Method, device, processor and engineering apparatus for determining a state of action of an arm

Abstract

The application discloses a method, device, processor and engineering equipment for determining the action state of an arm support, and belongs to the technical field of engineering machinery. A preset position on the arm support is provided with a mark point. The method comprises the following steps: in the case that the displacement of the arm support is determined, it is judged whether the response signal of the arm support electric control valve of the arm support is received; in the case that the response signal is not received, the first position of the mark point is acquired; the second position of the mark point after an interval preset time length is acquired; and the action state of the arm support is determined according to the first position and the second position. The action state comprises an abnormal action state and / or a normal action state. The application can determine the action state of the arm support through the response signal of the arm support electro-hydraulic control valve and the position of the arm support when the arm support acts, and is beneficial to accurately judging the action state of the arm support.

Description

Technical Field

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

[0002] For construction machinery with booms, when the boom is fixed in a certain position for an extended period, it is prone to abnormal movement due to factors such as internal leakage in the oil cylinder or foreign matter stuck in the oil valve block, potentially causing safety accidents for the entire vehicle. Currently, the boom's operating status is still determined manually through visual observation, relying on the operator's operational experience. This method is unreliable and cannot guarantee accuracy. Therefore, existing methods for determining boom operating status suffer from low accuracy. Summary of the Invention

[0003] The purpose of the embodiments of the present invention 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] 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 provided 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 is 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, where the action state includes an abnormal action state and / or a normal action state.

[0009] In an embodiment of the present invention, 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 with the deviation threshold corresponding to the identification point; and 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 invention, 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 invention, 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 the comparison result of the position deviation of each identification point and 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 outputting alarm information including the abnormal position.

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

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

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

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

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

[0017] A first acquisition module, configured to acquire 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 marker 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, where the action state includes an abnormal action state and / or a normal action state.

[0020] A fourth aspect of an embodiment of the present invention provides 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 invention 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 boom action state is implemented.

[0022] The above technical solution sets an identification point at a preset position on the boom. When it is determined that the boom has displaced, it is determined whether a response signal from the boom's electric control valve has been received. If no response signal is received, the first position of the identification point is obtained. Then, the second position of the identification point is obtained after a preset time interval. Finally, the action state of the boom is determined based on the first and second positions. The action state includes an abnormal action state and / or a normal action state. The present invention can determine the action state of the boom based on the response signal of the boom's electro-hydraulic control valve and the position of the boom when the boom is in motion, which is conducive to accurately determining the action state of the boom.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0026] Figure 2 An embodiment of the present invention further provides a structural block diagram of a device for determining an arm motion state. DETAILED DESCRIPTION

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

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

[0029] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0030] Figure 1 A flowchart of a method for determining the action state of the boom is provided in the embodiments of the present application. As shown in the figure Figure 1 A method for determining the action state of the boom is provided in the embodiments of the present application. A preset position on the boom is provided with a mark point. The method is described by taking a processor as an example. The method can include the following steps:

[0031] Step S101, in the case of determining that the boom has displacement, it is judged whether the response signal of the boom electric control valve of the boom is received.

[0032] Step S102, in the case of not receiving the response signal, the first position of the mark point is acquired.

[0033] Step S103, the second position of the mark point after the interval preset time is acquired.

[0034] Step S104, the action state of the boom is determined according to the first position and the second position. The action state includes abnormal action state and / or normal action state.

[0035] In the embodiments of the present application, the boom can be a multi-section boom or a single-section boom. A preset position on the boom is provided with a mark point. The preset position can be the joint position of the boom. For example, in the case of a multi-section boom, generally including a main arm and a curved arm, the preset position can include the head of the main arm, the end of the luffing cylinder of the main arm, the head of the curved arm and the end of the luffing cylinder of the curved arm, etc. It can be understood that the above positions are only for example, the selection of the preset position can be determined according to the operation demand in the actual application scene. It can be understood that the mark 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 points in real time and determine whether the boom has moved based on changes in the position information of the identification points. In another example, if the boom includes multiple booms and there are multiple identification points, and the multiple identification points are set on different booms, the processor can determine whether the boom has moved based on changes in the relative positions of the multiple identification points. In this way, real-time monitoring of the boom's movement can be achieved.

