State sensing system and method of electric lifting vehicle and electric lifting vehicle

Abstract

The invention discloses a state sensing system and method for an electric lifting vehicle and the electric lifting vehicle. A sensor, a data access module, a central processing unit, an execution unit, a sensing processing module, a control terminal and a sensing display terminal are adopted, and the sensor is used for collecting terminal data; the data access module is used for accessing the input of each sensor into an acquisition link and judging the correctness of tail end data acquired by the sensors; the central processing unit is used for receiving a remote control instruction sent by a control terminal, analyzing and processing tail end data in a data link, controlling the execution unit to act, and transmitting the analyzed tail end data to the sensing processing module; the execution unit is used for receiving the superior instructions sent by the central processing unit and executing corresponding actions according to the superior instructions; and the sensing processing module is used for processing the data link message and analyzing and operating the processed data link message. The state of the whole machine can be sensed comprehensively.

Description

Technical Field

[0001] The invention relates to the technical field of engineering vehicle state perception, and in particular discloses a state perception system and method of an electric lifting vehicle and an electric lifting vehicle. Background Art

[0002] The traditional engineering vehicle state perception structure is as follows: Figure 1 As shown, first, basic data of the whole machine operation is collected through various sensors, and then the controller parses and processes the basic data collected by the sensors, and then transmits the message to the cab display screen, debugger and other control terminals through the bus for display.

[0003] The traditional engineering vehicle state perception structure has the following technical disadvantages:

[0004] 1) Traditional engineering vehicles are mainly driven by internal combustion engines, their perception systems are too simple, and their functions are mainly concentrated on data collection and brief message analysis.

[0005] 2) Traditional engineering vehicle perception systems cannot meet the new demands of the electrification trend of engineering vehicles. Electric engineering vehicles not only require the collection of a large amount of basic data, but also need to perceive and evaluate the equipment status from the perspective of the entire machine.

[0006] 3) Traditional engineering vehicle perception systems are mostly used to locate the exact location after a fault occurs, and cannot perceive the health status of the equipment in advance. Summary of the invention

[0007] The present invention provides a state perception system and method for an electric lifting vehicle and an electric lifting vehicle, aiming to solve at least one defect existing in the above-mentioned prior art.

[0008] One aspect of the present invention relates to a state perception system for an electric lifting vehicle, comprising a sensor, a data access module, a central processing unit, an execution unit, a perception processing module, a control terminal and a perception display terminal, wherein:

[0009] Sensors, used to collect terminal data;

[0010] The data access module is connected to the sensor, and is used to connect each sensor input to the collection link and determine the correctness of the terminal data collected by the sensor;

[0011] The central processing unit is connected to the data access module, the execution unit, the perception processing module and the control terminal, and is used to receive the remote control command issued by the control terminal, parse and process the terminal data in the data link, control the action of the execution unit, and transmit the parsed terminal data to the perception processing module;

[0012] The execution unit is connected to the central processing unit and is used to receive the superior instruction issued by the central processing unit and perform corresponding actions according to the superior instruction;

[0013] A perception processing module is connected to the central processing unit and the perception display terminal, and is used to process data link messages, parse and calculate the processed data link messages, and transmit the calculated data link messages to the central processing unit and the perception display terminal;

[0014] The perception display terminal is connected to the perception processing module and is used to display the status of the entire machine.

[0015] Furthermore, each sensor is connected to the data access module via the first bus.

[0016] Furthermore, the data access module, the central processing unit, the execution unit, the perception processing module, the control terminal and the perception display terminal are interconnected via a second bus.

[0017] Another aspect of the present invention relates to a state perception method of an electric lift vehicle, which is applied to the state perception system of the electric lift vehicle as described above, and comprises the following steps:

[0018] Sensors collect terminal data;

[0019] The data access module connects each sensor input to the data acquisition link;

[0020] The central processing unit receives the remote control command issued by the control terminal, parses and processes the terminal data in the data link, extracts the performance characteristic parameters of the whole machine, and transmits the parsed characteristic parameters to the perception processing module;

[0021] According to the performance characteristic curve, the perception processing module processes the data link message, parses the data link message, calculates the performance characteristic parameter deviation value, and determines the current characteristic parameter deviation state;

[0022] According to the characteristic parameter deviation status, the current characteristic parameter status level is determined, and the perception display terminal displays the status of the entire machine.

[0023] Further, according to the performance characteristic curve, the perception processing module processes the data link message, parses the data link message, calculates the performance characteristic parameter deviation value, and in the step of determining the current characteristic parameter deviation state, the characteristic parameter deviation value is calculated by the following formula:

[0024] δ=F b -F a

[0025] Among them, δ is the characteristic parameter deviation value, F a is the performance baseline curve, F bis the current characteristic performance curve.

[0026] Furthermore, according to the characteristic parameter deviation state, the state level of the current characteristic parameter is determined, and in the step of the perception display terminal displaying the state of the whole machine, when the characteristic parameter deviation value δ is less than or equal to the first threshold value δ1 of the state level, the current performance characteristic parameter is determined to be in a healthy state; when the characteristic parameter deviation value δ is greater than the first threshold value δ1 of the state level, and less than or equal to the second threshold value δ2 of the state level, the performance characteristic parameter is determined to be in a sub-healthy state; when the characteristic parameter deviation value δ is greater than the second threshold value δ2 of the state level, and less than or equal to the third threshold value δ3 of the state level, the current performance characteristic parameter is determined to be in a fault waiting for repair state; when the characteristic parameter deviation value δ is greater than the third threshold value δ3 of the state level, the current performance characteristic parameter is determined to be in a failed state.

