Arm identification system and arm identification method

Abstract

The application discloses an arm frame recognition system and method, and the arm frame recognition system comprises: a plurality of recognition devices, which are sequentially arranged on a plurality of auxiliary arms of a multi-arm frame mechanical device, each recognition device corresponds to an auxiliary arm, and adjacent recognition devices communicate with each other, a target recognition device in the plurality of recognition devices communicates with a calculation device, and the plurality of recognition devices are configured to sequentially calculate calculation data of each recognition device through a preset calculation rule, and send target calculation data of the target recognition device to the calculation device; and the calculation device communicates with the target recognition device, is configured to receive the target calculation data, and calculates the target calculation data through a preset calculation rule to obtain an arm frame recognition result. The application adopts a data calculation and calculation mode to recognize the arm frame, the recognition process is simple, and the recognition result is more accurate.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and specifically to a boom identification system and boom identification method. Background Technology

[0002] The jib of a multi-arm jib crane increases the working radius and lifting height of the equipment. However, the wide variety of similar jib types and their different connection relationships can easily lead to discrepancies between the actual installed boom connection and the intended working conditions. The length of multiple connected jib sections can reach tens or even hundreds of meters. Currently, jib connection identification mainly relies on manual methods. Because of the wide variety and similarity of jib types, errors in jib type installation and / or incorrect connection sequence are prone to occur. Therefore, manual identification is error-prone and does not align with the trend towards automation and intelligence. Image recognition is also difficult due to distance. Existing technologies for identifying the composition of the jib can also be achieved by using the resistors connected before and after each jib section installation, and identifying the composition of the jib through the total resistance value. This method can only classify the components of the auxiliary booms, but cannot identify the sequential connection relationships between different or identical auxiliary booms. In practice, installers frequently install the auxiliary booms in the wrong order. Furthermore, resistor values ​​are typically limited to a fixed series of specifications; resistors that vary exponentially require custom manufacturing, which is impractical in engineering. Moreover, when the auxiliary boom is long, the resistance of the connecting cables affects the total resistance measured in the circuit, thus impacting the accuracy of the identification. Therefore, existing technologies for boom identification in multi-arm machinery suffer from low accuracy. Summary of the Invention

[0003] The purpose of this application is to provide a boom recognition system and a boom recognition method to solve the problem of low accuracy in boom recognition for multi-boom mechanical equipment in the prior art.

[0004] To achieve the above objectives, the first aspect of this application provides a boom identification system applied to multi-boom machinery, the multi-boom machinery including multiple auxiliary boom sections, the boom identification system comprising:

[0005] Multiple identification devices are sequentially installed on multiple sections of the boom of the multi-arm mechanical equipment. Each identification device corresponds to one section of the boom, and adjacent identification devices communicate with each other. The target identification device among the multiple identification devices communicates with the calculation device. The multiple identification devices are configured to sequentially calculate the calculation data of each identification device according to the preset calculation rules, and send the target calculation data of the target identification device to the calculation device.

[0006] The calculation device communicates with the target recognition device and is configured to receive target calculation data and calculate the target calculation data according to preset calculation rules to obtain the boom recognition result.

[0007] In this embodiment of the application, each identification device includes:

[0008] The feature encoding module is configured to generate feature codes for each secondary arm of the recognition device, wherein secondary arms of the same type have the same feature codes.

[0009] The data input module is configured to receive output data from the next-level adjacent identification device of each identification device.

[0010] The encoding module communicates with the feature encoding module and the data input module. It is configured to perform encoding based on preset encoding rules, the feature encoding of the corresponding sub-arm, and the output data of the adjacent recognition device at the next higher level, so as to obtain the encoding data of each recognition device.

[0011] The data output module communicates with the computation module and is configured to output the computation data to the next-level adjacent identification device or solving device of each identification device.

[0012] In this embodiment of the application, the encoding module is further configured to multiply the output data of the adjacent recognition device at the next higher level with a preset value and then add the feature code of the corresponding sub-arm to obtain the encoding data of each recognition device.

[0013] In this embodiment of the application, the data output module is further configured to:

[0014] If the current identification device is not the target identification device, the calculated data will be output to the next-level adjacent identification module of the current identification device;

[0015] When the current identification device is a target identification device, the calculated data is output to the solution device.

[0016] In this embodiment of the application, the solving device is further configured to:

[0017] The target encoded data is subjected to modulo and integer operations on preset values ​​to obtain the feature encoding sequence.

[0018] In this embodiment of the application, the solving device is further configured to:

[0019] Determine whether the feature coding sequence matches the preset feature coding sequence;

[0020] If the feature encoding sequence does not match the preset feature encoding sequence, the motion output command of the multi-arm mechanical equipment is cut off and an alarm is triggered.

