Method for evaluating health state of stacker based on CRITIC method

Abstract

The invention discloses a method for evaluating the health state of a stacker based on a CRITIC method. The method comprises the following steps: collecting parameter information corresponding to a plurality of evaluation indexes of a plurality of key parts of the stacker in real time; according to the parameter information corresponding to each evaluation index, determining the weight of each evaluation index by adopting a CRITIC method; determining a health degree deducted score value of each evaluation index, and obtaining a deducted score value scoring result of each evaluation index; obtaining a weight score deduction result of each evaluation index according to the weight of each evaluation index and a corresponding score deduction value scoring result; determining a monitoring threshold value of each evaluation index; and determining an evaluation result of the health state of the stacker according to the weight score deduction result of each evaluation index and the corresponding monitoring threshold value. According to the method for evaluating the health state of the stacking machine based on the CRITIC method, real-time monitoring and accurate evaluation of the health state of the stacking machine can be achieved, and reference is provided for equipment maintenance decision making.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics warehousing automation equipment, and more specifically, to a method for evaluating the health status of a stacker based on a CRITIC method. Background Art

[0002] As a key equipment in modern storage systems, the stable operation of stackers is crucial to ensuring the efficiency of storage operations. However, due to the small space, many key parts of the stacker were not designed with future repair and maintenance in mind, such as the lifting gears on the columns, the load-bearing gears on the loading platform, and the transmission bearings on the active rollers. As these parts are not lubricated and maintained all year round, sudden failures such as bearing disintegration and jamming often occur over time, and the time of failure is difficult to predict. Only when a failure occurs will personnel be organized to carry out emergency repairs, which seriously affects the normal operation of production.

[0003] Therefore, there is an urgent need for an evaluation method for the health status of stacker cranes based on the CRITIC method. Summary of the invention

[0004] The purpose of the present invention is to provide a method for evaluating the health status of a stacker based on the CRITIC method, so as to solve the above-mentioned problems in the prior art and to achieve real-time monitoring and accurate evaluation of the health status of the stacker.

[0005] The present invention provides a method for evaluating the health status of a stacker based on the CRITIC method, which includes:

[0006] Real-time collection of parameter information corresponding to several evaluation indicators of multiple key parts of the stacker;

[0007] According to the parameter information corresponding to each evaluation index of each key part, the CRITIC method is used to determine the weight of each evaluation index of each key part;

[0008] Determine the health deduction value of each evaluation index of each key part of the stacker, and obtain the deduction value scoring result of each evaluation index;

[0009] According to the weights of the evaluation indicators of the key parts of the stacker and the corresponding deduction value scoring results, the weight deduction results of the evaluation indicators of the key parts are obtained;

[0010] Determine the monitoring thresholds of each evaluation index of each key part of each stacker;

[0011] The evaluation result of the health status of the stacker is determined based on the weighted deduction results of each evaluation indicator of each key part and the corresponding monitoring threshold.

[0012] In the above-mentioned evaluation method for the health status of a stacker based on the CRITIC method, preferably, the real-time collection of parameter information corresponding to several evaluation indicators of multiple key parts of the stacker specifically includes:

[0013] Using sensors placed at multiple key locations of the stacker, several evaluation indicators of multiple key locations of the stacker are collected in real time. Parameters of the key parts are obtained by obtaining parameter information corresponding to several evaluation indicators.

[0014] In the method for evaluating the health status of a stacker based on the CRITIC method as described above, preferably, the key parts include: at least one of the chain lifting sprocket, the front and rear output shafts of the Y-axis drive gearbox, and the front and rear drive output shafts of the X-axis, and the sensor includes a vibration sensor or a temperature sensor.

