Angle sensor verification method and device, electronic equipment and aerial work machine

Abstract

The invention relates to the technical field of high-altitude operation machinery, in particular to an angle sensor verification method and device, electronic equipment and high-altitude operation machinery. The method is applied to the high-altitude operation machine, two angle sensors are installed at the tail of a mechanical arm of the high-altitude operation machine in parallel, and the method comprises the steps that in the amplitude variation process of the mechanical arm of the high-altitude operation machine, the current angle value, measured by each angle sensor, of the mechanical arm is periodically obtained; comparing the current angle values measured by the two angle sensors, and outputting alarm information according to a comparison result; and according to a comparison result, an angle sensor corresponding to the mechanical arm is verified. Two angle sensors installed at the tail of the arm in parallel are used for collecting angle information from different positions and verifying the angle information mutually. Measurement errors possibly existing in a single sensor are reduced, and the accuracy of overall angle measurement is improved. And in addition, the possible abnormal data condition of the angle sensor can be found in time, and mechanical arm operation errors caused by angle data errors are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work machinery, and specifically relates to an angle sensor calibration method, device, electronic device, and aerial work machinery. Background Art

[0002] In many fields such as modern construction, municipal maintenance, and power maintenance, aerial work machinery, as a key construction equipment, plays an irreplaceable role. It can safely and efficiently deliver operators to designated high-altitude positions, greatly improving the efficiency and safety of high-altitude operations. The operation safety of aerial work machinery highly depends on the precise control of the overall vehicle amplitude, and angle detection is the core link to achieve accurate amplitude calculation.

[0003] Currently, the industry generally uses angle sensors to perform real-time angle detection on aerial work machinery. Although this detection method can obtain angle data under normal circumstances, it has obvious limitations. Once the angle sensor has inaccurate data, the existing system often has difficulty effectively detecting it and promptly prompting the operator.

[0004] In actual operation scenarios, the harm of inaccurate angle sensor data cannot be underestimated. When the angle data deviates, the overall vehicle amplitude calculated based on this data will inevitably be incorrect, which may cause the operation range to exceed the safety limit, resulting in collisions between the robotic arm and surrounding obstacles, not only damaging the equipment but also potentially causing casualties to the operators. In power maintenance operations, if the robotic arm approaches high-voltage lines due to inaccurate angle measurement, it is extremely likely to trigger an electric shock accident, seriously threatening the lives of personnel and causing significant property losses.

[0005] The existing technology has deficiencies in dealing with the problem of inaccurate angle sensor data and is difficult to meet the increasing safety and precise operation requirements of aerial work machinery. Therefore, how to calibrate the angle sensor in aerial work machinery has become an urgent problem to be solved. Summary of the Invention

[0006] In view of this, the present invention provides an angle sensor calibration method, device, electronic device, and aerial work machinery to solve the problem of how to calibrate the angle sensor.

[0007] In a first aspect, the present invention provides an angle sensor calibration method, which is applied to an aerial work machinery. Two angle sensors are installed in parallel at the tail of the robotic arm of the aerial work machinery. The method includes:

[0008] During the amplitude variation of the robotic arm of the aerial work machinery, periodically obtain the current angle values of the robotic arm measured by each angle sensor;

[0009] Compare the current angle values measured by the two angle sensors, and output an alarm message according to the comparison result;

[0010] According to the comparison result, calibrate the angle sensor corresponding to the robotic arm.