[0027] Further, according to the characteristic parameter deviation state, the state level of the current characteristic parameter is determined, and in the step of sensing the display terminal displaying the whole machine state, G1 is the first threshold of the degradation acceleration rate, G2 is the second threshold of the degradation acceleration rate, G3 is the third threshold of the degradation acceleration rate, and G a (X) is the expected curve of the degradation acceleration rate under the healthy state of characteristic parameters, G b (X) is the expected curve of the degradation acceleration rate under the sub-health state of characteristic parameters, G c (X) is the expected curve of degradation acceleration rate under characteristic parameter fault state, G d (X) is the expected curve of the degradation acceleration rate under the characteristic parameter failure state, and the horizontal axis X is the response excitation; the degradation acceleration rate curve G a (X) When the characteristic parameter is healthy, as X increases, it grows positively between 0 and the first threshold value G1 of the degradation acceleration rate; the degradation acceleration rate curve G b (X) In the sub-healthy state of characteristic parameters, as X increases, it grows positively between the first threshold value G1 of the degradation acceleration rate and the first threshold value G2 of the degradation acceleration rate; the degradation acceleration rate curve G c (X) In the characteristic parameter fault state, as X increases, it grows positively between the first degradation acceleration rate threshold G2 and the first degradation acceleration rate threshold G3; the degradation acceleration rate curve G d (X) When the characteristic parameter fails, as X increases, it becomes positive in the interval greater than the third threshold value G3 of the degradation acceleration rate.

[0028] Further, according to the characteristic parameter deviation state, the current characteristic parameter state level is determined, and in the step of sensing the display terminal displaying the whole machine state, G a (X) is the expected curve of the degradation acceleration rate under the healthy state of characteristic parameters, G b (X) is the expected curve of the degradation acceleration rate under the sub-health state of characteristic parameters, G c(X) is the expected curve of degradation acceleration rate under characteristic parameter fault state, G d (X) is the expected curve of the degradation acceleration rate under the failure state of the characteristic parameter, and the horizontal axis X is the response excitation; F0(X) is the actual curve of the degradation acceleration rate under the healthy state of the characteristic parameter, F1(X) is the actual curve of the degradation acceleration rate under the sub-healthy state of the characteristic parameter, F2(X) is the actual curve of the degradation acceleration rate under the fault state of the characteristic parameter, and F3(X) is the actual curve of the degradation acceleration rate under the failure state of the characteristic parameter;

[0029] △G a is the degradation acceleration rate deviation state under the healthy state of characteristic parameters, △G a The calculated value is: △G a =F0(X)-G a (X);

[0030] △G b is the characteristic parameter degradation acceleration rate deviation state under sub-health state, △G b The calculated value is: △G b =F1(X)-G b (X);

[0031] △G c is the degradation acceleration rate deviation state under the characteristic parameter fault state, △G c The calculated value is: △G c =F2(X)-G c (X);

[0032] △G d is the degradation acceleration rate deviation state under the characteristic parameter failure state, △G d The calculated value is: △G d =F3(X)-G d (X).

[0033] Further, according to the characteristic parameter deviation state, the state level of the current characteristic parameter is determined, and in the step of the sensing display terminal displaying the whole machine state, α1 is the first threshold of the healthy state, α2 is the second threshold of the healthy state, and α3 is the third threshold of the healthy state; β1 is the first threshold of the sub-healthy state, β2 is the second threshold of the sub-healthy state, and β3 is the third threshold of the sub-healthy state; γ1 is the first threshold of the fault waiting to be repaired state, γ2 is the second threshold of the fault waiting to be repaired state, and γ3 is the third threshold of the fault waiting to be repaired state; λ1 is the first threshold of the failure state, λ2 is the second threshold of the failure state, and λ3 is the third threshold of the failure state;

[0034] Region A1 is a normal degradation state under the healthy state of the characteristic parameter, region A2 is an accelerated degradation state under the healthy state of the characteristic parameter, and region A3 is an abnormal degradation state under the healthy state of the characteristic parameter; region B1 is a normal degradation state under the sub-healthy state of the characteristic parameter, region B2 is an accelerated degradation state under the sub-healthy state of the characteristic parameter, and region B3 is an abnormal degradation state under the sub-healthy state of the characteristic parameter; region C1 is a normal degradation state under the fault waiting for repair state of the characteristic parameter, region C2 is an accelerated degradation state under the fault waiting for repair state of the characteristic parameter, and region C3 is an abnormal degradation state under the sub-fault waiting for repair state of the characteristic parameter; region D1 is a normal degradation state under the failure state of the characteristic parameter, region D2 is an accelerated degradation state under the failure state of the characteristic parameter, and region D3 is an abnormal degradation state under the sub-failure state of the characteristic parameter;

[0035] In the healthy state of the characteristic parameters, when the degradation acceleration rate deviation state of the characteristic parameters in the healthy state is less than or equal to the first threshold of the healthy state, that is, △G a ≤α1, it is judged as a normal degradation state under a healthy state, that is, it belongs to region A1. When the characteristic parameter is in a healthy state, the characteristic parameter degradation acceleration rate deviation state is greater than; when the characteristic parameter is in a healthy state, the first threshold value is less than or equal to the second threshold value of the healthy state, that is, α1<△G a ≤α2, it is judged as accelerated degradation state in healthy state, that is, it belongs to area A2; when the characteristic parameter is in healthy state, when the degradation acceleration rate deviation state in healthy state of characteristic parameter is greater than the second threshold of healthy state and less than or equal to the third threshold of healthy state, that is, α2<△G a When ≤α3, it is judged as an abnormally degraded state under a healthy state, that is, it belongs to region A3;