[0021] A second aspect of this application provides a boom identification method applied to a boom identification system. The boom identification system includes multiple identification devices and a calculation device. The multiple identification devices are sequentially arranged on multiple sections of the boom of a multi-boom machine, with each identification device corresponding to one section of the boom. Adjacent identification devices communicate with each other, and the target identification device among the multiple identification devices communicates with the calculation device. The boom identification method includes:

[0022] The encoding data of each recognition device is calculated sequentially according to a preset encoding rule using multiple recognition devices.

[0023] The target encoding data from the target recognition device is sent to the calculation device;

[0024] Target computational data is received through the calculation device;

[0025] The target data is processed by pre-defined processing rules to obtain the boom recognition result.

[0026] In this embodiment, each identification device includes a feature encoding module, a data input module, an encoding module, and a data output module. The encoding module communicates with both the feature encoding module and the data input module, and the data output module communicates with the encoding module. The encoded data for each identification device is sequentially calculated by multiple identification devices according to preset encoding rules, including:

[0027] The feature encoding module generates the feature code for each identification device's corresponding sub-arm, where sub-arms of the same type have the same feature code.

[0028] The data input module receives output data from the next-level adjacent identification device of each identification device.

[0029] The calculation module performs calculations based on preset calculation rules, the feature codes of the corresponding secondary arm, and the output data of the adjacent recognition device at the next higher level, so as to obtain the calculation data of each recognition device.

[0030] The data output module outputs the calculated data to the next-level adjacent identification device or solving device of each identification device.

[0031] In this embodiment of the application, the encoding module performs encoding based on preset encoding rules, the feature code of the corresponding secondary arm, and the output data of the adjacent recognition device at the next higher level, to obtain the encoding data of each recognition device, including:

[0032] The output data of the adjacent recognition device at the previous level is multiplied by a preset value and then the feature code of the corresponding sub-arm is added to obtain the encoded data of each recognition device.

[0033] In this embodiment of the application, outputting the calculated data to the next-level adjacent identification device or solving device of each identification device through the data output module includes:

[0034] If the current identification device is not the target identification device, the calculated data will be output to the next-level adjacent identification module of the current identification device;

[0035] When the current identification device is a target identification device, the calculated data is output to the solution device.

[0036] In this embodiment of the application, the method of solving the target encoded data using preset calculation rules to obtain the boom recognition result includes:

[0037] The target encoded data is subjected to modulo and integer operations on preset values ​​to obtain the feature encoding sequence.

[0038] In this embodiment of the application, the boom identification method further includes:

[0039] Determine whether the feature coding sequence matches the preset feature coding sequence;

[0040] If the feature encoding sequence does not match the preset feature encoding sequence, the motion output command of the multi-arm mechanical equipment is cut off and an alarm is triggered.

[0041] The above technical solution provides a boom recognition system that connects a calculation device with a target recognition device among multiple recognition devices. These multiple recognition devices are sequentially mounted on multiple sections of the boom of a multi-boom machine, with each device corresponding to one section. Adjacent recognition devices communicate with each other. The multiple recognition devices sequentially calculate the calculation data for each device according to preset calculation rules, and then send the target calculation data from the target recognition device to the calculation device. The calculation device receives the target calculation data and performs calculations on it according to preset calculation rules to obtain the boom recognition result. This data-based calculation and resolution method for boom recognition simplifies the process and improves accuracy.

[0042] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0043] 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:

[0044] Figure 1 The schematic diagram illustrates a structural diagram of a boom recognition system according to an embodiment of this application;

[0045] Figure 2 This schematic diagram illustrates a structural diagram of an identification device according to an embodiment of the present application;

[0046] Figure 3 This schematic diagram illustrates a structural diagram of a boom connection according to a specific embodiment of this application;

[0047] Figure 4 A flowchart illustrating a boom identification method according to an embodiment of this application is shown schematically.

[0048] Figure 5 A flowchart illustrating a boom identification method according to another embodiment of this application is shown schematically.

[0049] Explanation of reference numerals in the attached figures

[0050] More than 100 identification devices and 200 processing devices

[0051] 110 Target Recognition Device 101 Feature Encoding Module

[0052] 102 Data Input Module 103 Compilation Module

[0053] 104 Data Output Module Detailed Implementation

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Figure 1 A schematic diagram illustrating the structure of a boom recognition system according to an embodiment of this application is shown. Figure 1 As shown, this application provides a boom identification system applied to multi-boom machinery, which includes multiple boom sections. The boom identification system may include:

[0058] Multiple identification devices 100 are sequentially installed on multiple sections of the auxiliary boom of the multi-arm mechanical equipment. Each identification device corresponds to one section of the auxiliary boom, and adjacent identification devices communicate with each other. The target identification device 110 among the multiple identification devices 100 communicates with the calculation device 200. The multiple identification devices 100 are configured to sequentially calculate the calculation data of each identification device according to preset calculation rules, and send the target calculation data of the target identification device 110 to the calculation device 200.

[0059] The calculation device 200 communicates with the target recognition device 110 and is configured to receive target calculation data and calculate the target calculation data according to preset calculation rules to obtain the boom recognition result.

