determined based on the force signal and the gravity information of the boom;

[0135] It receives real-time attitude variable values ​​from multiple angle sensors and multiple displacement sensors.

[0136] Furthermore, the processor 720 can also be configured as follows:

[0137] The cumulative damage to the boom is determined based on the real-time damage to the boom.

[0138] The service life of the boom is determined based on the cumulative damage to the boom.

[0139] The remaining life of the boom is determined based on the boom's consumed life and its preset life, wherein the remaining life of the boom includes the remaining life of each boom unit.

[0140] The above technical solution first determines the boom's force channels and attitude variables based on its force and motion patterns, and then establishes a unit force damage database for the boom based on these parameters. Next, it acquires the real-time force values ​​of the force channels and the real-time attitude variable values ​​of the attitude variables. Based on these real-time force and attitude variable values, and the unit force damage database, it determines the boom's real-time damage. Finally, it determines the boom's remaining lifespan based on the real-time damage. If the boom's remaining lifespan is less than a preset threshold, an alarm signal is output. This application enables high-precision, full-area lifespan monitoring of the boom, promptly reminding users to repair or replace parts with low remaining lifespans, thereby ensuring the normal operation of the aerial work platform and the safety of operators.

[0141] Figure 8 A schematic diagram illustrates the structure of a boom life monitoring system according to an embodiment of this application. Figure 8 As shown in the illustration, this application also provides a boom life monitoring system, which may include:

[0142] Multiple pin sensors 810 are used to acquire force signals from the boom;

[0143] Multiple angle sensors 820 are used to obtain the angle of the boom;

[0144] Multiple displacement sensors 830 are used to acquire the displacement of the boom; and

[0145] The aforementioned controller 840 communicates 830 with multiple pin sensors 810, multiple angle sensors 820, and multiple displacement sensors.

[0146] In this embodiment, the controller 840 receives force signals from the boom collected by multiple pin sensors 810, angles from the boom collected by multiple angle sensors 820, and displacements from the boom collected by multiple displacement sensors 830. By combining the pin, angle, and displacement sensors to obtain the force and attitude variable values ​​of each channel in real time, the controller 840 can calculate the real-time damage, cumulative damage, and remaining life of the boom in real time.

[0147] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for monitoring boom life.

[0148] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0149] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0150] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0151] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0152] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0153] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0154] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0155] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0156] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for monitoring boom life, characterized in that, The method is applied to a boom life monitoring system, the system including a controller, and includes: The force channels and attitude variables of the boom are determined according to the force and motion patterns of the boom. The boom is divided into a grid to obtain a preset number of boom units; the unit force of each force channel is determined under each attitude variable; the boom damage of each force channel under each attitude variable is determined based on the boom stress and fatigue curve; a unit force damage library of the boom is established based on the boom damage and the preset number of boom units, wherein the unit force damage library of the boom includes the boom damage of each boom unit under each attitude variable under the unit force of each force channel; Obtain the real-time force of the force channel and the real-time attitude variable value of the attitude variable; The damage of each unit force in each boom unit is determined based on the real-time attitude variable values ​​and the unit force damage library; the real-time damage of each boom unit is determined based on the damage of each unit force in each boom unit and the real-time force of each force channel; the real-time damage of the boom is determined based on the real-time damage of each boom unit, wherein the real-time damage of the boom includes the real-time damage of each boom unit; The remaining life of the boom is determined based on the real-time damage of the boom. An alarm signal is output when the remaining lifespan of the boom is less than a preset threshold.

2. The method according to claim 1, characterized in that, If the remaining lifespan of the boom is less than a preset threshold, the alarm signal output includes: An alarm signal is output when the remaining lifespan of any boom unit is less than a preset threshold.

3. The method according to claim 1, characterized in that, The boom life monitoring system also includes multiple pin sensors, multiple angle sensors, and multiple displacement sensors. These sensors communicate with the controller. The acquisition of real-time force values ​​from the force channel and real-time attitude variable values ​​includes: Receive force signals sent by the plurality of pin sensors; The real-time force of the force channel is determined based on the force signal and the gravity information of the boom; Receive the real-time attitude variable values ​​sent by the plurality of angle sensors and the plurality of displacement sensors.

4. The method according to claim 1, characterized in that, The determination of the remaining life of the boom based on its real-time damage includes: The cumulative damage to the boom is determined based on the real-time damage of the boom. The wear and tear life of the boom is determined based on the cumulative damage to the boom. The remaining lifespan of the boom is determined based on the consumed lifespan of the boom and the preset lifespan of the boom, wherein the remaining lifespan of the boom includes the remaining lifespan of each boom unit.

5. A device for monitoring boom life, characterized in that, include: The determination module is configured to determine the force channel and attitude variables of the boom based on the force and motion patterns of the boom, respectively. The unit force damage library module is configured to divide the boom into a grid to obtain a preset number of boom units; Determine the boom stress under each attitude variable by the unit force of each force channel; The boom damage per unit force in each force channel under each attitude variable is determined based on the boom stress and fatigue curves. Based on the boom damage and the preset number of boom units, a unit force damage library for the boom is established, wherein the unit force damage library for the boom includes the boom damage of each boom unit under each force channel under each attitude variable. The acquisition module acquires the real-time force of the force channel and the real-time attitude variable value of the attitude variable; The real-time damage calculation module is configured to determine the damage of each force channel in each boom unit based on the real-time attitude variable value and the unit force damage library; determine the real-time damage of each boom unit based on the damage of each force channel in each boom unit and the real-time force of each force channel; and determine the real-time damage of the boom based on the real-time damage of each boom unit, wherein the real-time damage of the boom includes the real-time damage of each boom unit. The remaining life calculation module determines the remaining life of the boom based on the real-time damage of the boom. The alarm module outputs an alarm signal when the remaining lifespan of the boom is less than a preset threshold.

6. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for monitoring boom life according to any one of claims 1 to 4.

7. A boom life monitoring system, characterized in that, include: Multiple pin sensors are used to acquire force signals from the boom; Multiple angle sensors are used to obtain the angle of the boom; Multiple displacement sensors are used to acquire the displacement of the boom; as well as The controller according to claim 6 communicates with the plurality of pin sensors, the plurality of angle sensors and the plurality of displacement sensors.

8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method of monitoring boom life according to any one of claims 1 to 4.

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