[0036] In the sub-health state of characteristic parameters, when the degradation acceleration rate deviation state of characteristic parameters in the sub-health state is less than or equal to the first threshold of the sub-health state, that is, △G b ≤β1, it is judged as a normal degradation state under subhealth state, that is, it belongs to area B1; in the characteristic parameter subhealth state, when the degradation acceleration rate deviation state under the characteristic parameter subhealth state is greater than the first threshold of the subhealth state and less than or equal to the second threshold of the healthy state, that is, β1<△G b ≤β2, it is judged as accelerated degradation under subhealth state, that is, it belongs to area B2; in the characteristic parameter subhealth state, when the degradation acceleration rate deviation state under the characteristic parameter subhealth state is greater than the second threshold of subhealth state and less than or equal to the third threshold of subhealth state, that is, β2<△G b When ≤β3, it is judged as an abnormal degenerative state under subhealth condition, that is, it belongs to area B3;

[0037] In the characteristic parameter fault waiting for repair state, when the degradation acceleration rate deviation state in the characteristic parameter fault waiting for repair state is less than or equal to the first threshold value of the fault waiting for repair state, that is, △Gc ≤γ1, it is judged as the normal degradation state in the fault waiting for repair state, that is, it belongs to region C1; in the characteristic parameter fault waiting for repair state, when the degradation acceleration rate deviation state in the characteristic parameter fault waiting for repair state is greater than the first threshold of the fault waiting for repair state and less than or equal to the second threshold of the fault waiting for repair state, that is, γ1<△G c ≤γ2, it is judged as the accelerated degradation state in the fault waiting for repair state, that is, it belongs to region C2; in the characteristic parameter fault waiting for repair state, when the characteristic parameter fault waiting for repair state degradation acceleration rate deviation state is greater than the second threshold value of the fault waiting for repair state and less than or equal to the third threshold value of the fault waiting for repair state, that is, γ2<△G c When ≤γ3, it is judged as an abnormal degradation state under the fault waiting for repair state, that is, it belongs to area C3;

[0038] In the characteristic parameter failure state, when the degradation acceleration rate deviation state is less than or equal to the first threshold of the failure state, that is, △G d ≤λ1, it is judged as a normal degradation state under the failure state, that is, it belongs to area D1; in the characteristic parameter failure state, the degradation acceleration rate deviation state under the characteristic parameter failure state is greater than the first threshold of the failure state and less than or equal to the second threshold of the failure state, that is, λ1<△G d ≤λ2, it is judged as accelerated degradation state under failure state, that is, it belongs to region D2; in the characteristic parameter failure state, when the degradation acceleration rate deviation state under the characteristic parameter failure state is greater than the second threshold of the failure state and less than or equal to the third threshold of the failure state, that is, λ2<△G d When ≤λ3, it is judged as an abnormal degradation state under the failure state, that is, it belongs to area D3.

[0039] Another aspect of the present invention relates to an electric lift vehicle, which is applied to the state perception system of the above-mentioned electric lift vehicle, and a perception display terminal is used to visualize the current device state.

[0040] The beneficial effects achieved by the present invention are:

[0041] The present invention provides a state perception system and method of an electric lifting vehicle and an electric lifting vehicle, which adopt sensors, data access modules, central processing units, execution units, perception processing modules, control terminals and perception display terminals, wherein the sensors are used to collect terminal data; the data access module is used to connect the inputs of various sensors to the collection link, and determine the correctness of the terminal data collected by the sensors; the central processing unit is used to receive remote control instructions issued by the control terminal, parse and process the terminal data in the data link, control the actions of the execution units, and transmit the parsed terminal data to the perception processing module; the execution unit is used to receive superior instructions issued by the central processing unit, and perform corresponding actions according to the superior instructions; the perception processing module is used to process data link messages, parse and calculate the processed data link messages, and transmit the calculated data link messages to the central processing unit and the perception display terminal; the perception display terminal is used to display the state of the whole machine. The state perception system, method and electric lift vehicle provided by the present invention can not only collect data and collect and analyze messages; at the same time, it can determine the current health status of the equipment; meet the new needs of the electrification trend of engineering vehicles, not only can a large amount of basic data be collected, but also the equipment status can be perceived and evaluated from the perspective of the whole machine through algorithms; the health status of the equipment can be predicted in advance through the decay trend of characteristic parameters, and early warning maintenance can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the state perception structure of a traditional engineering vehicle;

[0043] Figure 2 This is a functional block diagram of a state perception system for an electric lifting vehicle of the present invention;

[0044] Figure 3 A schematic diagram of a network topology structure of a state perception system of an electric lifting vehicle according to the present invention;

[0045] Figure 4 A schematic flow chart of a state perception method of an electric lifting vehicle according to the present invention;

[0046] Figure 5 A schematic diagram of a state deviation curve of a state sensing system of an electric lifting vehicle of the present invention;

[0047] Figure 6 A schematic diagram of state characteristic parameter state levels of a state perception system for an electric lifting vehicle according to the present invention;

[0048] Figure 7 A schematic diagram of the degradation acceleration rate of characteristic parameters of a state perception system of an electric lifting vehicle according to the present invention;

[0049] Figure 8A schematic diagram of a characteristic parameter degradation acceleration rate state deviation of a state perception system of an electric lifting vehicle according to the present invention;

[0050] Fig. 9 A schematic diagram of the state interval of the characteristic parameter degradation trend of the state perception system of an electric lifting vehicle of the present invention

[0051] Fig.10 The present invention is a schematic diagram of a system user interface of a state perception system for an electric lifting vehicle.