[0060] In this embodiment, the boom recognition system is applied to multi-boom machinery, i.e., machinery including multiple boom sections, and is a system capable of automatically recognizing the boom feature information (i.e., type) and connection relationships of multi-boom machinery. The boom recognition system includes multiple recognition devices 100 and a calculation device 200. The target recognition device among the multiple recognition devices 100 communicates with the calculation device 200. The multiple recognition devices 100 can sequentially calculate the calculation data of each recognition device according to preset calculation rules, ultimately obtaining the target calculation data corresponding to the target recognition device. The target calculation data includes the calculation data of all auxiliary boom sections. The calculation data contains the feature information and connection relationship information of each auxiliary boom section; therefore, the target calculation data is the data after calculating the feature information and connection relationship information of all auxiliary boom sections. Thus, the calculation device 200 calculates the calculation data according to preset calculation rules corresponding to the preset calculation rules, thereby obtaining the feature information and connection relationship information of each auxiliary boom section.

[0061] In this embodiment, multiple identification devices 100 are sequentially arranged on multiple sub-arms, with one identification device on each sub-arm. Adjacent identification devices can communicate with each other. Since the calculation data of each identification device in this embodiment needs to consider the output data of the previous level identification device, the transmission direction of the calculation data is unique, that is, the calculation data is transmitted from the previous level identification device to the next level identification device. Among the multiple identification devices 100, there is also a target identification device, which is the identification device among the multiple identification devices 100 that communicates with the solving device 200. In one example, the target identification device can be an identification device on a sub-arm connected to the main arm. Each identification device can sequentially calculate the calculation data of each identification device according to the budget calculation rules, and then transmit it to the next level device. The target identification device transmits the data to the calculation device 200, and other identification devices transmit the data to adjacent identification devices. For example, assuming the end sub-arm is the starting point, the data can be sequentially transmitted from the identification devices on the end sub-arm towards the main arm, and finally the calculation data is sent to the solving device 200 through the target identification device.

[0062] In this embodiment, the calculation device 200 can be a standalone device or a controller for a multi-arm mechanical device. Preferably, the controller of the multi-arm mechanical device can be used as the calculation device. The calculation device calculates the target encoding data sent by the target identification device according to a preset calculation rule, thereby obtaining the types and connection relationships of all auxiliary arms.

[0063] In one example, multiple identification devices 100 all use a preset encoding rule f(·) to process the data D sent by the previous level identification device. X2 and the feature code N corresponding to the current identification device x After computation, the computational data D is obtained. X1 Then compile the data D X1 Output. (e.g., ...) Figure 1 If the identification device includes A, B, up to T, then X can be A, B, up to T respectively. The calculation device 200 uses a preset calculation rule g(·) to calculate and obtain the boom identification result containing the feature information and connection relationship information of the auxiliary boom.

[0064] It should be noted that the preset encoding rules and preset solving rules in the embodiments of this application correspond to each other, and the data includes the feature information and connection relationship information of the secondary arm. Furthermore, the preset encoding rule can be any function operation rule with one or more corresponding reverse solving rules where the independent and dependent variables have a one-to-one mapping relationship; the preset solving rule can also be any function operation rule with one or more corresponding reverse encoding rules where the independent and dependent variables have a one-to-one mapping relationship, and one encoding rule can also have multiple solving rules. The encoded data obtained through the preset encoding rules can be a single number, a series of data, or a data string.

[0065] In this embodiment, the calculation device 200 communicates with the target identification devices among the multiple identification devices 100. The multiple identification devices are sequentially mounted on multiple sections of the boom of the multi-boom machine, with each identification device corresponding to one section of the boom. Adjacent identification devices communicate with each other. The multiple identification devices sequentially calculate the calculation data for each device according to preset calculation rules, and then send the target calculation data from the target identification device 110 to the calculation device. The calculation device receives the target calculation data and calculates it according to preset calculation rules to obtain the boom identification result. Thus, by using a data calculation and resolution method to identify the boom, the identification process is simple and the identification result is more accurate.

[0066] Figure 2 A schematic diagram illustrating the structure of an identification device according to an embodiment of this application is shown. Figure 2 As shown in the embodiments of this application, each identification device may include:

[0067] The feature encoding module 101 is configured to generate feature codes for each identification device corresponding to a secondary arm, wherein secondary arms of the same type have the same feature codes.

[0068] The data input module 102 is configured to receive output data from the next-level adjacent identification device of each identification device;

[0069] The calculation module 103 communicates with the feature encoding module 101 and the data input module 102, and is configured to perform calculations according to preset calculation rules, the feature encoding of the corresponding sub-arm and the output data of the adjacent recognition device at the next higher level, so as to obtain the calculation data of each recognition device.

[0070] The data output module 104 communicates with the encoding module 103 and is configured to output the encoded data to the next-level adjacent recognition device or the solving device of each recognition device.