[0011] The angle sensor calibration method provided by the embodiment of the present application is applied to an aerial work machine. Two angle sensors are installed in parallel at the end of the robotic arm of the aerial work machine. By using the two angle sensors installed in parallel at the end of the arm, angle information is collected from different positions and cross-checked with each other. The measurement results of the two sensors are compared with each other, which can reduce the measurement errors that may exist in a single sensor and improve the accuracy of the overall angle measurement. For aerial work tasks with high requirements for angle accuracy (such as aerial installation, maintenance, etc.), this ensures that the robotic arm can accurately reach the specified position and improves the operation quality. During the amplitude variation process of the robotic arm of the aerial work machine, periodically obtain the current angle value of the robotic arm measured by each angle sensor. Compare the current angle values measured by the two angle sensors, and output an alarm message according to the comparison result; according to the comparison result, calibrate the angle sensor corresponding to the robotic arm. Thus, it can timely detect possible abnormal data situations of the angle sensor. Once an abnormality is found, calibrate the angle sensor according to the comparison result to avoid operation errors of the robotic arm caused by incorrect angle data, thereby ensuring the safety of the operator's life and the smooth progress of the operation, and reducing the risk of aerial work accidents.

[0012] In an alternative embodiment, the method further includes:

[0013] Obtain the total number of vehicle retraction times of the aerial work machine within a second preset time period, where one vehicle retraction refers to the entire process in which the aerial work machine changes from the vehicle retraction state to the amplitude variation state and then from the amplitude variation state to the vehicle retraction state;

[0014] Obtain the number of alarm times when an alarm message is output among the total number of vehicle retraction times;

[0015] Calculate the ratio of the number of alarm times to the total number of vehicle retraction times;

[0016] Compare the ratio with a preset allowable ratio;

[0017] If the ratio is greater than or equal to the preset allowable ratio, trigger an overall warning prompt for the aerial work machine.

[0018] The angle sensor calibration method provided by the embodiment of the present application obtains the total number of vehicle retractions of the aerial work machine within the second preset duration, and obtains the number of alarms for which alarm information is output among the total number of vehicle retractions; calculates the ratio of the number of alarms to the total number of vehicle retractions; compares the ratio with a preset allowable ratio; if the ratio is greater than or equal to the preset allowable ratio, an early warning prompt for the entire vehicle of the aerial work machine is triggered. Thus, potential serious problems of the equipment can be discovered in advance. For example, if the proportion of the number of alarms in the total number of vehicle retractions is too high, it means that there may be frequent fault risks in the angle sensor or the boom structure, etc. Through early warning, the operator can take measures in time to avoid serious faults occurring suddenly during subsequent operations of the equipment and ensure the safety of aerial work.

[0019] In an alternative embodiment, comparing the ratio with the preset allowable ratio includes:

[0020] Obtain the service life, maintenance records and historical operation data of the aerial work machine;

[0021] Input the service life, maintenance records and historical operation data into a preset machine learning model, and output the preset allowable ratio corresponding to the aerial work machine;

[0022] Compare the ratio with the preset allowable ratio.

[0023] The angle sensor calibration method provided by the embodiment of the present application obtains the service life, maintenance records and historical operation data of the aerial work machine; inputs the service life, maintenance records and historical operation data into a preset machine learning model, and outputs the preset allowable ratio corresponding to the aerial work machine, ensuring that the output preset allowable ratio matches the service life, maintenance records and historical operation data of the aerial work machine, thereby ensuring the accuracy of the output preset allowable ratio, and further avoiding inaccurate triggering of the early warning prompt for the entire vehicle of the aerial work machine due to inaccurate preset allowable ratio. In addition, flexibly adjusting the preset allowable ratio according to the service life, maintenance records and historical operation data of the aerial work machine can improve the flexibility of use of the aerial work machine. Then, compare the ratio with the preset allowable ratio.

[0024] In an alternative embodiment, a detection switch is installed on the boom bracket of the aerial work machine; before periodically obtaining the current angle value of the boom measured by each angle sensor during the boom amplitude change of the aerial work machine, the method further includes:

[0025] Obtain the status of the detection switch corresponding to the aerial work machine;

[0026] If the status of the detection switch is valid, it is determined that the aerial work machine is in the vehicle retraction state;

[0027] When the aerial work machine is in the retracted state, obtain the actual angle value corresponding to the robotic arm;

[0028] Calibrate the two angle sensors according to the actual angle value.