[0052] Description of Figure Numbers:

[0053] 10. Sensor; 20. Data access module; 30. Central processing unit; 40. Execution unit; 50. Perception processing module; 60. Control terminal; 70. Perception display terminal. DETAILED DESCRIPTION

[0054] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0055] like Figure 2 and Figure 3 As shown, the first embodiment of the present invention proposes a state perception system for an electric lifting vehicle, including a sensor 10, a data access module 20, a central processing unit 30, an execution unit 40, a perception processing module 50, a control terminal 60 and a perception display terminal 70, wherein the sensor 10 is used to collect terminal data; the data access module 20 is connected to the sensor 10, and is used to input each sensor 10 into the collection link and determine the correctness of the terminal data collected by the sensor 10; the central processing unit 30 is connected to the data access module 20, the execution unit 40, the perception processing module 50 and the control terminal 60, and is used to receive the remote control command issued by the control terminal 60, The terminal data in the data link is parsed and processed to control the action of the execution unit 40, and the parsed terminal data is passed to the perception processing module 50; the execution unit 40 is connected to the central processing unit 30, and is used to receive the superior instructions issued by the central processing unit, and perform corresponding actions according to the superior instructions; the perception processing module 50 is connected to the central processing unit 30 and the perception display terminal 70, and is used to process the data link message, and parse and calculate the processed data link message, and pass the calculated data link message to the central processing unit 30 and the perception display terminal 70; the perception display terminal 70 is connected to the perception processing module 50, and is used to display the status of the whole machine.

[0056] In the above structure, see Figure 2 and Figure 3In the state perception system of the electric lifting vehicle provided in this embodiment, each sensor 10 is connected to the data access module 20 through the first bus. The data access module 20, the central processing unit 30, the execution unit 40, the perception processing module 50, the control terminal 60 and the perception display terminal 70 are interconnected through the second bus.

[0057] Please see Figures 3 to 10 The present invention relates to a state perception method of an electric lifting vehicle, which is applied to the state perception system of the electric lifting vehicle as described above, and comprises the following steps:

[0058] Step S100: The sensor collects terminal data.

[0059] Each sensor collects terminal data separately.

[0060] Step S200: The data access module connects each sensor input to the data acquisition link.

[0061] Step S300: The central processing unit receives the remote control command issued by the control terminal, parses and processes the terminal data in the data link, extracts the performance characteristic parameters of the whole machine, and transmits the parsed characteristic parameters to the perception processing module.

[0062] Step S400: According to the performance characteristic curve, the perception processing module processes the data link message, parses the data link message, calculates the performance characteristic parameter deviation value, and determines the current characteristic parameter deviation state.

[0063] Step S500: Determine the state level of the current characteristic parameter according to the characteristic parameter deviation state, and sense the display terminal to display the whole machine state.

[0064] Further, see Figures 3 to 10 In the state perception method of the electric lifting vehicle provided in this embodiment, in step S400, the characteristic parameter deviation value is calculated by the following formula:

[0065] δ=F b XF a X (1)

[0066] In formula (1), δ is the characteristic parameter deviation value, F a X is the performance baseline curve, which is obtained through laboratory or stereotyped equipment experiments; F b X is the current characteristic performance curve, the horizontal axis X is the response excitation, and the vertical axis is the performance index under the corresponding response excitation.

[0067] Preferably, see Figures 3 to 10 The state sensing method of the electric lifting vehicle provided in this embodiment is as follows: Figure 6As shown, in step S500, area 1 is the healthy state of the characteristic parameter, area 2 is the sub-healthy state of the characteristic parameter, area 3 is the fault waiting for repair state of the characteristic parameter, and area 4 is the invalid state of the characteristic parameter. δ1 is the first threshold of the state level, δ2 is the second threshold of the state level, and δ3 is the third threshold of the state level. When the characteristic parameter deviation value δ is less than or equal to the first threshold of the state level δ1, the current performance characteristic parameter is determined to be in a healthy state; when the characteristic parameter deviation value δ is greater than the first threshold of the state level δ1, and less than or equal to the second threshold of the state level δ2, the performance characteristic parameter is determined to be in a sub-healthy state; when the characteristic parameter deviation value is δ greater than the second threshold of the state level δ2, and less than or equal to the third threshold of the state level δ3, the current performance characteristic parameter is determined to be in a fault waiting for repair state; when the characteristic parameter deviation value is δ greater than the third threshold of the state level δ3, the current performance characteristic parameter is determined to be in an invalid state.

[0068] Further, see Figures 3 to 10 In the state perception method of the electric lifting vehicle provided in this embodiment, in step S500, G1 is the first threshold value of the degradation acceleration rate, G2 is the second threshold value of the degradation acceleration rate, G3 is the third threshold value of the degradation acceleration rate, and G a (X) is the expected curve of the degradation acceleration rate under the healthy state of characteristic parameters, G b (X) is the expected curve of the degradation acceleration rate under the sub-health state of characteristic parameters, G c (X) is the expected curve of degradation acceleration rate under characteristic parameter fault state, G d (X) is the expected curve of the degradation acceleration rate under the characteristic parameter failure state, and the horizontal axis X is the response excitation; the degradation acceleration rate curve G a (X) When the characteristic parameter is healthy, as X increases, it grows positively between 0 and the first threshold value G1 of the degradation acceleration rate; the degradation acceleration rate curve G b (X) In the sub-healthy state of characteristic parameters, as X increases, it grows positively between the first threshold value G1 of the degradation acceleration rate and the first threshold value G2 of the degradation acceleration rate; the degradation acceleration rate curve G c (X) In the characteristic parameter fault state, as X increases, it grows positively between the first degradation acceleration rate threshold G2 and the first degradation acceleration rate threshold G3; the degradation acceleration rate curve G d (X) When the characteristic parameter fails, as X increases, it becomes positive in the interval greater than the third threshold value G3 of the degradation acceleration rate.

