Method and device for determining action state of cantilever crane, processor and engineering equipment

Abstract

The invention discloses a method and device for determining the action state of an arm support, a processor and engineering equipment, and belongs to the technical field of engineering machinery, an identification point is arranged at a preset position on the arm support, and the method comprises the steps of judging whether a response signal of an arm support electric control valve of the arm support is received or not under the condition that it is determined that the arm support is displaced; acquiring a first position of the identification point under the condition that the response signal is not received; acquiring a second position of the identification point after a preset duration; and determining the action state of the boom according to the first position and the second position, wherein the action state comprises an abnormal action state and / or a normal action state. When the arm support acts, the action state of the arm support can be determined according to the response signal of the arm support electro-hydraulic control valve and the position of the arm support, and the action state of the arm support can be accurately judged.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method, a device, a processor and engineering equipment for determining the action state of a boom. Background Art

[0002] For engineering machinery including a boom, when the boom is fixed in a certain position for a long time, abnormal movement of the boom is prone to occur due to leakage in the oil cylinder, foreign matter stuck in the oil cylinder valve block, etc., which may cause safety accidents of the whole vehicle. At present, the judgment of the boom action state is still carried out by manual naked eye observation, which relies on the work experience of the staff. This judgment method has low reliability and cannot guarantee the accuracy of the judgment. Therefore, the judgment method of the boom action state used in the prior art has the problem of low accuracy. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, device, processor, engineering equipment and machine-readable storage medium for determining the boom action state, so as to solve the problem of low accuracy of the boom action state judgment method used in the prior art.

[0004] In order to achieve the above-mentioned object, a first aspect of an embodiment of the present application provides a method for determining an action state of a boom, wherein a marking point is set at a preset position on the boom, and the method comprises:

[0005] In the case where it is determined that the boom has been displaced, determining whether a response signal from the boom electric control valve of the boom has been received;

[0006] In the case where no response signal is received, obtaining a first position of the identification point;

[0007] Obtain a second position of the marker point after a preset time interval;

[0008] The action state of the boom is determined according to the first position and the second position, and the action state includes an abnormal action state and / or a normal action state.

[0009] In an embodiment of the present application, the action state of the boom is determined according to the first position and the second position, including: determining the position deviation of the identification point according to the first position and the second position; comparing the position deviation and the deviation threshold corresponding to the identification point; when the position deviation is greater than the deviation threshold, determining that the action state of the boom is an abnormal action state.

[0010] In an embodiment of the present application, there are multiple preset positions and multiple identification points, and determining the action state of the boom according to the first position and the second position includes: determining the position deviation of each identification point according to the first position and the second position of each identification point; comparing the position deviation of each identification point with the deviation threshold corresponding to each identification point; when the position deviation of each identification point is less than or equal to the corresponding deviation threshold, determining that the action state of the boom is a normal action state.

[0011] In an embodiment of the present application, the method also includes: when the action state of the boom is an abnormal action state, determining the abnormal position of the boom based on a comparison result of the position deviation of each identification point with the corresponding deviation threshold, the abnormal position being the position of the identification point where the position deviation is greater than the deviation threshold; and outputting alarm information including the abnormal position.

[0012] In the embodiment of the present application, the method further includes: upon receiving the response signal, determining that the action state of the arm is a normal action state.

[0013] In an embodiment of the present application, determining whether the boom has been displaced includes: detecting position information of a marking point on the boom according to a preset period; and determining that the boom has been displaced when a change in the position information of the marking point between two adjacent periods is detected.

[0014] A second aspect of an embodiment of the present application provides a processor configured to execute the above-mentioned method for determining the boom action state.

[0015] A third aspect of an embodiment of the present application provides a device for determining an action state of a boom, wherein a marking point is provided at a preset position on the boom, and the device comprises:

[0016] A signal judgment module, used to judge whether a response signal of the boom electric control valve of the boom is received when it is determined that the boom has been displaced;

[0017] A first acquisition module, used for acquiring a first position of the identification point when no response signal is received;

[0018] A second acquisition module is used to acquire a second position of the identification point after a preset time interval;

[0019] The state determination module is used to determine the action state of the boom according to the first position and the second position, and the action state includes an abnormal action state and / or a normal action state.