[0037] It can be understood that the movements of all arm sections of the boom 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 movements 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 manipulating the boom operation, the processor can determine whether a response signal from the boom electric control valve of the boom 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 due to the boom operation. Therefore, in order to prevent safety accidents, it is necessary to further determine whether the boom's action state 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 an interval of a preset time. 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 based on 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 based on the first position and the second position, and set a change threshold, and then determine the action state of the boom based on 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 invention judges the action state of the boom based on the actual acquired boom parameters, 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. When it is determined that the boom has displaced, it is determined whether a response signal from the boom's electric control valve has been received. If no response signal is received, the first position of the identification point is obtained. Then, the second position of the identification point is obtained after a preset time interval. Finally, the action state of the boom is determined based on the first and second positions, including abnormal action states. The present invention can determine the action state of the boom based on the response signal of the boom's electro-hydraulic control valve and the position of the boom when the boom is in motion, which is conducive to accurately determining whether the boom has undergone abnormal action.

[0040] In an embodiment of the present invention, the method further includes: upon receiving the response signal, determining that the action state of the boom 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 invention, determining whether the boom has been displaced includes: detecting position information of an identification point on the boom according to a preset cycle; and determining that the boom has been displaced when a change in the position information of the identification point is detected between two adjacent cycles.

[0043] It can be understood that the processor can determine the displacement of the boom based on the changes in the position information of the identification points. The position information of the boom can be obtained by sensors such as laser radar, or by target detection technology after being acquired by image acquisition equipment. Specifically, the processor can obtain the position information of the identification points on the boom according to a preset period, and determine the changes in the position information of the identification points in two adjacent periods. After detecting that the position information of the identification points 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 invention, 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 with the deviation threshold corresponding to the identification point; and 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 based on the first position and the second position of the identification point. 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, it can be determined that the action state of the boom is an abnormal action state. In an example, if the boom includes only one arm section and only one identification point is set on the arm section, then when the position deviation is less than or equal to the deviation threshold, the action state of the boom is determined to be a normal action state. In this way, the abnormal action state of the boom can be effectively detected and the operation safety can be improved.

[0046] In an embodiment of the present invention, 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 multiple identification points are respectively set at multiple preset positions. Generally, for a boom including multiple arm sections, multiple identification points need to be set, and multiple identification points can be set on different arm sections to ensure comprehensive coverage of abnormal boom movement detection. It should be noted that for a multi-arm section boom, since there are certain differences in the amplitudes of different arm sections during operation, the safety standards corresponding to different arm 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 the multiple identification points is greater than the corresponding deviation threshold, it means that the movement of a certain arm section of the boom exceeds the safety standard. It may be due to leakage or jamming of the oil 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, if the position deviations of multiple identification points are less than or equal to the corresponding deviation thresholds, the movement of each boom section meets safety standards. The boom displacement may be caused by thermal expansion and contraction of the hydraulic oil or elastic deformation of the wire rope, both of which fall within the regulatory range of reasonable cylinder settlement. In this case, the boom is determined to be in normal operation. This ensures comprehensive coverage of boom movement anomaly detection and further improves the accuracy of detection results.

[0050] In an embodiment of the present invention, 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 the comparison result of the position deviation of each identification point and 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 outputting alarm information including the abnormal position.

[0051] Specifically, for a boom with multiple sections, each section is assigned an identification point at its designated position, and each identification point is associated with information about its preset position on the boom. To prevent accidents, if the processor determines that the boom's operating state is abnormal, it can determine the abnormal position of the boom based on a comparison of the position deviation of each identification point with a corresponding deviation threshold. The abnormal position is defined as the location of an identification point where the position deviation exceeds the deviation threshold. Furthermore, the processor outputs an alarm message containing the abnormal position.

[0052] In one example, the alarm information can be output via a display device, which outputs the alarm and displays the location of the anomaly. In another example, different types of alarm signals can be pre-set for different locations. For example, different colored indicator lights can be used to output alarm information for different locations. This allows operators to quickly identify the location of the anomaly and address it in a targeted manner, saving inspection time and improving the efficiency and safety of anomaly handling.