[0069] Preferably, see Figures 3 to 10 In the state perception method of the electric lifting vehicle provided in this embodiment, in step S500, G a (X) is the expected curve of the degradation acceleration rate under the healthy state of characteristic parameters, G b (X) is the expected curve of the degradation acceleration rate under the sub-health state of characteristic parameters, Gc (X) is the expected curve of degradation acceleration rate under characteristic parameter fault state, G d (X) is the expected curve of the degradation acceleration rate under the failure state of the characteristic parameter, and the horizontal axis X is the response excitation; F0(X) is the actual curve of the degradation acceleration rate under the healthy state of the characteristic parameter, F1(X) is the actual curve of the degradation acceleration rate under the sub-healthy state of the characteristic parameter, F2(X) is the actual curve of the degradation acceleration rate under the fault state of the characteristic parameter, and F3(X) is the actual curve of the degradation acceleration rate under the failure state of the characteristic parameter.

[0070] △G a is the degradation acceleration rate deviation state under the healthy state of characteristic parameters, △G a The calculated value is: △G a =F0(X)-G a (X).

[0071] △G b is the characteristic parameter degradation acceleration rate deviation state under sub-health state, △G b The calculated value is: △G b =F1(X)-G b (X).

[0072] △G c is the degradation acceleration rate deviation state under the characteristic parameter fault state, △G c The calculated value is: △G c =F2(X)-G c (X).

[0073] △G d is the degradation acceleration rate deviation state under the characteristic parameter failure state, △G d The calculated value is: △G d =F3(X)-G d (X).

[0074] Further, see Figures 3 to 10 In the state sensing method of the electric lifting vehicle provided in this embodiment, in step S500, Fig. 9 As shown, area 1 is the healthy state of the characteristic parameter, area 2 is the sub-healthy state of the characteristic parameter, area 3 is the fault waiting for repair state of the characteristic parameter, and area 4 is the failure state of the characteristic parameter. α1 is the first threshold of the healthy state, α2 is the second threshold of the healthy state, and α3 is the third threshold of the healthy state; β1 is the first threshold of the sub-healthy state, β2 is the second threshold of the sub-healthy state, and β3 is the third threshold of the sub-healthy state; γ1 is the first threshold of the fault waiting for repair state, γ2 is the second threshold of the fault waiting for repair state, and γ3 is the third threshold of the fault waiting for repair state; λ1 is the first threshold of the failure state, λ2 is the second threshold of the failure state, and λ3 is the third threshold of the failure state;

[0075] Region A1 is the normal degradation state under the healthy state of the characteristic parameter, region A2 is the accelerated degradation state under the healthy state of the characteristic parameter, and region A3 is the abnormal degradation state under the healthy state of the characteristic parameter; region B1 is the normal degradation state under the sub-healthy state of the characteristic parameter, region B2 is the accelerated degradation state under the sub-healthy state of the characteristic parameter, and region B3 is the abnormal degradation state under the sub-healthy state of the characteristic parameter; region C1 is the normal degradation state under the fault waiting for repair state of the characteristic parameter, region C2 is the accelerated degradation state under the fault waiting for repair state of the characteristic parameter, and region C3 is the abnormal degradation state under the sub-fault waiting for repair state of the characteristic parameter; region D1 is the normal degradation state under the failure state of the characteristic parameter, region D2 is the accelerated degradation state under the failure state of the characteristic parameter, and region D3 is the abnormal degradation state under the sub-failure state of the characteristic parameter.

[0076] In the healthy state of the characteristic parameters, when the degradation acceleration rate deviation state of the characteristic parameters in the healthy state is less than or equal to the first threshold of the healthy state, that is, △G a ≤α1, it is judged as a normal degradation state under a healthy state, that is, it belongs to region A1. When the characteristic parameter is in a healthy state, the characteristic parameter degradation acceleration rate deviation state is greater than; when the characteristic parameter is in a healthy state, the first threshold value is less than or equal to the second threshold value of the healthy state, that is, α1<△G a ≤α2, it is judged as accelerated degradation state in healthy state, that is, it belongs to area A2; when the characteristic parameter is in healthy state, when the degradation acceleration rate deviation state in healthy state of characteristic parameter is greater than the second threshold of healthy state and less than or equal to the third threshold of healthy state, that is, α2<△G a When ≤α3, it is judged as an abnormal degradation state under a healthy state, that is, it belongs to area A3.

[0077] In the sub-health state of characteristic parameters, when the degradation acceleration rate deviation state of characteristic parameters in the sub-health state is less than or equal to the first threshold of the sub-health state, that is, △G b ≤β1, it is judged as a normal degradation state under subhealth state, that is, it belongs to area B1; in the characteristic parameter subhealth state, when the degradation acceleration rate deviation state under the characteristic parameter subhealth state is greater than the first threshold of the subhealth state and less than or equal to the second threshold of the healthy state, that is, β1<△G b ≤β2, it is judged as accelerated degradation under subhealth state, that is, it belongs to area B2; in the characteristic parameter subhealth state, when the degradation acceleration rate deviation state under the characteristic parameter subhealth state is greater than the second threshold of subhealth state and less than or equal to the third threshold of subhealth state, that is, β2<△G b When ≤β3, it is judged as an abnormal degradation state under subhealth state, that is, it belongs to area B3.