[0020] A fourth aspect of an embodiment of the present application provides an engineering equipment, including: a boom; and the above-mentioned processor or the above-mentioned device for determining the action state of the boom.

[0021] A fifth aspect of an embodiment of the present application provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the above-mentioned method for determining the action state of the arm is implemented.

[0022] In the above technical solution, a marking point is set at a preset position on the boom, and when it is determined that the boom has been displaced, it is determined whether a response signal of the boom electric control valve of the boom is received, and then when no response signal is received, the first position of the marking point is obtained, and then the second position of the marking point after a preset time interval is obtained, and finally the action state of the boom is determined according to the first position and the second position, and the action state includes an abnormal action state and / or a normal action state. The present application can determine the action state of the boom through the response signal of the boom electro-hydraulic control valve and the position of the boom when the boom is in action, which is conducive to accurately judging the action state of the boom.

[0023] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0025] Figure 1 A flowchart of a method for determining an arm motion state provided in an embodiment of the present application;

[0026] Figure 2 A structural block diagram of a device for determining the action state of an arm is also provided for an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0028] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0030] Figure 1 A flow chart of a method for determining the action state of a boom provided in an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for determining the action state of an arm, and a marking point is set at a preset position on the arm. The method is applied to a processor as an example for explanation, and the method may include the following steps:

[0031] Step S101, when it is determined that the boom is displaced, it is determined whether a response signal from the boom electric control valve of the boom is received.

[0032] Step S102: if no response signal is received, obtain the first position of the identification point.

[0033] Step S103, obtaining a second position of the marking point after a preset time interval.

[0034] Step S104, determining the action state of the boom according to the first position and the second position, where the action state includes an abnormal action state and / or a normal action state.

[0035] In the embodiment of the present application, the boom may be a multi-section boom or a single-section boom, and a marking point is provided at a preset position on the boom, and the preset position may be a joint position of the boom. For example, in the case where the boom is a multi-section boom, it generally includes a main boom and a crank arm, and the preset position may include the head of the main boom, the end of the boom's boom cylinder, the head of the crank arm, and the end of the boom's boom cylinder, etc. It is understood that the above positions are only for illustration, and the selection of the preset position can be determined according to the operational requirements in the actual application scenario. It is understood that the marking point can be used to monitor the action of the boom.

[0036] In one example, the processor can obtain the position information of the identification point in real time, and judge whether the boom has been displaced according to the change of the position information of the identification point. In another example, when the boom includes multiple booms and the number of identification points is multiple, and the multiple identification points are set on different booms, the processor can judge whether the boom has been displaced according to the change of the relative position between the multiple identification points. In this way, real-time monitoring of the boom movement can be achieved.

[0037] It can be understood that the actions of all boom sections are controlled by the corresponding boom electric control valves. Only when the boom electric control valves are operating will the boom move according to the corresponding action instructions. When the boom electric control valves do not output any signals, all actions of the boom are cut off, that is, the boom should remain stationary. Therefore, when the processor detects that the boom has been displaced, in order to determine whether the displacement is due to the normal operation of the boom, that is, whether the operator is operating the boom operation, the processor can determine whether a response signal from the boom electric control valve is received while detecting the displacement of the boom. If the processor does not receive a response signal, it means that the boom displacement is not caused by the boom operation. Therefore, in order to prevent safety accidents, it is necessary to further determine whether the action state of the boom is an abnormal action state.

[0038] Specifically, the processor can obtain the first position of the identification point on the boom at the current moment, and then obtain the second position of the identification point after a preset time interval. The preset time can be set according to the actual situation. It can be understood that the first position and the second position are the position information of the identification point at different moments. In one example, the position information of the identification point can be determined by laser radar or image recognition technology. Further, the processor can determine the action state of the boom according to the first position and the second position. The action state of the boom can include an abnormal action state and a normal action state. In one example, the processor can determine the position change of the identification point according to the first position and the second position, and set a change threshold, and then determine the action state of the boom according to the position change and the change threshold. In this way, compared with the traditional method of judging whether the boom has an abnormal action by manual observation, the embodiment of the present application judges the action state of the boom based on the actual acquired boom parameters, and the possibility of error is small, and the accuracy of the judgment result is higher.

