Method for determining a leg reaction force digital twin model and method for determining a leg reaction force

Abstract

The embodiment of the application provides a determination method of a support leg counterforce digital twin model and a support leg counterforce determination method. The determination method of the support leg counterforce digital twin model comprises the following steps: determining a plurality of working condition parameter types of an engineering equipment related to the support leg counterforce and a plurality of working condition parameter groups containing the plurality of working condition parameter types, then determining a support leg counterforce theoretical value, a support leg counterforce simulation value and a support leg counterforce actual value corresponding to each working condition parameter group, and determining the support leg counterforce digital twin model according to the three kinds of support leg counterforce values and the plurality of working condition parameter groups. After the support leg counterforce digital twin model is transplanted to the engineering equipment, the model can be directly applied to the detection of the support leg counterforce. The processor only needs to input the working condition parameters of the engineering equipment into the model, and the corresponding support leg counterforce can be obtained, so that the detection of the support leg counterforce is more accurate, and the safety monitoring of the engineering equipment is facilitated. Moreover, the model can not only be used for the counterforce monitoring in operation, but also can be used for the counterforce prediction before operation.

Description

Technical Field

[0001] This invention relates to the field of engineering equipment safety assurance, specifically to a method for determining a digital twin model of outrigger reaction force and a method for determining outrigger reaction force. Background Technology

[0002] Outriggers are a crucial component of many engineering equipment, playing a vital role in enhancing the safety and stability of the equipment during operation. Outrigger reaction force, also known as support reaction force, refers to the vertical reaction force borne by each outrigger of the engineering equipment. When engineering equipment operates with outriggers, outrigger reaction force is generally monitored using outrigger reaction force sensors. The relationship between each outrigger reaction force and tipping conditions is used to determine the appropriate response and implement anti-tipping alarms and protection. The fundamental challenge lies in accurately and reliably detecting the reaction force of each outrigger. However, existing solutions use a single pressure sensor installed in the rodless chamber of the outrigger cylinder. When there is significant back pressure in the rod chamber, the detected pressure deviates considerably from the actual outrigger reaction pressure. Furthermore, when the outrigger is fully extended, the detected pressure is the system overflow pressure, not the actual outrigger reaction pressure at that moment, leading to even greater deviations. Additionally, the control strategy used in existing solutions does not account for detection errors caused by factors such as cylinder friction. Therefore, existing sensor-based outrigger reaction force detection technologies suffer from low accuracy and cannot accurately detect the outrigger reaction force of engineering equipment, thus failing to provide data support for safe operation monitoring of engineering equipment. Summary of the Invention

[0003] The purpose of this invention is to overcome the problem that existing outrigger reaction force detection methods are not accurate enough, and to provide a method and apparatus for determining a digital twin model of outrigger reaction force, and a method and apparatus for determining outrigger reaction force.

[0004] The first aspect of this application provides a method for determining a digital twin model of outrigger reaction force, applicable to engineering equipment, the method comprising:

[0005] Determine the types of multiple operating parameters for engineering equipment related to outrigger reaction force;

[0006] Based on the mechanical relationship between multiple working condition parameter types and outrigger reaction force, the theoretical value of outrigger reaction force corresponding to each working condition parameter group is determined. The working condition parameter group includes multiple working condition parameter types and their corresponding parameter values.

[0007] Obtain the 3D model of the outrigger and perform finite element simulation analysis on the 3D model;

[0008] Based on the finite element simulation analysis results, the simulated values ​​of multiple outrigger reaction forces corresponding to multiple working condition parameter groups were determined;

[0009] Obtain the actual values ​​of multiple outrigger reaction forces corresponding to multiple sets of working condition parameters;

[0010] Based on multiple sets of working condition parameters, multiple theoretical values ​​of outrigger reaction force, multiple simulated values ​​of outrigger reaction force, and multiple actual values ​​of outrigger reaction force, a digital twin model of outrigger reaction force is determined.

[0011] In one embodiment of this application, the theoretical value, simulated value, and actual value of the outrigger reaction force of the same working condition parameter group constitute an outrigger reaction force group. Based on multiple working condition parameter groups, multiple theoretical values, multiple simulated values, and multiple actual values ​​of the outrigger reaction force, a digital twin model of the outrigger reaction force is determined, including:

[0012] If the difference between any two of the theoretical value, simulated value, and actual value of the outrigger reaction force in any outrigger reaction force group exceeds a preset threshold, the outrigger reaction force group will be deleted.

[0013] All retained outrigger reaction force sets were fitted with multiple working condition parameter sets to obtain a digital twin model of outrigger reaction force.