[0015] In the above-mentioned method for evaluating the health status of a stacker based on the CRITIC method, preferably, the weight of each evaluation index of each key part is determined by using the CRITIC method according to the parameter information corresponding to each evaluation index of each key part, which specifically includes:

[0016] Obtain the parameter information corresponding to each evaluation index of each key part and obtain the evaluation index data matrix , the size is ;in, Indicates the number of data collected for each evaluation indicator, Indicates the number of evaluation indicators;

[0017] The indicator data matrix is ​​calculated by the following formula Middle The mean of the evaluation indicators :

[0018] ;

[0019] The indicator data matrix is ​​calculated by the following formula Middle The standard deviation of the evaluation index :

[0020] ;

[0021] in, ;

[0022] According to the standard deviation of each evaluation index, a standard deviation matrix is ​​constructed. for: ;

[0023] According to The correlation coefficient of the evaluation index with other indicators is calculated by the following formula The conflict between one evaluation index and other indicators :

[0024] ;

[0025] in, Indicates The evaluation indicators and The correlation coefficient between the evaluation indicators;

[0026] According to the conflict of each evaluation index, the correlation coefficient matrix is ​​constructed :

[0027] ;

[0028] According to The standard deviation of the evaluation index and The conflict between one evaluation index and other indicators , the pheromone of the jth evaluation index is calculated by the following formula :

[0029] ;

[0030] According to the pheromone of each evaluation index, construct the pheromone matrix composed of all evaluation indicators :

[0031] ;

[0032] The weight of the jth evaluation index is calculated by the following formula: :

[0033] ;

[0034] According to the weight of each evaluation index, a weight matrix composed of all evaluation indicators is constructed :

[0035] .

[0036] In the above-mentioned evaluation method for the health status of a stacker based on the CRITIC method, preferably, the step of determining the health deduction value of each evaluation indicator of each key part of the stacker to obtain the deduction value scoring result of each evaluation indicator specifically includes:

[0037] Relevant experts in the stacker industry assess and score the health deduction values ​​of each evaluation indicator of each key part of the stacker. The same scoring results will be adopted, and different results will be determined through discussion and consultation among experts.

[0038] In the above-mentioned evaluation method for the health status of a stacker based on the CRITIC method, preferably, the weighted deduction results of the evaluation indicators of each key part of the stacker are obtained according to the weights of the evaluation indicators of each key part and the corresponding deduction values, specifically including:

[0039] Multiply the weight of each evaluation index of each key part by the corresponding deduction value to obtain the weight deduction result of each evaluation index;

[0040] According to the weighted deduction results of each evaluation index, a weighted deduction matrix is ​​constructed. :

[0041]

[0042] in, Indicates The weighted deduction results of the evaluation indicators.

[0043] In the above-mentioned method for evaluating the health status of a stacker based on the CRITIC method, preferably, the step of determining the monitoring threshold of each evaluation indicator of each key part of each stacker specifically includes:

[0044] If the detection value of each evaluation index of each key part of each stacker exceeds the corresponding preset threshold, the monitoring threshold is 1, and the system issues an alarm; if the detection value of each evaluation index of each key part of each stacker does not exceed the corresponding preset threshold, the monitoring threshold is 0;

[0045] According to the monitoring thresholds corresponding to each evaluation indicator, a threshold matrix for single monitoring is constructed :

[0046]

[0047] in, Indicates The monitoring threshold of an evaluation indicator.

[0048] In the above-mentioned method for evaluating the health status of a stacker based on the CRITIC method, preferably, the evaluation result of the health status of the stacker is determined according to the weighted deduction results of the evaluation indicators of each key part and the corresponding monitoring threshold, specifically including:

[0049] Determine the total score of the stacker crane's health status based on the weighted deduction results of each evaluation indicator of each key part and the corresponding monitoring threshold;

[0050] According to the total score of the health status of the stacker, the health level of the stacker is determined;

[0051] The stacker's alert level is determined based on the total score of the stacker's health status.

[0052] In the above-mentioned evaluation method for the health status of a stacker based on the CRITIC method, preferably, the total score of the health status of the stacker is determined according to the weighted deduction results of each evaluation indicator of each key part and the corresponding monitoring threshold, specifically including:

[0053] According to the weighted deduction matrix of each evaluation index of each key part and the corresponding threshold matrix, the total score of the stacker crane health status is calculated by the following formula: :

[0054]

[0055] in, Indicates that the stacker's health score is full, with a value of 100. Represents the weighted deduction matrix of each evaluation index of each key part, Represents the threshold matrix of each evaluation index for each key part for single monitoring The transposed matrix of .