[0071] In this embodiment, each identification device X includes a feature encoding module 101, a data input module 102, an encoding module 103, and a data output module 104. The encoding module 103 communicates with the feature encoding module 101, the data input module 102, and the data output module 104, respectively. Each identification device has a corresponding feature code, which can be configured via program code to characterize the corresponding secondary arm features. Therefore, the feature encoding module 101 has the feature code corresponding to the current secondary arm to characterize the type of the current secondary arm.

[0072] Data input module 102 and data output module 104 are used to transmit data between adjacent identification devices. Data input module 102 includes a data input port, and data output module 104 includes a data output port. The data input and output ports include, but are not limited to, interfaces such as Controller Area Network (CAN), RS232, and RS485. Data input module 102 can receive data output from the adjacent identification device at the previous level of the current identification device, while data output module 104 sends the encoded data of the current identification device to the next adjacent identification device or the solving device. The input data for the end effector is 0.

[0073] The encoding module 103 is used to encode and construct the features and sequence of the current identification device itself and the corresponding secondary arms of the adjacent identification device at the previous level. The encoding module 103 uses a preset encoding rule f(·) to encode the data D received from the data input module 102. X2 and the feature encoding N sent by the feature encoding module X After computation, the computational data D is obtained. X1 Then, the calculated data D is output through the data output module 104. X1 Output. Since the encoded data of each identification device is calculated sequentially based on the output data of the adjacent identification device at the previous level, the encoded data D of each identification device... X1 Each includes the feature information and connection information of the current auxiliary arm and all previous auxiliary arms. The target recognition device is the last-level recognition device, therefore, it includes the feature information and connection information of all auxiliary arms.

[0074] Each identification device in this embodiment obtains the feature code of the corresponding secondary arm through the feature encoding module 101, obtains the output data of the next-level neighboring identification device through the data input module 102, and then performs calculations based on preset calculation rules, feature codes, and the output data of the next-level neighboring identification device through the calculation module 103 to obtain the calculated data of each identification device. Finally, the calculated data is sent to the next-level neighboring identification device through the data output module 104. In this way, the calculated data contains both feature information that can identify the type of secondary arm and connection relationship information of the secondary arm. The solving device can identify both the type information of the secondary arm and the connection relationship information of the secondary arm through the preset solving rules corresponding to the preset calculation rules, making the identification of the secondary arm more accurate.

[0075] like Figure 2 As shown in the embodiments of this application, the data output module 104 can also be configured to:

[0076] If the current identification device is not the target identification device, the calculated data will be output to the next-level adjacent identification module of the current identification device;

[0077] When the current identification device is a target identification device, the calculated data is output to the solution device.

[0078] Specifically, multiple identification devices can sequentially calculate the calculated data for each device using preset calculation rules, ultimately obtaining the target calculated data for the target identification device. This target calculated data includes the calculated data for all sub-arms. The calculated data contains the feature information and connection relationship information of each sub-arm segment; therefore, the target calculated data is the data after calculating the feature information and connection relationship information of all sub-arms. The solving device can then solve the calculated data using preset solving rules corresponding to the preset calculation rules, thereby obtaining the feature information and connection relationship information of each sub-arm segment. Therefore, when the current identification device is not the target identification device, the calculated data needs to be output to the next adjacent identification module; when the current identification device is the target identification device, the calculated data needs to be output to the solving device.

[0079] The preset computation rules in this application embodiment can be any function operation rules with one or more corresponding reverse computation rules where the independent and dependent variables have a one-to-one mapping relationship; the preset computation rules can be any function operation rules with one or more corresponding reverse computation rules where the independent and dependent variables have a one-to-one mapping relationship, and one computation rule can also have multiple computation rules. The computation data obtained through the preset computation rules can be a single number, a series of data, or a data string. The following description uses a preferred preset computation rule and preset computation rule as an example.

[0080] like Figure 2 As shown in the embodiment of this application, the encoding module 103 can also be configured to multiply the output data of the adjacent recognition device at the previous level with a preset value and then add the feature code of the corresponding sub-arm to obtain the encoding data of each recognition device.

[0081] Specifically, the preset encoding rule f(·) can be: multiplying the encoding data of the adjacent recognition device at the previous level sent by the data input module 102 by a preset value, and then adding the feature code of the corresponding sub-arm sent by the feature encoding module 101 to obtain the encoding data of the recognition device at this level. Here, the preset value is an arbitrarily set value. That is to say, the preset encoding rule f(~) of the encoding module 103 is: D X1 =D X2 ×Preset value + N X .

[0082] Figure 3 The diagram schematically illustrates a structural representation of a boom connection according to a specific embodiment of this application. Figure 3 As shown, assuming a multi-arm gantry crane has three boom sections of type A, G, and I, connected in AGI order, the connection can be made via a CAN bus. Multiple identification devices 100 may include identification device A, identification device G, and identification device I. Identification device A is the target identification device 110. Identification device A is mounted on boom A, identification device G is mounted on boom G, and identification device I is mounted on boom I. The feature codes N for identification devices A, G, and I are... A N G and N I The numbers are 1, 7, and 9. 1 represents a Class A secondary arm, connected to the main arm; 7 represents a Class G secondary arm, connected to the Class A secondary arm; and 9 represents a Class I secondary arm, connected to the Class G secondary arm. Therefore, 1-7-9 represents the type and connection relationship of the secondary arm AGI.