[0014] A second aspect of this application provides a method for determining outrigger reaction force, applied to engineering equipment, the method comprising:

[0015] Obtain the operating parameters of the engineering equipment;

[0016] The obtained working condition parameters are input into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the obtained working condition parameters. The outrigger reaction force digital twin model is obtained by the method for determining the outrigger reaction force digital twin model provided in the first aspect of this application.

[0017] In one embodiment of this application, obtaining the operating parameters of the engineering equipment includes:

[0018] Before the engineering equipment is put into operation, the preset operating parameters of the engineering equipment are obtained;

[0019] The acquired working condition parameters are input into the digital twin model of the outrigger reaction force to determine the corresponding outrigger reaction force, including:

[0020] Input the preset working condition parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the preset working condition parameters.

[0021] In one embodiment of this application, the method further includes:

[0022] If the outrigger reaction force corresponding to the preset working condition parameters exceeds the safety threshold or is less than the preset value, a safety warning will be output, along with the preset working condition parameters that ensure the outrigger reaction force does not exceed the safety threshold and is greater than the preset value.

[0023] In one embodiment of this application, obtaining the operating parameters of the engineering equipment includes:

[0024] When engineering equipment is in operation, multiple sensors are used to acquire the operating condition parameters of the engineering equipment.

[0025] The acquired working condition parameters are input into the digital twin model of the outrigger reaction force to determine the corresponding outrigger reaction force, including:

[0026] Input the operating condition parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the operating condition parameters.

[0027] In one embodiment of this application, the method further includes:

[0028] If the outrigger reaction force corresponding to the working condition parameters is less than the overturning critical threshold, a safety alarm will be output, along with the number of the specific outrigger whose outrigger reaction force is less than the overturning critical threshold.

[0029] If the outrigger reaction force corresponding to the operating conditions exceeds the rated outrigger reaction force, a safety alarm will be output, and a forced stop signal will be sent to the engine of the engineering equipment.

[0030] A third aspect of this application provides a device for determining a digital twin model of outrigger reaction force, applicable to engineering equipment. The device includes:

[0031] The working condition parameter type determination module is used to determine the types of multiple working condition parameters of engineering equipment related to outrigger reaction force.

[0032] The theoretical value determination module is used to determine the theoretical value of the outrigger reaction force corresponding to each working condition parameter group based on the mechanical relationship between multiple working condition parameter types and outrigger reaction force. The working condition parameter group includes multiple working condition parameter types and their corresponding parameter values.

[0033] The finite element simulation module is used to acquire the three-dimensional model of the outrigger and perform finite element simulation analysis on the three-dimensional model;

[0034] The simulation value determination module is used to determine the simulation values ​​of multiple outrigger reaction forces corresponding to multiple working condition parameter groups based on the finite element simulation analysis results.

[0035] The actual value determination module is used to obtain the actual values ​​of multiple outrigger reaction forces corresponding to multiple working condition parameter groups;

[0036] The digital twin model determination module is used to determine the digital twin model of outrigger reaction force based on multiple sets of working condition parameters, multiple theoretical values ​​of outrigger reaction force, multiple simulated values ​​of outrigger reaction force, and multiple actual values ​​of outrigger reaction force.

[0037] A fourth aspect of this application provides a leg reaction force determination device, applied to engineering equipment, the device comprising:

[0038] The outrigger reaction force determination module is used to acquire the operating parameters of the engineering equipment and input the acquired operating parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the acquired operating parameters. The outrigger reaction force digital twin model is obtained by the method for determining the outrigger reaction force digital twin model provided in the first aspect of this application.

[0039] The fifth aspect of this application provides an electronic device, including a processor and a memory. The memory stores machine-executable instructions that can be executed by the processor. The processor can execute the machine-executable instructions to implement the method for determining the digital twin model of outrigger reaction force provided in the first aspect of this application, or the method for determining outrigger reaction force provided in the second aspect of this application.

[0040] The sixth aspect of this application provides a computer-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the method for determining the digital twin model of outrigger reaction force provided in the first aspect of this application, or the method for determining outrigger reaction force provided in the second aspect of this application.

[0041] Through the above technical solution, the processor can determine multiple theoretical values ​​of outrigger reaction force by considering the mechanical relationship between the operating parameters of the engineering equipment and the outrigger reaction force. It can also determine multiple simulated values ​​of outrigger reaction force by using finite element simulation results from the three-dimensional model of the outrigger. Finally, these multiple theoretical values, simulated values, and actual values ​​obtained from testing are used as the data foundation for establishing a digital twin model of outrigger reaction force. Based on this data, a digital twin model of outrigger reaction force is established that fully reflects the relationship between the operating parameters of the engineering equipment and the outrigger reaction force. Because the digital twin model of outrigger reaction force is obtained through the above-mentioned multiple data sources, the accuracy of outrigger reaction force determination is improved. Simply inputting the operating parameters into the digital twin model of outrigger reaction force will yield an accurate outrigger reaction force determined by the model.