[0056] In the above-mentioned evaluation method of the health status of a stacker based on the CRITIC method, preferably, determining the health level of the stacker according to the total score of the health status of the stacker specifically includes:

[0057] If the total score of the stacker's health status If it falls within the range of [80, 100], the health level of the stacker is healthy;

[0058] If the total score of the stacker's health status If it falls within the range of (60, 80), the health level of the stacker is good;

[0059] If the total score of the stacker's health status If it falls within the range of [0, 60], the health level of the stacker is faulty.

[0060] Determining the alert level of the stacker according to the total score of the stacker's health status specifically includes:

[0061] If the total score of the stacker's health status If it falls within the range of (60, 100], the stacker’s alert level is normal;

[0062] If the total score of the stacker's health status If it falls within the range of [0, 60], the stacker's alert level is alarm.

[0063] The present invention provides a method for evaluating the health status of a stacker based on the CRITIC method. By acquiring parameter information of key parts of the stacker, the CRITIC method can comprehensively analyze the fluctuation degree of data and the correlation degree between indicators, combined with the operation status of the stacker, and on this basis, a health status model of the stacker is constructed to achieve a comprehensive evaluation of the health status of the stacker. It can realize real-time monitoring and accurate evaluation of the health status of the stacker, and provide a reference for equipment maintenance decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0065] Figure 1 The present invention provides a flowchart of an embodiment of a method for evaluating the health status of a stacker based on the CRITIC method. DETAILED DESCRIPTION

[0066] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0067] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprises" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements. "Up", "down" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0068] In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be an intermediate component between the specific component and the first component or the second component. When a specific component is described as being connected to other components, the specific component may be directly connected to the other components without an intermediate component, or may not be directly connected to the other components but have an intermediate component.

[0069] All terms (including technical terms or scientific terms) used in the present disclosure have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0070] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0071] like Figure 1 As shown, the stacker crane health status evaluation method based on the CRITIC method provided in this embodiment includes the following steps in actual execution:

[0072] Step S1, collecting parameter information corresponding to several evaluation indicators of multiple key parts of the stacker in real time.

[0073] Specifically, sensors arranged at multiple key parts of the stacker are used to collect several evaluation indicators of multiple key parts of the stacker in real time. Parameters are obtained to obtain parameter information corresponding to several evaluation indicators corresponding to each key part. Wherein, the key parts include: at least one of the chain lifting sprocket, the front and rear output shafts of the Y-axis drive gearbox (for example, the front bearing of the Y-axis drive gearbox and the rear bearing of the Y-axis drive gearbox) and the front and rear drive output shafts of the X-axis (for example, the front bearing of the X-axis drive gearbox and the rear bearing of the X-axis drive gearbox), and the sensor includes a vibration sensor or a temperature sensor. In one embodiment of the present invention, a vibration and temperature integrated sensor is used to collect parameters of each evaluation indicator. It should be noted that the present invention does not specifically limit the type and installation position (i.e., key parts) of the sensor.

[0074] Step S2: according to the parameter information corresponding to each evaluation index of each key part, the weight of each evaluation index of each key part is determined by using the CRITIC method.

[0075] In one embodiment of the stacker crane health status evaluation method based on the CRITIC method of the present invention, the step S2 may specifically include:

[0076] Step S21: Obtain parameter information corresponding to each evaluation index of each key part to obtain the evaluation index data matrix , the size is ;in, Indicates the number of data collected for each evaluation indicator, Indicates the number of evaluation indicators.

[0077] Step S22: Calculate the index data matrix using the following formula: Middle The mean of the evaluation indicators :

[0078] .

[0079] Step S23: Calculate the index data matrix using the following formula: Middle The standard deviation of the evaluation index :

[0080] ;

[0081] in, .

[0082] Step S24: construct a standard deviation matrix based on the standard deviation of each evaluation index for: .

[0083] Step S25: The correlation coefficient of the evaluation index with other indicators is calculated by the following formula The conflict between one evaluation index and other indicators :

[0084] ;

[0085] in, Indicates The evaluation indicators and The correlation coefficient between the evaluation indicators.

[0086] Step S26: Construct a correlation coefficient matrix based on the conflict of each evaluation index :

[0087] .

[0088] Step S27: The standard deviation of the evaluation index and The conflict between one evaluation index and other indicators , the pheromone of the jth evaluation index is calculated by the following formula :

[0089] .

[0090] Step S28: Based on the pheromone of each evaluation index, a pheromone matrix consisting of all evaluation indexes is constructed. :

[0091] .