[0039] The above technical solution sets an identification point at a preset position on the boom, and judges whether a response signal of the boom electric control valve of the boom is received when the boom is determined to have displaced, and then obtains the first position of the identification point when no response signal is received, and then obtains the second position of the identification point after a preset time interval, and finally determines the action state of the boom according to the first position and the second position, and the action state includes an abnormal action state. The present application can determine the action state of the boom through the response signal of the boom electro-hydraulic control valve and the position of the boom when the boom is in action, which is conducive to accurately judging whether the boom has an abnormal action.

[0040] In the embodiment of the present application, the method further includes: upon receiving the response signal, determining that the action state of the arm is a normal action state.

[0041] Specifically, when the processor receives the response signal, it indicates that the arm displacement is caused by human operation of the arm, and at this time, the action state of the arm is determined to be a normal action state.

[0042] In an embodiment of the present application, determining whether the boom has been displaced includes: detecting position information of a marking point on the boom according to a preset period; and determining that the boom has been displaced when a change in the position information of the marking point between two adjacent periods is detected.

[0043] It can be understood that the processor can determine the displacement of the boom according to the change of the position information of the identification point. Among them, the position information of the boom can be obtained by sensors such as laser radar, or by target detection technology after being collected by an image acquisition device. Specifically, the processor can obtain the position information of the identification point on the boom according to a preset period, and determine the change of the position information of the identification point in two adjacent periods. After detecting that the position information of the identification point in two adjacent periods has changed, it is determined that the boom has displaced. In this way, the displacement of the boom can be detected in real time. Compared with traditional manual observation, it saves labor costs and improves the accuracy of the judgment results.

[0044] In an embodiment of the present application, the action state of the boom is determined according to the first position and the second position, including: determining the position deviation of the identification point according to the first position and the second position; comparing the position deviation and the deviation threshold corresponding to the identification point; when the position deviation is greater than the deviation threshold, determining that the action state of the boom is an abnormal action state.

[0045] It can be understood that the deviation threshold refers to the critical value for judging the boom movement as an abnormal movement. When the position deviation exceeds the deviation threshold, it indicates that there is a risk of an accident. The deviation threshold can be determined according to the actual application scenario and the corresponding regulatory standards. Specifically, the processor can determine the position deviation of the identification point according to the first position and the second position of the identification point, and the position deviation can be the distance between the first position and the second position. Further, the position deviation is compared with the deviation threshold corresponding to the identification point. If the position deviation is greater than the deviation threshold, it means that the displacement has exceeded the safety standard. At this time, the action state of the boom can be judged as an abnormal action state. In an example, if the boom includes only one boom section and only one identification point is set on the boom section, then when the position deviation is less than or equal to the deviation threshold, the action state of the boom is judged to be a normal action state. In this way, the abnormal action state of the boom can be effectively detected to improve the safety of the operation.

[0046] In an embodiment of the present application, there are multiple preset positions and multiple identification points, and determining the action state of the boom according to the first position and the second position includes: determining the position deviation of each identification point according to the first position and the second position of each identification point; comparing the position deviation of each identification point with the deviation threshold corresponding to each identification point; when the position deviation of each identification point is less than or equal to the corresponding deviation threshold, determining that the action state of the boom is a normal action state.

[0047] It can be understood that there can be multiple preset positions on the boom, and the number of corresponding identification points can also be multiple, and the multiple identification points are respectively set at multiple preset positions. In general, multiple identification points need to be set for a boom including multiple boom sections, and the multiple identification points can be set on different boom sections to ensure comprehensive coverage of abnormal boom movement detection. It should be noted that for a multi-section boom, since there are certain differences in the amplitudes of different boom sections during operation, the safety standards corresponding to different boom sections are also inconsistent, that is, the deviation thresholds corresponding to identification points at different positions are also inconsistent, and are all determined according to the actual position and the corresponding safety standards.