[0083] Assume the preset encoding rule f(·) is: multiply the encoding data of the adjacent recognition device at the previous level sent by the data input module 102 by a preset value of 55, and add the feature code of the corresponding sub-arm sent by the feature encoding module 101 to obtain the encoding data of the recognition device at this level. Then the encoding data of recognition device I is D. I1 =0×55+9=9, the encoding data of the identification device G is D G1 =9×55+7=502, the calculated data for identification device A is D A1 =502×55+1=27611. The calculated data 27611 contains boom type and connection relationship information (1-7-9 or AGI), which can be transmitted to the calculation device.

[0084] like Figure 1As shown in the embodiments of this application, the solving device 200 can also be configured to:

[0085] The target encoded data is subjected to modulo and integer operations on preset values ​​to obtain the feature encoding sequence.

[0086] Specifically, the preset solution rule g(·) can be: continuously performing modulo operations (i.e., finding the remainder of the data, the operator is MOD) and integer division operations (the operator is / ). The modulo operation yields the corresponding feature codes, which represent the corresponding boom types. The feature codes obtained first are the booms listed in the order they appear, and the feature codes obtained later are the booms listed in the order they appear.

[0087] Still with Figure 3 Taking the boom connection diagram as an example, the preset value is 55. The target encoding data sent by the identification device A and obtained by the calculation device 200 is 27611. Taking the modulus of 55, we get (27611 MOD 55) = 1. The feature code of the first auxiliary boom is found to be 1, meaning that auxiliary boom A is the first auxiliary boom. Dividing 27611 by 55, taking the integer part, and then taking the modulus again, we get (27611 / 55) = 502, (502 MOD 55) = 7. The feature code of the second auxiliary boom is found to be 7 (i.e., auxiliary boom G). Therefore, the connection order is 1-7 or AG. Continuing to divide 55, taking the integer part, and then taking the modulus again, we get (502 / 99) = 9, (9 MOD 55) = 9. Finally, the boom identification result is 1-7-9, or AGI according to the auxiliary boom connection method. This result is completely consistent with the actual type and order of the installed boom, therefore, the identification result is correct.

[0088] The aforementioned preset encoding and decoding rules can easily and efficiently identify the type and connection information of the secondary arm, with high recognition accuracy. However, it should be noted that the preset encoding and decoding rules in this application are not limited to the above embodiments, and can also be other matching encoding and decoding methods.

[0089] like Figure 1 As shown in the embodiments of this application, the solving device 200 can also be configured to:

[0090] Determine whether the feature coding sequence matches the preset feature coding sequence;

[0091] If the feature encoding sequence does not match the preset feature encoding sequence, the motion output command of the multi-arm mechanical equipment is cut off and an alarm is triggered.

[0092] Specifically, the calculation device 200 calculates the target encoded data according to preset calculation rules, obtaining a sequence of feature codes arranged in order. The feature codes represent information such as the type of the boom, thus identifying the boom type. The order of the feature codes indicates the connection sequence between booms, thus identifying the connection relationship between booms. The entire identification process is automatic, fast, and accurate. When the identified boom information is inconsistent with the target boom information of the multi-boom machine, the calculation device 200 can automatically cut off the motion output command of the multi-boom machine and issue an alarm to prompt the operator to make modifications or adjustments, prohibiting the multi-boom machine from operating. This provides safety protection for the multi-boom machine and reduces safety problems and property losses caused by incorrect boom installation.

[0093] Figure 4 A flowchart illustrating a boom identification method according to an embodiment of this application is shown schematically. Figure 4 As shown, in one embodiment of this application, a boom identification method is provided, applied to a boom identification system. The boom identification system may include multiple identification devices and a calculation device. The multiple identification devices are sequentially arranged on multiple sections of the boom of a multi-boom mechanical equipment. Each identification device corresponds to one section of the boom, and adjacent identification devices communicate with each other. The target identification device among the multiple identification devices communicates with the calculation device. The boom identification method may include the following steps:

[0094] Step 401: Calculate the encoding data of each recognition device sequentially according to the preset encoding rules using multiple recognition devices;

[0095] Step 402: Send the target encoding data from the target recognition device to the calculation device;

[0096] Step 403: Receive target computational data through the calculation device;

[0097] Step 404: Solve the target data using preset calculation rules to obtain the boom recognition result.

[0098] In this embodiment, the boom recognition system is applied to multi-boom machinery, i.e., machinery comprising multiple boom sections. It is a system capable of automatically recognizing the boom feature information (i.e., type) and connection relationships of multi-boom machinery. The boom recognition system includes multiple recognition devices and a calculation device. The target recognition device communicates with the calculation device. The multiple recognition devices can sequentially calculate the calculation data of each device using preset calculation rules, ultimately obtaining the target calculation data corresponding to the target recognition device. The target calculation data includes the calculation data of all auxiliary boom sections. The calculation data contains the feature information and connection relationship information of each auxiliary boom section; therefore, the target calculation data is the data obtained after calculating the feature information and connection relationship information of all auxiliary boom sections. Thus, the calculation device calculates the calculation data using preset calculation rules corresponding to the preset calculation rules, thereby obtaining the feature information and connection relationship information of each auxiliary boom section.