[0078] In the characteristic parameter fault waiting for repair state, when the degradation acceleration rate deviation state in the characteristic parameter fault waiting for repair state is less than or equal to the first threshold value of the fault waiting for repair state, that is, △Gc ≤γ1, it is judged as the normal degradation state in the fault waiting for repair state, that is, it belongs to region C1; in the characteristic parameter fault waiting for repair state, when the degradation acceleration rate deviation state in the characteristic parameter fault waiting for repair state is greater than the first threshold of the fault waiting for repair state and less than or equal to the second threshold of the fault waiting for repair state, that is, γ1<△G c ≤γ2, it is judged as the accelerated degradation state in the fault waiting for repair state, that is, it belongs to region C2; in the characteristic parameter fault waiting for repair state, when the characteristic parameter fault waiting for repair state degradation acceleration rate deviation state is greater than the second threshold value of the fault waiting for repair state and less than or equal to the third threshold value of the fault waiting for repair state, that is, γ2<△G c When ≤γ3, it is judged as an abnormal degradation state in the fault waiting for repair state, that is, it belongs to area C3.

[0079] In the characteristic parameter failure state, when the degradation acceleration rate deviation state is less than or equal to the first threshold of the failure state, that is, △G d ≤λ1, it is judged as a normal degradation state under the failure state, that is, it belongs to area D1; in the characteristic parameter failure state, the degradation acceleration rate deviation state under the characteristic parameter failure state is greater than the first threshold of the failure state and less than or equal to the second threshold of the failure state, that is, λ1<△G d ≤λ2, it is judged as accelerated degradation state under failure state, that is, it belongs to region D2; in the characteristic parameter failure state, when the degradation acceleration rate deviation state under the characteristic parameter failure state is greater than the second threshold of the failure state and less than or equal to the third threshold of the failure state, that is, λ2<△G d When ≤λ3, it is judged as an abnormal degradation state under the failure state, that is, it belongs to area D3.

[0080] The present invention relates to an electric lifting vehicle, which is applied to the state perception system of the electric lifting vehicle, wherein the perception display terminal 70 is used to visualize the current device state. Fig.10 As shown, in the perception display terminal 70 of the state perception system of the electric lifting vehicle, the user interface displayed by the perception display terminal 70 includes displaying the chassis state and the upper body state, and indicating the current state of different characteristic parameters by different colors. At the same time, by turning on the display state trend button, the current characteristic parameter degradation trend can be displayed.

[0081] The present embodiment provides a state perception system and method of an electric lifting vehicle and an electric lifting vehicle. Compared with the prior art, the system adopts sensors, data access modules, central processing units, execution units, perception processing modules, control terminals and perception display terminals. The sensors are used to collect terminal data; the data access module is used to connect the inputs of various sensors to the collection link and determine the correctness of the terminal data collected by the sensors; the central processing unit is used to receive remote control instructions issued by the control terminal, parse and process the terminal data in the data link, control the execution unit action, and pass the parsed terminal data to the perception processing module; the execution unit is used to receive superior instructions issued by the central processing unit and perform corresponding actions according to the superior instructions; the perception processing module is used to process data link messages, parse and calculate the processed data link messages, and pass the calculated data link messages to the central processing unit and the perception display terminal; the perception display terminal is used to display the status of the whole machine. The state perception system, method and electric lift vehicle provided in this embodiment can not only collect data and collect and analyze messages; but also determine the current health status of the equipment; meet the new needs of the electrification trend of engineering vehicles, not only can a large amount of basic data be collected, but also the equipment status can be perceived and evaluated from the perspective of the whole machine through algorithms; the health status of the equipment can be predicted in advance through the decay trend of characteristic parameters, and maintenance can be warned in advance.

[0082] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A state sensing system for an electric lifting vehicle, characterized in that: The system comprises a sensor (10), a data access module (20), a central processing unit (30), an execution unit (40), a perception processing module (50), a control terminal (60) and a perception display terminal (70), wherein: The sensor (10) is used to collect terminal data; The data access module (20) is connected to the sensor (10) and is used to input each sensor (10) into the collection link and determine the correctness of the terminal data collected by the sensor (10); The central processing unit (30) is connected to the data access module (20), the execution unit (40), the perception processing module (50) and the control terminal (60), and is used to receive the remote control command issued by the control terminal (60), parse and process the terminal data in the data link, control the action of the execution unit (40), and transmit the parsed terminal data to the perception processing module (50); The execution unit (40) is connected to the central processing unit (30) and is used to receive a superior instruction issued by the central processing unit (30) and execute a corresponding action according to the superior instruction; The perception processing module (50) is connected to the central processing unit (30) and the perception display terminal (70), and is used to process data link messages, parse and calculate the processed data link messages, and transmit the calculated data link messages to the central processing unit (30) and the perception display terminal (70); The perception display terminal (70) is connected to the perception processing module (50) and is used to display the status of the entire machine.

2. The state sensing system of the electric lifting vehicle according to claim 1, characterized in that: Each of the sensors (10) is connected to the data access module (20) via a first bus.