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

[0043] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0044] Figure 1 The flowchart illustrates a method for determining a digital twin model of outrigger reaction force according to an embodiment of this application.

[0045] Figure 2 A flowchart illustrating a method for determining outrigger reaction force according to an embodiment of this application is shown schematically.

[0046] Figure 3 A flowchart illustrating the determination process and application method of a digital twin model of outrigger reaction force according to an embodiment of this application is shown.

[0047] Figure 4 The diagram schematically illustrates the structure of a device for determining a digital twin model of outrigger reaction force according to an embodiment of this application;

[0048] Figure 5 The diagram schematically illustrates the structure of a leg reaction force determination device according to an embodiment of this application. Detailed Implementation

[0049] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0050] 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 reversal of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0051] 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.

[0052] Figure 1 A flowchart illustrating a method for determining a digital twin model of outrigger reaction force according to an embodiment of this application is shown, as follows. Figure 1 As shown, in one embodiment of this application, a method for determining a digital twin model of outrigger reaction force is provided, which is applied to engineering equipment. The method may include steps S100-S600.

[0053] Step S100: Determine the types of multiple operating parameters of the engineering equipment related to the outrigger reaction force.

[0054] The method for determining the digital twin model of outrigger reaction force provided in this application embodiment can be applied to various engineering equipment that uses outriggers for operational support, such as cranes. For example, if the engineering equipment is a four-legged H-type crane, the types of operating parameters related to its outrigger reaction force can include: the distance from the front and rear outriggers to the crane's slewing center, the span of the four outriggers, the crane's lifting capacity, the boom working length, the boom elevation angle, and the boom rotation angle, etc. Specific types of operating parameters can be selected according to the required model accuracy. The more types of operating parameters included in the digital twin model of outrigger reaction force, the more accurate the obtained digital twin model of outrigger reaction force.

[0055] Step S200: Based on the mechanical relationship between multiple working condition parameter types and outrigger reaction force, determine the theoretical value of outrigger reaction force corresponding to each working condition parameter group. The working condition parameter group includes multiple working condition parameter types and their corresponding parameter values.

[0056] The mechanical relationship between multiple operating condition parameter types and the outrigger reaction forces of engineering equipment can be viewed as a mechanical conversion formula between these parameters and the outrigger reaction forces. This conversion formula can be determined through static equilibrium analysis of the engineering equipment. For example, the conversion formula between the four outrigger reaction forces of a four-legged H-type crane and the aforementioned multiple operating condition parameter types can be:

[0057] F1 = X1 (1)

[0058]

[0059]

[0060]

[0061] Where F1, F2, F3, and F4 are the outrigger reaction forces of the four outriggers of the crane, respectively; M x M y These represent the decomposed moments of the crane's lifting weight in different directions, which can be determined by the crane's lifting weight and boom elevation angle; b1 and b2 are the distances from the front and rear outriggers to the crane's upper structure rotation center, respectively; l1, l2, l3, and l4 are the spans of the crane's four outriggers, respectively; F p X1 represents the total load borne by the crane under its working state, which can be obtained from the crane's lifting weight, the self-weight of the crane's upper structure, and the self-weight of the crane's lower structure; X2 represents the redundant unknown force of the crane as a statically indeterminate structure, which is the outrigger reaction force of a certain leg of the crane, and can be obtained by solving the mechanical equilibrium relationship between the outrigger reactions of the crane and the outrigger reactions of other legs.

[0062] As described in the above embodiments, after determining the mechanical conversion formula that can express the mechanical relationship between multiple working condition parameter types and the outrigger reaction force of the engineering equipment, the theoretical values ​​of the outrigger reaction force corresponding to multiple working condition parameter groups with different specific parameter values ​​can be determined. The working condition parameter types of each working condition parameter group include multiple working condition parameter types of the engineering equipment related to the outrigger reaction force determined in the above embodiments. In this way, multiple theoretical values ​​of the outrigger reaction force in the data foundation required to establish the digital twin model of the outrigger reaction force can be obtained.

[0063] Step S300: Obtain the three-dimensional model of the outrigger and perform finite element simulation analysis on the three-dimensional model.

[0064] The 3D model of the outrigger can be created using 3D modeling software such as UG, SolidWorks, Catia, and Pro-e, and then imported into finite element simulation software such as Ansys, Workbench, and Abaqus. Meshing and physical model selection are then performed. Boundary conditions are set based on measurement data obtained from actual measurements of the engineering equipment, such as total external torque and outrigger ground contact. After obtaining the initialization conditions, the processor can perform finite element simulation analysis on the 3D model of the outrigger according to the set boundary conditions. Finite element simulation analysis uses electronic equipment to simulate the stress conditions of engineering equipment to obtain simulated values ​​of outrigger reaction forces under various working conditions.