[0099] In this embodiment, multiple identification devices are sequentially mounted on multiple sub-arm sections, with one identification device on each sub-arm section. Adjacent identification devices can communicate with each other. Since the calculation data of each identification device in this embodiment needs to consider the output data of the previous level identification device, the transmission direction of the calculation data is unique, i.e., the calculation data is transmitted from the previous level identification device to the next level identification device. Among the multiple identification devices, there is also a target identification device, which is the identification device that communicates with the solving device. In one example, the target identification device can be an identification device on a sub-arm connected to the main arm. Each identification device can sequentially calculate its own calculation data according to the budget calculation rules, and then transmit it to the next level device. The target identification device transmits the data to the calculation device, and other identification devices transmit the data to adjacent identification devices. For example, assuming the end sub-arm is the starting point, data can be sequentially transmitted from the identification devices on the end sub-arm towards the main arm, and finally the calculation data is sent to the solving device through the target identification device.

[0100] In this embodiment, the calculation device can be a standalone device or a controller of a multi-arm mechanical equipment. Preferably, the controller of the multi-arm mechanical equipment can be used as the calculation device. The calculation device calculates the target encoding data sent by the target recognition device according to a preset calculation rule, thereby obtaining the types and connection relationships of all auxiliary arms.

[0101] It should be noted that the preset encoding rules and preset solving rules in the embodiments of this application correspond to each other, and the data includes the feature information and connection relationship information of the secondary arm. Furthermore, the preset encoding rule can be any function operation rule with one or more corresponding reverse solving rules where the independent and dependent variables have a one-to-one mapping relationship; the preset solving rule can also be any function operation rule with one or more corresponding reverse encoding rules where the independent and dependent variables have a one-to-one mapping relationship, and one encoding rule can also have multiple solving rules. The encoded data obtained through the preset encoding rules can be a single number, a series of data, or a data string.

[0102] This embodiment of the application establishes communication between the calculation device and a target identification device among multiple identification devices. These multiple identification devices are sequentially mounted on multiple sections of the boom of a multi-boom machine, with each identification device corresponding to one section of the boom. Adjacent identification devices communicate with each other. The multiple identification devices sequentially calculate the calculated data for each device according to preset calculation rules, and then send the target calculated data from the target identification device to the calculation device. The calculation device receives the target calculated data and performs calculations on it according to preset calculation rules to obtain the boom identification result. This data-driven calculation and resolution method for boom identification simplifies the process and improves the accuracy of the results.

[0103] In this embodiment, each identification device may include a feature encoding module, a data input module, an encoding module, and a data output module. The encoding module communicates with the feature encoding module and the data input module, respectively, and the data output module communicates with the encoding module. Step 401, sequentially encoding the encoding data of each identification device according to a preset encoding rule through multiple identification devices, may include:

[0104] The feature encoding module generates the feature code for each identification device's corresponding sub-arm, where sub-arms of the same type have the same feature code.

[0105] The data input module receives output data from the next-level adjacent identification device of each identification device.

[0106] The calculation module performs calculations based on preset calculation rules, the feature codes of the corresponding secondary arm, and the output data of the adjacent recognition device at the next higher level, so as to obtain the calculation data of each recognition device.

[0107] The data output module outputs the calculated data to the next-level adjacent identification device or solving device of each identification device.

[0108] In this embodiment, each identification device includes a feature encoding module, a data input module, an encoding module, and a data output module, wherein the encoding module communicates with the feature encoding module, the data input module, and the data output module, respectively. Each identification device has a corresponding feature code, which can be configured through program code to characterize the corresponding secondary arm features. Therefore, the feature encoding module has the feature code corresponding to the current secondary arm to characterize the type of the current secondary arm.

[0109] The data input module and data output module are used to transmit data between adjacent identification devices. The data input module includes a data input port, and the data output module includes a data output port. These ports include, but are not limited to, interfaces such as CAN, RS232, and RS485. The data input module can receive data output from the upstream adjacent identification device, while the data output module sends the encoded data from the current identification device to the next downstream adjacent identification device or the processing device. The input data for the end effector is 0.

[0110] The encoding module is used to encode and construct the features and sequence of the current identification device itself and the corresponding secondary arms of the adjacent identification device at the next higher level. The encoding module uses a preset encoding rule f(·) to encode the data D received from the data input module. X2 and the feature encoding N sent by the feature encoding module X After computation, the computational data D is obtained. X1 Then, the calculated data D is output through the data output module. X1 Output. Since the encoded data of each identification device is calculated sequentially based on the output data of the adjacent identification device at the previous level, the encoded data D of each identification device... X1 Each includes the feature information and connection information of the current auxiliary arm and all previous auxiliary arms. The target recognition device is the last-level recognition device, therefore, it includes the feature information and connection information of all auxiliary arms.