3. The state sensing system of the electric lifting vehicle according to claim 2, characterized in that: The data access module (20), the central processing unit (30), the execution unit (40), the perception processing module (50), the control terminal (60) and the perception display terminal (70) are interconnected via a second bus.

4. A state perception method for an electric lifting vehicle, applied to the state perception system for an electric lifting vehicle as claimed in any one of claims 1 to 3, characterized in that: The following steps are involved: Sensors collect terminal data; The data access module connects each sensor input to the data acquisition link; The central processing unit receives the remote control command issued by the control terminal, parses and processes the terminal data in the data link, extracts the performance characteristic parameters of the whole machine, and transmits the parsed characteristic parameters to the perception processing module; According to the performance characteristic curve, the perception processing module processes the data link message, parses the data link message, calculates the performance characteristic parameter deviation value, and determines the current characteristic parameter deviation state; According to the characteristic parameter deviation status, the current characteristic parameter status level is determined, and the perception display terminal displays the status of the entire machine.

5. The state sensing system of the electric lifting vehicle according to claim 4, characterized in that: In the step of processing the data link message according to the performance characteristic curve by the perception processing module, parsing the data link message, calculating the performance characteristic parameter deviation value, and determining the current characteristic parameter deviation state, the characteristic parameter deviation value is calculated by the following formula: δ=F b (X)-F a (X) Among them, δ is the characteristic parameter deviation value, F a (X) is the performance baseline curve, F b (X) is the current characteristic performance curve.

6. The state sensing system of the electric lifting vehicle according to claim 5, characterized in that: In the step of determining the state level of the current characteristic parameter according to the characteristic parameter deviation state, and sensing the display terminal to display the whole machine state, when the characteristic parameter deviation value δ is less than or equal to the state level first threshold δ1, the current performance characteristic parameter is determined to be in a healthy state; When the characteristic parameter deviation value δ is greater than the first state level threshold δ1 and less than or equal to the second state level threshold δ2, the performance characteristic parameter is determined to be in a sub-healthy state; When the characteristic parameter deviation value δ is greater than the second state level threshold δ2 and less than or equal to the third state level threshold δ3, it is determined that the current performance characteristic parameter is in a fault waiting for repair state; When the characteristic parameter deviation value δ is greater than the third threshold value δ3 of the state level, it is determined that the current performance characteristic parameter is in a failure state.

7. The state sensing system of the electric lifting vehicle according to claim 5, characterized in that: In the step of determining the state level of the current characteristic parameter according to the characteristic parameter deviation state and sensing that the display terminal displays the whole machine state, G1 is the first threshold of the degradation acceleration rate, G2 is the second threshold of the degradation acceleration rate, G3 is the third threshold of the degradation acceleration rate, and G a (X) is the expected curve of the degradation acceleration rate under the healthy state of characteristic parameters, G b (X) is the expected curve of the degradation acceleration rate under the sub-health state of characteristic parameters, G c (X) is the expected curve of degradation acceleration rate under characteristic parameter fault state, G d (X) is the expected curve of the degradation acceleration rate under the characteristic parameter failure state, and the horizontal axis X is the response excitation; the degradation acceleration rate curve G a (X) When the characteristic parameter is healthy, as X increases, it grows positively between 0 and the first threshold value G1 of the degradation acceleration rate; the degradation acceleration rate curve G b (X) In the sub-healthy state of characteristic parameters, as X increases, it grows positively between the first threshold value G1 of the degradation acceleration rate and the first threshold value G2 of the degradation acceleration rate; the degradation acceleration rate curve G c (X) In the characteristic parameter fault state, as X increases, it grows positively between the first degradation acceleration rate threshold G2 and the first degradation acceleration rate threshold G3; the degradation acceleration rate curve G d (X) When the characteristic parameter fails, as X increases, it becomes positive in the interval greater than the third threshold value G3 of the degradation acceleration rate.

8. The state sensing system of the electric lifting vehicle according to claim 5, characterized in that: In the step of determining the state level of the current characteristic parameter according to the characteristic parameter deviation state and sensing the display terminal displaying the whole machine state, G a (X) is the expected curve of the degradation acceleration rate under the healthy state of characteristic parameters, G b (X) is the expected curve of the degradation acceleration rate under the sub-health state of characteristic parameters, G c (X) is the expected curve of degradation acceleration rate under characteristic parameter fault state, G d (X) is the expected curve of the degradation acceleration rate under the failure state of the characteristic parameter, and the horizontal axis X is the response excitation; F0(X) is the actual curve of the degradation acceleration rate under the healthy state of the characteristic parameter, F1(X) is the actual curve of the degradation acceleration rate under the sub-healthy state of the characteristic parameter, F2(X) is the actual curve of the degradation acceleration rate under the fault state of the characteristic parameter, and F3(X) is the actual curve of the degradation acceleration rate under the failure state of the characteristic parameter; △G a is the degradation acceleration rate deviation state under the healthy state of characteristic parameters, △G a The calculated value is: △G a =F0(X)-G a (X); △G b is the characteristic parameter degradation acceleration rate deviation state under sub-health state, △G b The calculated value is: △G b =F1(X)-G b (X); △G c is the degradation acceleration rate deviation state under the characteristic parameter fault state, △G c The calculated value is: △G c =F2(X)-G c (X); △G d is the degradation acceleration rate deviation state under the characteristic parameter failure state, △G d The calculated value is: △G d =F3(X)-G d (X).