[0065] Step S400: Based on the finite element simulation analysis results, determine the simulated values ​​of multiple outrigger reaction forces corresponding to multiple working condition parameter groups.

[0066] Finite element simulation analysis can obtain the simulated values ​​of outrigger reaction forces of engineering equipment under various working conditions simulated by electronic equipment, that is, the simulated values ​​of outrigger reaction forces corresponding to multiple working condition parameter sets with different parameter values. Multiple outrigger reaction force simulation values ​​can serve as part of the data foundation required for establishing a digital twin model of outrigger reaction forces, thus expanding the data base.

[0067] Step S500: Obtain the actual values ​​of multiple outrigger reaction forces corresponding to multiple working condition parameter groups.

[0068] In addition to the multiple theoretical and actual outrigger reaction force values ​​obtained through the above embodiments, the data foundation required for establishing the digital twin model of outrigger reaction force also requires multiple actual outrigger reaction force values. By conducting full-vehicle testing on the engineering equipment and collecting simulated outrigger reaction force values ​​under multiple working conditions—that is, actual outrigger reaction force values ​​corresponding to multiple sets of working condition parameters with different values—the data foundation required for establishing the digital twin model of outrigger reaction force is complete once the processor obtains multiple actual outrigger reaction force values.

[0069] Step S600: Determine the digital twin model of outrigger reaction force based on multiple sets of working condition parameters, multiple theoretical values ​​of outrigger reaction force, multiple simulated values ​​of outrigger reaction force, and multiple actual values ​​of outrigger reaction force.

[0070] After the processor obtains multiple theoretical values, multiple simulated values, and multiple actual values ​​of outrigger reaction force obtained through the methods described in the above embodiments, it obtains outrigger reaction force values ​​from three different acquisition channels under multiple different working conditions. By combining multiple working condition parameter groups, the outrigger reaction force digital twin model can be determined. Due to the diversity of its data foundation, the outrigger reaction force digital twin model can accurately express the relationship between outrigger reaction force and multiple working condition parameters, thereby achieving accurate determination of outrigger reaction force.

[0071] Through steps S100-S600 of the method for determining the digital twin model of outrigger reaction force in the above embodiments, the processor can determine multiple theoretical values ​​of outrigger reaction force based on the mechanical relationship between the operating parameters of the engineering equipment and the outrigger reaction force. It can also determine multiple simulated values ​​of outrigger reaction force based on the finite element simulation results of the outrigger three-dimensional model. Finally, the aforementioned multiple theoretical values, multiple simulated values, and multiple actual values ​​of outrigger reaction force obtained from testing are used as the data basis for establishing the digital twin model of outrigger reaction force. Based on this data, a digital twin model of outrigger reaction force that can fully reflect the relationship between the operating parameters of the engineering equipment and the outrigger reaction force is established. Because the digital twin model of outrigger reaction force is obtained through the above-mentioned multiple data determinations, the accuracy of outrigger reaction force determination is improved. Only the operating parameters need to be input into the digital twin model of outrigger reaction force to obtain the accurate outrigger reaction force determined by the model.

[0072] In one embodiment of this application, the theoretical value, simulated value, and actual value of the outrigger reaction force of the same working condition parameter group constitute an outrigger reaction force group. Based on multiple working condition parameter groups, multiple theoretical values, multiple simulated values, and multiple actual values ​​of the outrigger reaction force, a digital twin model of the outrigger reaction force is determined, including:

[0073] If the difference between any two of the theoretical value, simulated value, and actual value of the outrigger reaction force in any outrigger reaction force group exceeds a preset threshold, the outrigger reaction force group will be deleted.

[0074] All retained outrigger reaction force sets were fitted with multiple working condition parameter sets to obtain a digital twin model of outrigger reaction force.

[0075] The data foundation of the outrigger reaction force digital twin model provided in this embodiment includes multiple theoretical values, multiple simulated values, and multiple actual values ​​of outrigger reaction force. This provides a reserve of outrigger reaction force values ​​from three different acquisition channels to reduce overall model error caused by errors in a single data source and to maximize the consistency between theoretical, simulated, and actual data. When processing these three types of data, the processor considers and sets that the theoretical, simulated, and actual outrigger reaction force values ​​under the same working condition should be basically consistent or have deviations within an acceptable range. If the difference between any two of the theoretical, simulated, and actual values ​​of a particular outrigger reaction force group exceeds a preset threshold, that outrigger reaction force group is deleted. This ensures the accuracy of the data foundation for the model and avoids overall model error caused by errors in a single data source.