[0111] Each identification device in this embodiment obtains the feature code of the corresponding secondary arm through a feature encoding module, obtains the output data of the next-level neighboring identification device through a data input module, and then performs encoding based on preset encoding rules, feature codes, and the output data of the next-level neighboring identification device through an encoding module to obtain the encoded data of each identification device. Finally, the encoded data is sent to the next-level neighboring identification device through a data output module. In this way, the encoded data contains both feature information that can identify the type of secondary arm and connection relationship information of the secondary arm. The solving device can identify both the type information of the secondary arm and the connection relationship information of the secondary arm by using preset solving rules corresponding to the preset encoding rules, making the identification of the secondary arm more accurate.

[0112] In this embodiment of the application, outputting the computed data to the next-level adjacent identification device or solving device of each identification device through the data output module may include:

[0113] If the current identification device is not the target identification device, the calculated data will be output to the next-level adjacent identification module of the current identification device;

[0114] When the current identification device is a target identification device, the calculated data is output to the solution device.

[0115] Specifically, multiple identification devices can sequentially calculate the calculated data for each device using preset calculation rules, ultimately obtaining the target calculated data for the target identification device. This target calculated data includes the calculated data for all sub-arms. The calculated data contains the feature information and connection relationship information of each sub-arm segment; therefore, the target calculated data is the data after calculating the feature information and connection relationship information of all sub-arms. The solving device can then solve the calculated data using preset solving rules corresponding to the preset calculation rules, thereby obtaining the feature information and connection relationship information of each sub-arm segment. Therefore, when the current identification device is not the target identification device, the calculated data needs to be output to the next adjacent identification module; when the current identification device is the target identification device, the calculated data needs to be output to the solving device.

[0116] The preset computation rules in this application embodiment can be any function operation rules with one or more corresponding reverse computation rules where the independent and dependent variables have a one-to-one mapping relationship; the preset computation rules can be any function operation rules with one or more corresponding reverse computation rules where the independent and dependent variables have a one-to-one mapping relationship, and one computation rule can also have multiple computation rules. The computation data obtained through the preset computation rules can be a single number, a series of data, or a data string. The following description uses a preferred preset computation rule and preset computation rule as an example.

[0117] In this embodiment of the application, the encoding module performs encoding based on preset encoding rules, the feature code of the corresponding secondary arm, and the output data of the adjacent recognition device at the next higher level, so that the encoding data of each recognition device may include:

[0118] The output data of the adjacent recognition device at the previous level is multiplied by a preset value and then the feature code of the corresponding sub-arm is added to obtain the encoded data of each recognition device.

[0119] Specifically, the preset encoding rule f(·) can be: multiplying the encoded data of the adjacent recognition device at the previous level sent by the data input module by a preset value, and then adding the feature code of the corresponding sub-arm sent by the feature encoding module to obtain the encoded data of the recognition device at this level. Here, the preset value is arbitrarily set. That is to say, the preset encoding rule f(·) of the encoding module is: D X1 =D X2 ×Preset value + N X .

[0120] In this embodiment of the application, the process of solving the target encoded data using preset calculation rules to obtain the boom recognition result may include:

[0121] The target encoded data is subjected to modulo and integer operations on preset values ​​to obtain the feature encoding sequence.

[0122] Specifically, the preset solution rule g(·) can be: continuously performing modulo operations (i.e., finding the remainder of the data, the operator is MOD) and integer division operations (the operator is / ). The modulo operation yields the corresponding feature codes, which represent the corresponding boom types. The feature codes obtained first are the booms listed in the order they appear, and the feature codes obtained later are the booms listed in the order they appear.

[0123] The aforementioned preset encoding and decoding rules can easily and efficiently identify the type and connection information of the secondary arm, with high recognition accuracy. However, it should be noted that the preset encoding and decoding rules in this application are not limited to the above embodiments, and can also be other matching encoding and decoding methods.

[0124] Figure 5 A flowchart illustrating another embodiment of a boom identification method according to this application is shown schematically. Figure 5 As shown, in another embodiment of this application, in Figure 4 Based on this, the boom identification method may also include:

[0125] Step 501: Determine whether the feature coding sequence matches the preset feature coding sequence;

[0126] Step 502: If the feature coding sequence does not match the preset feature coding sequence, cut off the motion output command of the multi-arm mechanical equipment and issue an alarm.