[0092] Step S29: Calculate the weight of the jth evaluation index by the following formula: :

[0093] .

[0094] Step S210: construct a weight matrix consisting of all evaluation indicators according to the weight of each evaluation indicator :

[0095] .

[0096] The stacker health evaluation scheme based on the CRITIC method of the present invention accumulates and counts the data of the stacker in terms of vibration, temperature, etc., scores the data by evaluating the normal data level, uses the standard deviation and correlation coefficient to represent the contrast intensity and conflict and make a score, and provides the system with accurate scoring and decision-making basis. By considering the contrast intensity and conflict, the CRITIC method can comprehensively analyze the fluctuation degree of data and the correlation degree between indicators, so as to better understand the characteristics and trends of the data.

[0097] In the scoring process, the CRITIC algorithm uses two key concepts: contrast intensity and conflict. Contrast intensity is mainly expressed by standard deviation, which reflects the degree of data fluctuation. The larger the standard deviation, the greater the fluctuation of the data, so the corresponding weight will be higher. Conflict is measured by the correlation coefficient, which reflects the degree of association between indicators. If the correlation coefficient between two indicators is larger, it means that the conflict between them is smaller, and the corresponding weight will be lower.

[0098] The normalized data is weighted using the CRITIC algorithm. The indicator variability is expressed in the form of standard deviation. In the CRITIC method, standard deviation is used to indicate the fluctuation of the internal values ​​of each indicator. The larger the standard deviation, the greater the difference in the value of the indicator. The more information it can reflect, the stronger the evaluation strength of the indicator itself, and the more weight should be assigned to the indicator. The indicator conflict is expressed in the form of correlation coefficient. The correlation coefficient is used to indicate the correlation between indicators. The stronger the correlation with other indicators, the less conflict the indicator has with other indicators. The more the same information is reflected, the more repetitive the evaluation content can be, and the evaluation strength of the indicator is weakened to a certain extent. The weight assigned to the indicator should be reduced. The weight W calculated according to the CRITIC method is shown in Table 1.

[0099] Table 1 Weights calculated by CRITIC method (retain two decimal places)

[0100]

[0101] Step S3, determining the health deduction value of each evaluation indicator of each key part of the stacker, and obtaining the deduction value scoring result of each evaluation indicator.

[0102] Specifically, relevant experts in the stacker industry are invited to evaluate and score the health deduction values ​​of each evaluation indicator of each key part of the stacker. The same scoring results will be adopted, and different results will be determined through discussion and consultation among experts.

[0103] Step S4: according to the weights of the evaluation indicators of the key parts of the stacker and the corresponding deduction value scoring results, the weighted deduction results of the evaluation indicators of the key parts are obtained.

[0104] In one embodiment of the stacker crane health status evaluation method based on the CRITIC method of the present invention, the step S4 may specifically include:

[0105] Step S41: multiply the weight of each evaluation index of each key part by the corresponding deduction value scoring result to obtain the weighted deduction result of each evaluation index.

[0106] Step S42: Construct a weighted deduction matrix based on the weighted deduction results of each evaluation index. :

[0107]

[0108] in, Indicates The weighted deduction results of the evaluation indicators.

[0109] Multiplying the deduction score by the weight can give the final health system weight deduction table, as shown in Table 2.

[0110] Table 2 Weight deduction table of health system (retain two decimal places)

[0111]

[0112] Step S5: determining the monitoring threshold of each evaluation index of each key part of each stacker.

[0113] In one embodiment of the stacker crane health status evaluation method based on the CRITIC method of the present invention, the step S5 may specifically include:

[0114] Step S51: If the detection value of each evaluation index of each key part of each stacker exceeds the corresponding preset threshold, the monitoring threshold is 1, and the system issues an alarm; if the detection value of each evaluation index of each key part of each stacker does not exceed the corresponding preset threshold, the monitoring threshold is 0.

[0115] Step S52: Construct a threshold matrix for single monitoring based on the monitoring thresholds corresponding to each evaluation indicator. :

[0116]

[0117] in, Indicates The monitoring threshold of an evaluation indicator.

[0118] Step S6: Determine the evaluation result of the health status of the stacker according to the weighted deduction result of each evaluation indicator of each key part and the corresponding monitoring threshold.