[0076] By retaining the outrigger reaction force groups that have passed the above error screening and combining them with multiple working condition parameter groups, data fitting can be performed to determine a digital twin model of outrigger reaction force that can accurately express the relationship between working condition parameters and outrigger reaction force.

[0077] Figure 2 A flowchart illustrating a method for determining outrigger reaction force according to an embodiment of this application is shown, as follows. Figure 2 As shown, in one embodiment of this application, a method for determining outrigger reaction force is provided, applied to engineering equipment. The method may include:

[0078] Step S700: Obtain the operating parameters of the engineering equipment;

[0079] Step S800: Input the obtained working condition parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the obtained working condition parameters. The outrigger reaction force digital twin model is obtained by the method for determining the outrigger reaction force digital twin model in the above embodiment.

[0080] The outrigger reaction force digital twin model obtained through the above embodiments can accurately express the relationship between the outrigger reaction force and the operating parameters. That is, the outrigger reaction force digital twin model can accurately determine the corresponding outrigger reaction force by inputting the operating parameters into the model. Therefore, after the processor obtains the operating parameters of the engineering equipment, it can input the operating parameters into the determined outrigger reaction force digital twin model to accurately obtain the outrigger reaction force under the corresponding operating condition.

[0081] In one embodiment of this application, obtaining the operating parameters of the engineering equipment includes:

[0082] Before the engineering equipment is put into operation, the preset operating parameters of the engineering equipment are obtained;

[0083] Input the obtained working condition parameters into the leg reaction force digital twin model to determine the leg reaction force corresponding to the obtained working condition parameters, including:

[0084] Input the preset working condition parameters into the leg reaction force digital twin model to determine the leg reaction force corresponding to the preset working condition parameters.

[0085] The processor of the engineering equipment can directly use the above leg reaction force digital twin model to predict the leg reaction force before the engineering equipment operates. After the processor obtains the preset working condition parameters input by the user through the terminal or interactive product supporting the engineering equipment, it inputs the preset working condition parameters into the leg reaction force digital twin model, and then the leg reaction force corresponding to the preset working condition parameters can be obtained, completing the prediction of the leg reaction force before operation.

[0086] In an embodiment of the present application, the method further includes:

[0087] In the case where the leg reaction force corresponding to the preset working condition parameters exceeds the safety threshold or is less than the preset value, output a safety warning prompt, and the preset working condition parameters that make the leg reaction force not exceed the safety threshold and be greater than the preset value.

[0088] The processor will perform a safety judgment on the leg reaction force corresponding to the preset working condition parameters. When the leg reaction force exceeds the safety threshold or the leg reaction force is less than the preset value, it means that the working condition corresponding to the preset working condition parameters will cause the engineering equipment to be overloaded or pose a stability risk, and cannot ensure the operation safety. The processor will output the corresponding safety warning prompt to the relevant equipment for interacting with the user, prompting the user that the working condition corresponding to the preset working condition parameters does not meet the safety requirements, and recommend suitable working conditions, that is, output the preset working condition parameters that make the leg reaction force not exceed the safety threshold and be greater than the preset value to the relevant equipment for interacting with the user. It should be noted that the above safety threshold and preset value can be adjusted and determined according to the safety design requirements of the engineering equipment. Exemplarily, the preset value is 0.

[0089] In an embodiment of the present application, obtaining the working condition parameters of the engineering equipment includes:

[0090] When the engineering equipment is operating, obtain the working condition parameters of the engineering equipment through multiple sensors;

[0091] Input the obtained working condition parameters into the leg reaction force digital twin model to determine the leg reaction force corresponding to the obtained working condition parameters, including:

[0092] Input the working condition parameters into the leg reaction force digital twin model to determine the leg reaction force corresponding to the working condition parameters.

[0093] The processor of the engineering equipment can also directly use the aforementioned digital twin model of outrigger reaction force to monitor the outrigger reaction force during the operation of the engineering equipment.

[0094] For example, when the engineering equipment is a crane, during the lifting operation, the processor obtains the real-time operating parameters of the crane during the operation through sensors such as the lifting sensor, the boom elevation angle sensor, and the outrigger span sensor. The processor then inputs the above operating parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force under the current operating condition and to monitor the crane operation safety in real time.

[0095] In one embodiment of this application, the method further includes:

[0096] If the outrigger reaction force corresponding to the working condition parameters is less than the overturning critical threshold, a safety alarm will be output, along with the number of the specific outrigger whose outrigger reaction force is less than the overturning critical threshold.

[0097] If the outrigger reaction force corresponding to the operating conditions exceeds the rated outrigger reaction force, a safety alarm will be output, and a forced stop signal will be sent to the engine of the engineering equipment.