[0127] Specifically, the calculation device calculates the target encoded data according to preset calculation rules, obtaining a sequence of feature codes arranged in order. The feature codes represent information such as the type of the boom, thus identifying the boom type. The order of the feature codes indicates the connection sequence between booms, thus identifying the connection relationship between booms. The entire identification process is automatic, fast, and accurate. When the identified boom information is inconsistent with the target boom information of the multi-boom machine, the calculation device can automatically cut off the motion output command of the multi-boom machine and issue an alarm to prompt the operator to make modifications or adjustments, prohibiting the multi-boom machine from operating. This provides safety protection for the multi-boom machine and reduces safety problems and property losses caused by incorrect boom installation.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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 boom identification system, characterized in that, The boom identification system is applied to multi-boom machinery, which includes multiple sections of auxiliary boom, and includes: Multiple identification devices are sequentially mounted on multiple sections of the multi-arm scaffolding. Each identification device corresponds to one section of the scaffolding, and adjacent identification devices communicate with each other. The target identification device among the multiple identification devices communicates with the calculation device. The target identification device is the last-level identification device. The multiple identification devices are configured to sequentially calculate the calculation data of each identification device according to a preset calculation rule, and send the target calculation data of the target identification device to the calculation device. The preset calculation rule is: multiply the output data of the previous adjacent identification device by a preset value and add the feature code of the corresponding scaffolding to obtain the calculation data of the current identification device. The calculation device communicates with the target recognition device and is configured to receive the target calculation data and calculate the target calculation data according to a preset calculation rule to obtain the boom recognition result.

2. The boom identification system according to claim 1, characterized in that, Each identification device includes: The feature encoding module is configured to generate feature codes for each secondary arm of the recognition device, wherein secondary arms of the same type have the same feature codes. The data input module is configured to receive output data from the next-level adjacent identification device of each identification device; The encoding module communicates with the feature encoding module and the data input module, and is configured to perform encoding based on the preset encoding rules, the feature encoding of the corresponding sub-arm, and the output data of the adjacent recognition device at the next higher level, so as to obtain the encoding data of each recognition device; The data output module communicates with the encoding module and is configured to output the encoded data to the next-level adjacent recognition device or solving device of each recognition device.

3. The boom identification system according to claim 2, characterized in that, The data output module is also configured to: If the current identification device is not the target identification device, the calculated data will be output to the next-level adjacent identification module of the current identification device; When the current identification device is a target identification device, the calculated data is output to the solving device.

4. The boom identification system according to claim 1, characterized in that, The solving device is further configured to: The target encoded data is subjected to modulo and integer operations on a preset value to obtain a feature encoding sequence.

5. The boom identification system according to claim 4, characterized in that, The solving device is further configured to: Determine whether the feature encoding sequence matches a preset feature encoding sequence; If the feature encoding sequence does not match the preset feature encoding sequence, the motion output command of the multi-arm mechanical equipment is cut off and an alarm is triggered.

6. A boom identification method, characterized in that, An application is made in a boom recognition system, which includes multiple recognition devices and a calculation device. The multiple recognition devices are sequentially arranged on multiple sections of the boom of a multi-boom machine, with each recognition device corresponding to one section of the boom. Adjacent recognition devices communicate with each other. The target recognition device among the multiple recognition devices communicates with the calculation device. The boom recognition method includes: The encoding data of each recognition device is calculated sequentially by multiple recognition devices according to a preset encoding rule. The preset encoding rule is: multiply the output data of the previous adjacent recognition device by a preset value and add the feature code of the corresponding sub-arm to obtain the encoding data of the current recognition device. The target encoding data of the target recognition device is sent to the solving device; The target encoded data is received by the calculation device. The target encoded data is processed by a preset calculation rule to obtain the boom recognition result.

7. The boom identification method according to claim 6, characterized in that, Each identification device includes a feature encoding module, a data input module, an encoding module, and a data output module. The encoding module communicates with both the feature encoding module and the data input module, and the data output module communicates with the encoding module. The step of sequentially encoding the data of each identification device according to a preset encoding rule using multiple identification devices includes: The feature encoding module generates a feature code for each identification device corresponding to a secondary arm, wherein secondary arms of the same type have the same feature code. The data input module receives the output data from the next-level adjacent identification device of each identification device. The encoding module performs encoding based on the preset encoding rules, the feature code of the corresponding secondary arm, and the output data of the adjacent recognition device at the next higher level, so as to obtain the encoding data of each recognition device. The calculated data is output to the next-level adjacent identification device or solving device of each identification device through the data output module.

8. The boom identification method according to claim 7, characterized in that, The step of outputting the encoded data to the next-level adjacent identification device or solving device of each identification device through the data output module includes: If the current identification device is not the target identification device, the calculated data will be output to the next-level adjacent identification module of the current identification device; When the current identification device is a target identification device, the calculated data is output to the solving device.

9. The boom identification method according to claim 6, characterized in that, The step of solving the target encoded data using preset calculation rules to obtain the boom recognition result includes: The target encoded data is subjected to modulo and integer operations on a preset value to obtain a feature encoding sequence.

10. The boom identification method according to claim 9, characterized in that, The boom identification method also includes: Determine whether the feature encoding sequence matches a preset feature encoding sequence; If the feature encoding sequence does not match the preset feature encoding sequence, the motion output command of the multi-arm mechanical equipment is cut off and an alarm is triggered.

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