[0048] Specifically, for a boom with multiple identification points, the processor can obtain the first position and the second position of each identification point, and determine the position deviation corresponding to each identification point based on the first position and the second position of each identification point. Further, the position deviation of each identification point is compared with the corresponding deviation threshold to obtain multiple comparison results. In one example, when the position deviation of any identification point among multiple identification points is greater than the corresponding deviation threshold, it means that the action of a certain arm section of the boom exceeds the safety standard. It may be due to leakage or jamming of the cylinder, loose wire rope bolts, etc., which causes abnormal displacement of the boom, which will affect the entire boom. At this time, the action state of the boom is determined to be an abnormal action state.

[0049] In another example, when the position deviations of multiple identification points are less than or equal to the corresponding deviation thresholds, it means that the actions of each boom section meet the safety standards. The cause of the boom displacement may be due to the thermal expansion and contraction of the hydraulic oil or the elastic deformation of the wire rope, both of which are within the scope of the regulations. Reasonable settlement of the cylinder. At this time, the action state of the boom is determined to be normal. In this way, comprehensive coverage of abnormal boom action detection can be guaranteed, further improving the accuracy of the detection results.

[0050] In an embodiment of the present application, the method also includes: when the action state of the boom is an abnormal action state, determining the abnormal position of the boom based on a comparison result of the position deviation of each identification point with the corresponding deviation threshold, the abnormal position being the position of the identification point where the position deviation is greater than the deviation threshold; and outputting alarm information including the abnormal position.

[0051] Specifically, for a boom including multiple boom sections, a marking point is set at the set position of each boom section, and each marking point is associated with information of a preset position on the boom. In order to prevent accidents, when the processor determines that the action state of the boom is an abnormal action state, the abnormal position of the boom can be determined based on the comparison result of the position deviation of each marking point and the corresponding deviation threshold. The abnormal position is the position of the marking point whose position deviation is greater than the deviation threshold. Further, the processor outputs alarm information containing the abnormal position.

[0052] In one example, the alarm information can be output through a display device, which outputs an alarm and displays the abnormal location. In another example, different types of alarm signals can be set in advance for different preset locations, for example, using indicator lights of different colors to output alarm information for different locations. In this way, the operator can quickly grasp the location of the abnormality, so as to deal with it in a targeted manner, save inspection time, and improve the efficiency and safety of abnormality handling.

[0053] An embodiment of the present application also provides a processor configured to execute the method for determining the boom action state in the above-mentioned embodiment.

[0054] Figure 2 The present application also provides a structural block diagram of a device for determining the action state of the boom. Figure 2 As shown, the embodiment of the present application further provides a device 200 for determining the action state of the boom, and a marking point is set at a preset position on the boom. The device 200 includes:

[0055] The signal determination module 210 is used to determine whether a response signal from the boom electric control valve of the boom is received when it is determined that the boom has been displaced.

[0056] The first acquisition module 220 is used to acquire the first position of the identification point when no response signal is received.

[0057] The second acquisition module 230 is used to acquire a second position of the marking point after a preset time interval.

[0058] The state determination module 240 is used to determine the action state of the boom according to the first position and the second position, where the action state includes an abnormal action state and / or a normal action state.

[0059] The above-mentioned device 200 for determining the action state of the boom is provided with an identification point at a preset position on the boom. When it is determined that the boom has been displaced, it is determined whether a response signal of the boom electric control valve of the boom is received. Then, when no response signal is received, the first position of the identification point is obtained, and then the second position of the identification point after a preset time interval is obtained. Finally, the action state of the boom is determined according to the first position and the second position, and the action state includes an abnormal action state. The present application can determine the action state of the boom through the response signal of the boom electro-hydraulic control valve and the position of the boom when the boom is in action, which is conducive to accurately determining the action state of the boom.

[0060] In one embodiment, the state determination module 240 is also used to: determine the position deviation of the identification point based on the first position and the second position; compare the position deviation and the deviation threshold corresponding to the identification point; and when the position deviation is greater than the deviation threshold, determine that the action state of the arm is an abnormal action state.