[0098] During safety monitoring of engineering equipment operation, if the outrigger reaction force corresponding to the acquired operating condition parameters is less than the overturning critical threshold, it indicates that the engineering equipment is at risk of overturning. The processor outputs a safety alarm and the specific outrigger number whose outrigger reaction force is less than the overturning critical threshold to the relevant device used for user interaction, prompting the user that the current operating condition poses a risk of overturning and guiding the user to make corresponding adjustments based on the specific outrigger number. If the outrigger reaction force corresponding to the acquired operating condition parameters is greater than the rated outrigger reaction force, it indicates that the outrigger is at risk of damage. The processor will output a safety alarm to the relevant device used for user interaction and output a forced stop operation signal to the engine of the engineering equipment, suspending the operation of the working equipment.

[0099] Figure 3 This schematically illustrates a flowchart of the process for determining and applying a digital twin model of outrigger reaction force according to an embodiment of this application. Please refer to it as well. Figures 1-3The determination of the outrigger reaction force digital twin model requires three types of data: the theoretical value of the outrigger reaction force determined based on mechanical relationships, the simulated value of the outrigger reaction force obtained from finite element analysis, and the actual value of the outrigger reaction force measured experimentally. The digital twin model of the outrigger reaction force can be obtained by fitting these three types of data along with multiple corresponding working condition parameter sets. The obtained digital twin model of the outrigger reaction force is then ported to the processor of the engineering equipment, enabling two modes: prediction and monitoring of the outrigger reaction force. In prediction mode, the processor inputs the preset working condition parameters from the user into the digital twin model of the outrigger reaction force, determines the outrigger reaction force corresponding to the preset working condition parameters, and judges whether the preset working condition meets safety requirements based on the obtained outrigger reaction force. If it does not meet safety requirements, a safety warning is output and a working condition recommendation is made. In monitoring mode, the processor inputs the real-time operating condition parameters of the engineering equipment into the digital twin model of the outrigger reaction force, determines the outrigger reaction force corresponding to the operating condition parameters, and judges whether the actual working condition will pose an operational safety risk. If an operational safety risk will arise, a safety alarm is output or the engineering equipment is forcibly shut down.

[0100] Through the above technical solution, the processor can determine multiple theoretical values ​​of outrigger reaction force by considering the mechanical relationship between the operating parameters of the engineering equipment and the outrigger reaction force. It can also determine multiple simulated values ​​of outrigger reaction force by using finite element simulation results from the three-dimensional model of the outrigger. Finally, these multiple theoretical values, simulated values, and actual values ​​obtained from testing are used as the data foundation for establishing a digital twin model of outrigger reaction force. Based on this data, a digital twin model of outrigger reaction force is established that fully reflects the relationship between the operating parameters of the engineering equipment and the outrigger reaction force. Because the digital twin model of outrigger reaction force is obtained through the above-mentioned multiple data sources, the accuracy of outrigger reaction force determination is improved. Simply inputting the operating parameters into the digital twin model of outrigger reaction force will yield an accurate outrigger reaction force determined by the model.

[0101] Figure 4 This schematic diagram illustrates the structure of a device for determining a digital twin model of outrigger reaction force according to an embodiment of this application. Figure 4 As shown, in one embodiment of this application, a device 1000 for determining a digital twin model of outrigger reaction force is provided, applied to engineering equipment. The device 1000 includes:

[0102] The working condition parameter type determination module 1001 is used to determine multiple working condition parameter types of engineering equipment related to outrigger reaction force.

[0103] The theoretical value determination module 1002 is used to determine the theoretical value of the outrigger reaction force corresponding to each working condition parameter group based on the mechanical relationship between multiple working condition parameter types and outrigger reaction force. The working condition parameter group includes multiple working condition parameter types and corresponding parameter values.

[0104] The finite element simulation module 1003 is used to acquire the three-dimensional model of the outrigger and perform finite element simulation analysis on the three-dimensional model;

[0105] The simulation value determination module 1004 is used to determine the simulation values ​​of multiple outrigger reaction forces corresponding to multiple working condition parameter groups based on the finite element simulation analysis results.

[0106] The actual value determination module 1005 is used to obtain the actual values ​​of multiple outrigger reaction forces corresponding to multiple working condition parameter groups;

[0107] The digital twin model determination module 1006 is used to determine the digital twin model of outrigger reaction force based on multiple sets of working condition parameters, multiple theoretical values ​​of outrigger reaction force, multiple simulated values ​​of outrigger reaction force, and multiple actual values ​​of outrigger reaction force.