[0119] In one embodiment of the stacker crane health status evaluation method based on the CRITIC method of the present invention, the step S6 may specifically include:

[0120] Step S61: Determine the total score of the health status of the stacker according to the weighted deduction results of the evaluation indicators of the key parts and the corresponding monitoring thresholds.

[0121] Specifically, according to the weight deduction matrix of each evaluation index of each key part and the corresponding threshold matrix, the total score of the stacker crane health status is calculated by the following formula: :

[0122]

[0123] in, Indicates that the stacker's health score is full, with a value of 100. Represents the weighted deduction matrix of each evaluation index of each key part, Represents the threshold matrix of each evaluation index for each key part for single monitoring The transposed matrix of

[0124] Step S62: Determine the health level of the stacker according to the total score of the health status of the stacker.

[0125] Specifically, if the total score of the stacker's health status If it falls within the range of [80, 100], the health level of the stacker is healthy. At this time, the stacker is operating normally and there is no potential risk of accidents.

[0126] If the total score of the stacker's health status If it falls within the range of (60, 80), the health level of the stacker is good. At this time, the stacker can perform logistics operations normally, but some indicators may exceed the threshold. It is necessary to closely observe the sensor data. If it is close to the critical value, it is necessary to shut down and repair it in time.

[0127] If the total score of the stacker's health status If it falls within the range of [0, 60], the health level of the stacker is faulty. At this time, some sensor data exceeds the threshold and the machine should be shut down immediately and repaired according to the health system deduction situation.

[0128] Step S63: Determine the alert level of the stacker according to the total score of the health status of the stacker.

[0129] Specifically, if the total score of the stacker's health status If it falls within the range of (60, 100], the stacker’s alert level is normal;

[0130] If the total score of the stacker's health status If it falls within the range of [0, 60], the stacker's alert level is alarm.

[0131] In the present invention, according to the real-time scoring of the health system, the alertness of the stacker operation is divided into: normal and alarm; the health level is divided into three levels: healthy, good and faulty. The specific classification standards are shown in Table 3.

[0132] Table 3 Alertness and health level classification standards

[0133]

[0134] The embodiment of the present invention provides a method for evaluating the health status of a stacker based on the CRITIC method. By acquiring parameter information of key parts of the stacker, the CRITIC method can comprehensively analyze the degree of fluctuation of the data and the degree of correlation between indicators, combined with the operating conditions of the stacker, and on this basis, build a health status model of the stacker to achieve a comprehensive evaluation of the health status of the stacker. It can realize real-time monitoring and accurate evaluation of the health status of the stacker, and provide a reference for equipment maintenance decisions.

[0135] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0136] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for evaluating the health status of a stacker crane based on the CRITIC method, characterized in that: include: Real-time collection of parameter information corresponding to several evaluation indicators of multiple key parts of the stacker; According to the parameter information corresponding to each evaluation index of each key part, the CRITIC method is used to determine the weight of each evaluation index of each key part; Determine the health deduction value of each evaluation index of each key part of the stacker, and obtain the deduction value scoring result of each evaluation index; According to the weights of the evaluation indicators of the key parts of the stacker and the corresponding deduction value scoring results, the weight deduction results of the evaluation indicators of the key parts are obtained; Determine the monitoring thresholds of each evaluation index of each key part of each stacker; The evaluation result of the health status of the stacker is determined based on the weighted deduction results of each evaluation indicator of each key part and the corresponding monitoring threshold.

2. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 1, characterized in that: The real-time collection of parameter information corresponding to several evaluation indicators of multiple key parts of the stacker specifically includes: Using sensors placed at multiple key locations of the stacker, several evaluation indicators of multiple key locations of the stacker are collected in real time. Parameters of the key parts are obtained by obtaining parameter information corresponding to several evaluation indicators.

3. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 2, characterized in that: The key parts include: at least one of the chain lifting sprocket, the front and rear output shafts of the Y-axis drive gearbox and the front and rear drive output shafts of the X-axis, and the sensor includes a vibration sensor or a temperature sensor.

4. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 1, characterized in that: The weight of each evaluation index of each key part is determined by using the CRITIC method according to the parameter information corresponding to each evaluation index of each key part, which specifically includes: Obtain the parameter information corresponding to each evaluation index of each key part and obtain the evaluation index data matrix , the size is ;in, Indicates the number of data collected for each evaluation indicator, Indicates the number of evaluation indicators; The indicator data matrix is ​​calculated by the following formula Middle The mean of the evaluation indicators : ； The indicator data matrix is ​​calculated by the following formula Middle The standard deviation of the evaluation index : ； in, ; According to the standard deviation of each evaluation index, a standard deviation matrix is ​​constructed. for: ; According to The correlation coefficient of the evaluation index with other indicators is calculated by the following formula The conflict between one evaluation index and other indicators : ； in, Indicates The evaluation indicators and The correlation coefficient between the evaluation indicators; According to the conflict of each evaluation index, the correlation coefficient matrix is ​​constructed : ； According to The standard deviation of the evaluation index and The conflict between one evaluation index and other indicators , the pheromone of the jth evaluation index is calculated by the following formula : ； According to the pheromone of each evaluation index, construct the pheromone matrix composed of all evaluation indicators : ； The weight of the jth evaluation index is calculated by the following formula: : ； According to the weight of each evaluation index, a weight matrix composed of all evaluation indicators is constructed : 。 5. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 1, characterized in that: The step of determining the health deduction value of each evaluation index of each key part of the stacker and obtaining the deduction value scoring result of each evaluation index specifically includes: Relevant experts in the stacker industry assess and score the health deduction values ​​of each evaluation indicator of each key part of the stacker. The same scoring results will be adopted, and different results will be determined through discussion and consultation among experts.

6. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 1, characterized in that: The weighted deduction results of the evaluation indicators of the key parts of the stacker are obtained according to the weights of the evaluation indicators and the corresponding deduction values, specifically including: Multiply the weight of each evaluation index of each key part by the corresponding deduction value to obtain the weight deduction result of each evaluation index; According to the weighted deduction results of each evaluation index, a weighted deduction matrix is ​​constructed. : in, Indicates The weighted deduction results of the evaluation indicators.

7. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 1, characterized in that: Determining the monitoring thresholds of the evaluation indicators of the key parts of the stackers specifically includes: If the detection value of each evaluation index of each key part of each stacker exceeds the corresponding preset threshold, the monitoring threshold is 1, and the system issues an alarm; if the detection value of each evaluation index of each key part of each stacker does not exceed the corresponding preset threshold, the monitoring threshold is 0; According to the monitoring thresholds corresponding to each evaluation indicator, a threshold matrix for single monitoring is constructed : in, Indicates The monitoring threshold of the evaluation indicator.

8. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 1, characterized in that: The evaluation result of the health status of the stacker is determined according to the weighted deduction results of each evaluation indicator of each key part and the corresponding monitoring threshold, specifically including: Determine the total score of the stacker crane's health status based on the weighted deduction results of each evaluation indicator of each key part and the corresponding monitoring threshold; According to the total score of the health status of the stacker, the health level of the stacker is determined; The stacker's alert level is determined based on the total score of the stacker's health status.

9. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 8, characterized in that: Determining the total score of the health status of the stacker crane according to the weighted deduction results of each evaluation indicator of each key part and the corresponding monitoring threshold specifically includes: According to the weighted deduction matrix of each evaluation index of each key part and the corresponding threshold matrix, the total score of the stacker crane health status is calculated by the following formula: : in, Indicates that the stacker health score is full, with a value of 100. Represents the weighted deduction matrix of each evaluation index of each key part, Represents the threshold matrix of each evaluation index for each key part for single monitoring The transposed matrix of .

10. The method for evaluating the health status of a stacker crane based on the CRITIC method according to claim 9, characterized in that: Determining the health level of the stacker according to the total score of the health status of the stacker specifically includes: If the total score of the stacker's health status If it falls within the range of [80, 100], the health level of the stacker is healthy; If the total score of the stacker's health status If it falls within the range of (60, 80), the health level of the stacker is good; If the total score of the stacker's health status If it falls within the range of [0, 60], the health level of the stacker is faulty. Determining the alert level of the stacker according to the total score of the stacker's health status specifically includes: If the total score of the stacker's health status If it falls within the range of (60, 100], the stacker’s alert level is normal; If the total score of the stacker's health status If it falls within the range of [0, 60], the stacker's alert level is alarm.

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