[0061] In one embodiment, there are multiple preset positions and multiple identification points, and the state determination module 240 is also used to: determine the position deviation of each identification point based on the first position and the second position of each identification point; compare the position deviation of each identification point with the deviation threshold corresponding to each identification point; and determine that the action state of the arm is a normal action state when the position deviation of each identification point is less than or equal to the corresponding deviation threshold.

[0062] In one embodiment, the state determination module 240 is also used to: when the action state of the boom is an abnormal action state, determine the abnormal position of the boom based on the comparison result of the position deviation of each identification point with the corresponding deviation threshold, the abnormal position is the position of the identification point where the position deviation is greater than the deviation threshold; and output alarm information including the abnormal position.

[0063] In one embodiment, the action state further includes a normal action state. When the response signal is received, the action state of the boom is determined to be a normal action state.

[0064] In one embodiment, the signal determination module 210 is further used to: detect the position information of the identification point on the boom according to a preset period; and determine that the boom has been displaced when it is detected that the position information of the identification point has changed between two adjacent periods.

[0065] An embodiment of the present application also provides an engineering equipment, including: a boom; and the processor in the above embodiment or the device for determining the action state of the boom in the above embodiment.

[0066] An embodiment of the present application also provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the method for determining the arm motion state in the above-mentioned embodiment is implemented.

[0067] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0068] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0069] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0071] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0072] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0073] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0074] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0075] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining the action state of a boom, characterized in that: A marking point is provided at a preset position on the arm, and the method comprises: In the case where it is determined that the boom has been displaced, determining whether a response signal from an electric control valve of the boom has been received; In case the response signal is not received, obtaining a first position of the identification point; Acquire a second position of the identification point after a preset time interval; The action state of the boom is determined according to the first position and the second position, and the action state includes an abnormal action state and / or a normal action state.

2. The method according to claim 1, characterized in that The determining the action state of the boom according to the first position and the second position includes: Determine a position deviation of the marking point according to the first position and the second position; Comparing the position deviation with a deviation threshold corresponding to the identification point; When the position deviation is greater than the deviation threshold, the action state of the boom is determined to be the abnormal action state.

3. The method according to claim 1, characterized in that The number of the preset positions is multiple, the number of the identification points is multiple, and the determining of the action state of the boom according to the first position and the second position includes: Determine the position deviation of each of the marking points according to the first position and the second position of each of the marking points; Compare the position deviation of each of the identification points with the deviation threshold corresponding to each of the identification points; When the position deviation of each of the identification points is less than or equal to the corresponding deviation threshold, it is determined that the action state of the boom is a normal action state.

4. The method according to claim 3, characterized in that The method further comprises: In the case where the action state of the boom is an abnormal action state, determining the abnormal position of the boom according to the comparison result of the position deviation of each of the identification points and the corresponding deviation threshold, wherein the abnormal position is the position of the identification point where the position deviation is greater than the deviation threshold; The output includes alarm information of the abnormal location.

5. The method according to claim 1, characterized in that The method further comprises: When the response signal is received, it is determined that the action state of the boom is a normal action state.

6. The method according to claim 1, characterized in that The step of determining that the boom has been displaced comprises: Detecting the position information of the marking point on the boom according to a preset period; When it is detected that the position information of the identification point changes in two adjacent cycles, it is determined that the boom is displaced.

7. A processor, characterized in that: The method is configured to execute the method for determining the boom action state according to any one of claims 1 to 6.

8. A device for determining the action state of a boom, characterized in that: A marking point is provided at a preset position on the arm, and the device comprises: A signal judgment module, used for judging whether a response signal of the arm electric control valve of the arm is received when it is determined that the arm has been displaced; A first acquisition module, configured to acquire a first position of the identification point when the response signal is not received; A second acquisition module, used to acquire a second position of the identification point after a preset time interval; A state determination module is used to determine the action state of the boom according to the first position and the second position, wherein the action state includes an abnormal action state and / or a normal action state.

9. An engineering equipment, characterized in that: include: Boom; as well as A processor according to claim 7 or a device for determining the arm motion state according to claim 8.

10. A machine-readable storage medium storing a program or an instruction, characterized in that: When the program or the instruction is executed by a processor, the method for determining the boom action state according to any one of claims 1 to 6 is implemented.

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