[0053] An embodiment of the present invention further provides a processor configured to execute the method for determining the boom motion state in the above embodiment.

[0054] Figure 2 The present invention also provides a structural block diagram of a device for determining the action state of an arm. Figure 2 As shown, an embodiment of the present invention further provides a device 200 for determining the action state of a boom, wherein a marking point is provided at a preset position on the boom, and 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 displaced.

[0056] The first acquisition module 220 is configured to acquire a first position of the identification point in a case where the response signal is not received.

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

[0058] The state determination module 240 is configured to determine a motion state of the arm support according to the first position and the second position, and the motion state includes an abnormal motion state and / or a normal motion state.

[0059] The device 200 for determining the motion state of the arm support is provided with the identification points at the preset positions on the arm support. In a case where displacement of the arm support is determined, whether the response signal of the arm support electro-hydraulic valve of the arm support is received is judged. Then, in a case where the response signal is not received, the first position of the identification point is acquired. Next, the second position of the identification point after a preset time interval is acquired. Finally, the motion state of the arm support is determined according to the first position and the second position, and the motion state includes the abnormal motion state. The present application can determine the motion state of the arm support through the response signal of the arm support electro-hydraulic valve and the position of the arm support when the arm support is in motion, which is beneficial to accurately determining the motion state of the arm support.

[0060] In one embodiment, the state determination module 240 is further configured to: determine a position deviation of the identification point according to the first position and the second position; compare the position deviation with a deviation threshold corresponding to the identification point; and determine the motion state of the arm support as the abnormal motion state in a case where the position deviation is greater than the deviation threshold.

[0061] In one embodiment, the number of preset positions is a plurality, and the number of identification points is a plurality. The state determination module 240 is further configured to: determine a position deviation of each identification point according to the first position and the second position of each identification point; compare the position deviation of each identification point with a deviation threshold corresponding to each identification point; and determine the motion state of the arm support as the normal motion state in a case where 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 further configured to: in a case where the motion state of the arm support is the abnormal motion state, determine an abnormal position of the arm support according to a comparison result of the position deviation of each identification point and the corresponding deviation threshold, the abnormal position being a position where the identification point with the position deviation greater than the deviation threshold is located; and output alarm information including the abnormal position.

[0063] In one embodiment, the motion state further includes the normal motion state, and the motion state of the arm support is determined as the normal motion state in a case where the response signal is received.

[0064] In one embodiment, the signal judgment module 210 is further configured to: detect position information of a marking point on the boom according to a preset period; and determine that the boom has displaced when a change in the position information of the marking point is detected between two adjacent periods.

[0065] An embodiment of the present invention further provides 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 invention further 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 boom motion state in the above embodiment is implemented.

[0067] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts 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, a special-purpose computer, an embedded processor or other programmable data processing device to produce 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 flowcharts and / or block diagrams. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0071] In a typical configuration, a computing device includes one or more processors (CPUs), 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 includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0074] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0075] The above are merely embodiments of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

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 includes: 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; Obtaining a second position of the marker point after a preset time interval; An action state of the boom is determined according to the first position and the second position, where 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 There are multiple preset positions, multiple identification points, and determining 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; Comparing 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, the action state of the boom is determined to be a normal action state.

4. The method according to claim 3, characterized in that The method further comprises: When the boom is in an abnormal state, the abnormal position of the boom is determined based on a comparison result of the position deviation of each identification point with a corresponding deviation threshold, where the abnormal position is the position of the identification point where the position deviation is greater than the deviation threshold; Output alarm information including the abnormal location.

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

6. The method according to claim 1, characterized in that The determining that the boom has been displaced includes: 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 arm is displaced.

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

8. A device for determining the action state of an arm, characterized in that: A marking point is provided at a preset position on the arm, and the device comprises: a signal judging module, configured to judge whether a response signal from an electric control valve of the boom is received when it is determined that the boom 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 is 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 arm according to the first position and the second position, where 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 The processor according to claim 7 or the device for determining the arm motion state according to claim 8.

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

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