[0108] In one embodiment of this application, the theoretical value, simulated value, and actual value of the outrigger reaction force of the same working condition parameter group constitute an outrigger reaction force group. The digital twin model determination module 1006 includes:

[0109] The error judgment unit is used to delete the outrigger reaction group if the difference between any two of the theoretical value, simulated value, and actual value of the outrigger reaction force of any outrigger reaction group is greater than a preset threshold.

[0110] The model determination unit is used to fit all the retained outrigger reaction force groups with multiple working condition parameter groups to obtain a digital twin model of the outrigger reaction force.

[0111] The device 1000 for determining the digital twin model of outrigger reaction force provided in this application embodiment can realize each process of steps S100-S600 in the method embodiment and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0112] Figure 5 A schematic diagram illustrates the structure of a leg reaction force determining device according to an embodiment of this application, as shown below. Figure 5 As shown, in one embodiment of this application, a leg reaction force determining device 2000 is provided, applied to engineering equipment. The device 2000 includes:

[0113] The parameter acquisition module 2001 is used to acquire the operating parameters of the engineering equipment.

[0114] Outrigger reaction force determination module 2002: Inputs the acquired working condition parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the acquired working condition parameters. The outrigger reaction force digital twin model is obtained by the method for determining the outrigger reaction force digital twin model in the above embodiment.

[0115] In one embodiment of this application, the parameter acquisition module 2001 includes:

[0116] The preset operating condition parameter acquisition unit is used to acquire the preset operating condition parameters of the engineering equipment before the engineering equipment is put into operation.

[0117] The outrigger reaction force determination module 2002 includes:

[0118] The outrigger reaction force prediction unit is used to input preset working condition parameters into the outrigger reaction force digital twin model in order to determine the outrigger reaction force corresponding to the preset working condition parameters.

[0119] In one embodiment of this application, the device 2000 further includes:

[0120] The early warning unit is used to output a safety warning when the outrigger reaction force corresponding to the preset working condition parameters exceeds the safety threshold or is less than the preset value, and to set preset working condition parameters that ensure the outrigger reaction force does not exceed the safety threshold and is greater than the preset value.

[0121] In one embodiment of this application, the parameter acquisition module 2001 includes:

[0122] The working condition parameter acquisition unit is used to acquire the working condition parameters of the engineering equipment through multiple sensors when the engineering equipment is operating.

[0123] The outrigger reaction force determination module 2002 includes:

[0124] The outrigger reaction force monitoring unit is used to input the operating condition parameters into the outrigger reaction force digital twin model in order to determine the outrigger reaction force corresponding to the operating condition parameters.

[0125] In one embodiment of this application, the device 2000 further includes:

[0126] The alarm unit is used to output a safety alarm prompt and the number of the specific outrigger whose outrigger reaction force is less than the overturning critical threshold when the outrigger reaction force is less than the overturning critical threshold corresponding to the working condition parameters.

[0127] The forced shutdown unit is used to output a safety alarm and a forced stop signal to the engine of the engineering equipment when the outrigger reaction force corresponding to the working condition parameters is greater than the rated outrigger reaction force.

[0128] The outrigger reaction force determination device provided in this application embodiment can realize each process of steps S700-S800 in the method embodiment and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0129] In one embodiment of this application, an electronic device is provided, including a processor and a memory. The memory stores machine-executable instructions that can be executed by the processor. The processor can execute the machine-executable instructions to implement the method for determining the digital twin model of the outrigger reaction force in the above embodiments, or the method for determining the outrigger reaction force in the above embodiments.

[0130] In one embodiment of this application, a machine-readable storage medium is provided, on which instructions are stored. When executed by a processor, the instructions cause the processor to implement the method for determining the digital twin model of the outrigger reaction force in the above embodiments, or the method for determining the outrigger reaction force in the above embodiments.

[0131] 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.

[0132] 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 The 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 operate 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 functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0133] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0134] 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.

[0135] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by 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 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.

[0136] 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.

[0137] 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 determining a digital twin model of outrigger reaction force, characterized in that, Applied to engineering equipment, the method includes: Determine the types of multiple operating parameters of the engineering equipment related to the outrigger reaction force; Based on the mechanical relationship between the multiple working condition parameter types and the outrigger reaction force, the theoretical value of the outrigger reaction force corresponding to each working condition parameter group is determined, wherein the working condition parameter group includes the multiple working condition parameter types and the corresponding parameter values; Obtain the three-dimensional model of the outrigger and perform finite element simulation analysis on the three-dimensional model; Based on the finite element simulation analysis results, the simulated values ​​of multiple outrigger reaction forces corresponding to multiple sets of working condition parameters are determined; Obtain the actual values ​​of multiple outrigger reaction forces corresponding to multiple sets of operating condition parameters; A digital twin model of outrigger reaction force is determined based on multiple sets of operating condition parameters, multiple theoretical values ​​of outrigger reaction force, multiple simulated values ​​of outrigger reaction force, and multiple actual values ​​of outrigger reaction force.