9. The state sensing system of the electric lifting vehicle according to claim 5, characterized in that: In the step of determining the state level of the current characteristic parameter according to the characteristic parameter deviation state, and the sensing display terminal displays the state of the whole machine, α1 is the first threshold of the healthy state, α2 is the second threshold of the healthy state, and α3 is the third threshold of the healthy state; β1 is the first threshold of the sub-healthy state, β2 is the second threshold of the sub-healthy state, and β3 is the third threshold of the sub-healthy state; γ1 is the first threshold of the fault waiting to be repaired state, γ2 is the second threshold of the fault waiting to be repaired state, and γ3 is the third threshold of the fault waiting to be repaired state; λ1 is the first threshold of the failure state, λ2 is the second threshold of the failure state, and λ3 is the third threshold of the failure state; Region A1 is a normal degradation state under the healthy state of the characteristic parameter, region A2 is an accelerated degradation state under the healthy state of the characteristic parameter, and region A3 is an abnormal degradation state under the healthy state of the characteristic parameter; region B1 is a normal degradation state under the sub-healthy state of the characteristic parameter, region B2 is an accelerated degradation state under the sub-healthy state of the characteristic parameter, and region B3 is an abnormal degradation state under the sub-healthy state of the characteristic parameter; region C1 is a normal degradation state under the fault waiting for repair state of the characteristic parameter, region C2 is an accelerated degradation state under the fault waiting for repair state of the characteristic parameter, and region C3 is an abnormal degradation state under the sub-fault waiting for repair state of the characteristic parameter; region D1 is a normal degradation state under the failure state of the characteristic parameter, region D2 is an accelerated degradation state under the failure state of the characteristic parameter, and region D3 is an abnormal degradation state under the sub-failure state of the characteristic parameter; In the healthy state of the characteristic parameters, when the degradation acceleration rate deviation state of the characteristic parameters in the healthy state is less than or equal to the first threshold of the healthy state, that is, △G a ≤α1, it is judged as a normal degradation state under a healthy state, that is, it belongs to region A1. When the characteristic parameter is in a healthy state, the characteristic parameter degradation acceleration rate deviation state is greater than; when the characteristic parameter is in a healthy state, the first threshold value is less than or equal to the second threshold value of the healthy state, that is, α1<△G a When ≤α2, it is judged as accelerated degradation state under healthy state, that is, it belongs to area A2; In the healthy state of the characteristic parameter, when the degradation acceleration rate deviation state in the healthy state of the characteristic parameter is greater than the second threshold of the healthy state and less than or equal to the third threshold of the healthy state, that is, α2<△G a When ≤α3, it is judged as an abnormally degraded state under a healthy state, that is, it belongs to region A3; In the sub-health state of characteristic parameters, when the degradation acceleration rate deviation state of characteristic parameters in the sub-health state is less than or equal to the first threshold of the sub-health state, that is, △G b When ≤β1, it is judged as a normal degenerative state under subhealth conditions, that is, it belongs to area B1; In the sub-health state of the characteristic parameter, when the degradation acceleration rate deviation state in the sub-health state of the characteristic parameter is greater than the first threshold of the sub-health state and less than or equal to the second threshold of the healthy state, that is, β1<△G b When ≤β2, it is judged as a sub-healthy state with accelerated degradation, that is, it belongs to area B2; In the sub-health state of the characteristic parameter, when the degradation acceleration rate deviation state in the sub-health state of the characteristic parameter is greater than the second threshold of the sub-health state and less than or equal to the third threshold of the sub-health state, that is, β2<△G b When ≤β3, it is judged as an abnormal degenerative state under subhealth condition, that is, it belongs to area B3; In the characteristic parameter fault waiting for repair state, when the degradation acceleration rate deviation state in the characteristic parameter fault waiting for repair state is less than or equal to the first threshold of the fault waiting for repair state, that is, △G c ≤γ1, it is judged as the normal degradation state in the fault waiting for repair state, that is, it belongs to region C1; in the characteristic parameter fault waiting for repair state, when the degradation acceleration rate deviation state in the characteristic parameter fault waiting for repair state is greater than the first threshold of the fault waiting for repair state and less than or equal to the second threshold of the fault waiting for repair state, that is, γ1<△G c When ≤γ2, it is judged as the accelerated degradation state under the fault waiting for repair state, that is, it belongs to area C2; In the characteristic parameter fault waiting for repair state, when the degradation acceleration rate deviation state in the characteristic parameter fault waiting for repair state is greater than the second threshold of the fault waiting for repair state and less than or equal to the third threshold of the fault waiting for repair state, that is, γ2<△G c When ≤γ3, it is judged as an abnormal degradation state under the fault waiting for repair state, that is, it belongs to area C3; In the characteristic parameter failure state, when the degradation acceleration rate deviation state is less than or equal to the first threshold of the failure state, that is, △G d When ≤λ1, it is judged to be in a normal degradation state under the failure state, that is, it belongs to region D1; In the characteristic parameter failure state, the degradation acceleration rate deviation state in the characteristic parameter failure state is greater than the first threshold of the failure state and less than or equal to the second threshold of the failure state, that is, λ1<△G d When ≤λ2, it is judged to be an accelerated degradation state under failure state, that is, it belongs to region D2; In the characteristic parameter failure state, when the degradation acceleration rate deviation state in the characteristic parameter failure state is greater than the second threshold of the failure state and less than or equal to the third threshold of the failure state, that is, λ2<△G d When ≤λ3, it is judged as an abnormal degradation state under the failure state, that is, it belongs to area D3.

10. An electric lifting vehicle, applied to the state sensing system of the electric lifting vehicle according to any one of claims 1 to 3, characterized in that: The perception display terminal (70) is used to visualize the current device status.

Images