2. The method according to claim 1, characterized in that, The theoretical value, simulated value, and actual value of the outrigger reaction force within the same set of operating condition parameters constitute an outrigger reaction force set. Determining the digital twin model of the outrigger reaction force based on multiple sets of operating condition parameters, multiple theoretical values, multiple simulated values, and multiple actual values ​​includes: If the difference between any two of the theoretical value of the outrigger reaction force, the simulated value of the outrigger reaction force, and the actual value of the outrigger reaction force in any outrigger reaction force group is greater than a preset threshold, the outrigger reaction force group is deleted. All the retained outrigger reaction force sets are fitted with multiple sets of operating parameters to obtain a digital twin model of the outrigger reaction force.

3. A method for determining the reaction force of an outrigger, characterized in that, Applied to engineering equipment, the method includes: Obtain the operating parameters of the engineering equipment; The obtained working condition parameters are input into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the obtained working condition parameters, wherein the outrigger reaction force digital twin model is obtained by the method for determining the outrigger reaction force digital twin model as described in any one of claims 1 to 2.

4. The method according to claim 3, characterized in that, The acquisition of the operating parameters of the engineering equipment includes: Before the engineering equipment begins operation, the preset operating parameters of the engineering equipment are obtained; The step of inputting the acquired working condition parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the acquired working condition parameters includes: The preset working condition parameters are input into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the preset working condition parameters.

5. The method according to claim 4, characterized in that, The method further includes: If the outrigger reaction force corresponding to the preset working condition parameter exceeds the safety threshold or is less than the preset value, a safety warning prompt will be output, along with the preset working condition parameter that ensures the outrigger reaction force does not exceed the safety threshold and is greater than the preset value.

6. The method according to claim 3, characterized in that, The acquisition of the operating parameters of the engineering equipment includes: When the engineering equipment is in operation, the operating condition parameters of the engineering equipment are acquired through multiple sensors; The step of inputting the acquired working condition parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the acquired working condition parameters includes: The operating condition parameters are input into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the operating condition parameters.

7. The method according to claim 6, characterized in that, The method further includes: If the outrigger reaction force corresponding to the operating condition parameters is less than the overturning critical threshold, a safety alarm will be output, along with the number of the specific outrigger whose outrigger reaction force is less than the overturning critical threshold. If the outrigger reaction force corresponding to the operating condition parameters is greater than the rated outrigger reaction force, a safety alarm will be output, and a forced stop operation signal will be output to the engine of the engineering equipment.

8. A device for determining a digital twin model of outrigger reaction force, characterized in that, Applied to engineering equipment, the device includes: The working condition parameter type determination module is used to determine multiple working condition parameter types of the engineering equipment related to the outrigger reaction force. The theoretical value determination module is used to determine the theoretical value of the outrigger reaction force corresponding to each working condition parameter group based on the mechanical relationship between the multiple working condition parameter types and the outrigger reaction force, wherein the working condition parameter group includes the multiple working condition parameter types and the corresponding parameter values; The finite element simulation module is used to acquire the three-dimensional model of the outrigger and perform finite element simulation analysis on the three-dimensional model. The simulation value determination module is used to determine the simulation values ​​of multiple outrigger reaction forces corresponding to multiple sets of working condition parameters based on the finite element simulation analysis results. The actual value determination module is used to obtain the actual values ​​of multiple outrigger reaction forces corresponding to multiple sets of working condition parameters; The digital twin model determination module is used to determine the digital twin model of the outrigger reaction force based on multiple sets of working condition parameters, multiple theoretical values ​​of the outrigger reaction force, multiple simulated values ​​of the outrigger reaction force, and multiple actual values ​​of the outrigger reaction force.

9. A device for determining the reaction force of an outrigger, characterized in that, Applied to engineering equipment, the device includes: The parameter acquisition module is used to acquire the operating parameters of the engineering equipment; The outrigger reaction force determination module is used to input the acquired working condition parameters into the outrigger reaction force digital twin model to determine the outrigger reaction force corresponding to the acquired working condition parameters, wherein the outrigger reaction force digital twin model is obtained by the method for determining the outrigger reaction force digital twin model as described in any one of claims 1 to 2.

10. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the method for determining the digital twin model of the outrigger reaction force according to any one of claims 1 to 2, or the method for determining the outrigger reaction force according to any one of claims 3 to 7.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed by a processor, configure the processor to perform the method for determining the digital twin model of the outrigger reaction force according to any one of claims 1 to 2, or the method for determining the outrigger reaction force according to any one of claims 3 to 7.

Images