[0029] The angle sensor calibration method provided by the embodiments of the present application obtains the state of the detection switch corresponding to the aerial work machine. If the state of the detection switch is valid, it is determined that the aerial work machine is in the retracted state; when the aerial work machine is in the retracted state, obtain the actual angle value corresponding to the robotic arm. The above method determines whether the aerial work machine is in the retracted state by obtaining the state of the detection switch, providing an accurate equipment state basis for subsequent operations. The state of the detection switch can directly reflect whether the aerial work machine has completed the operation and entered the retracted state, avoiding the uncertainty brought by human judgment errors or other ambiguous methods. Only by accurately judging the retracted state can it be ensured that subsequent operations for the retracted state (such as obtaining the actual angle value of the robotic arm, calibrating the angle sensor, etc.) are executed accurately, ensuring the coherence and accuracy of the operation of each link of the equipment. The robotic arm is relatively stable in the retracted state, and at this time, obtaining the actual angle value of the robotic arm is relatively accurate. Calibrating the two angle sensors according to the actual angle value can establish an accurate initial reference for the subsequent measurement of the angle sensors. In addition, calibrating the angle sensors in the retracted state can timely adjust the changes caused by the external environment to the angle sensors, so that the angle sensors always maintain a good working state, enhancing the reliability of the system, reducing the number of equipment shutdowns caused by angle sensor failures, and improving the use efficiency of the equipment.

[0030] In an alternative embodiment, one of the two angle sensors is the main sensor and the other is the calibration sensor; calibrating the two angle sensors according to the actual angle value includes:

[0031] According to the actual angle value, calibrate the main sensor to the first angle and the calibration sensor to the second angle; where the first angle and the second angle are opposite to each other; the absolute value of the first angle and the absolute value of the second angle are both equal to the absolute value of the actual angle value.

[0032] The angle sensor calibration method provided by the embodiments of the present application calibrates the main sensor to the first angle and the calibration sensor to the second angle according to the actual angle value. Calibrating the main sensor and the calibration sensor to the first angle and the second angle that are opposite to each other and have absolute values equal to the absolute value of the actual angle value can significantly improve the accuracy and reliability of angle measurement. During the subsequent amplitude variation of the robotic arm, the data collected by the two sensors can be mutually verified. During the operation of the aerial work machine, once the difference between the measured values of the two is abnormal, it can be quickly determined which sensor may be faulty, or whether there is abnormal deformation of the robotic arm, etc.

[0033] In an alternative embodiment, the current angle values measured by two angle sensors are compared, and an alarm message is output according to the comparison result, including:

[0034] The average value of each current angle value measured by the main sensor within the first preset duration is calculated to obtain a first average value;

[0035] The average value of each current angle value measured by the calibration sensor within the first preset duration is calculated to obtain a second average value;

[0036] The absolute value of the first average value and the second average value are respectively calculated to obtain a first absolute value and a second absolute value;

[0037] The difference between the first absolute value and the second absolute value is calculated to obtain an absolute difference;

[0038] The absolute difference is compared with a preset allowable angle error range;

[0039] If the absolute difference is not within the preset allowable angle error range, an alarm message is output.

[0040] In the angle sensor calibration method provided by the embodiments of the present application, the average value of each current angle value measured by the main sensor within the first preset duration is calculated to obtain a first average value; the average value of each current angle value measured by the calibration sensor within the first preset duration is calculated to obtain a second average value, so as to effectively reduce data fluctuations and noise interference, and make the obtained first average value and second average value better reflect the real angle situation. Then, the absolute value of the first average value and the second average value are respectively calculated to obtain a first absolute value and a second absolute value; the difference between the first absolute value and the second absolute value is calculated to obtain an absolute difference. Based on these two relatively stable first average value and second average value, the absolute difference is calculated to accurately judge the difference degree between the measurement results of the two angle sensors. The absolute difference is compared with a preset allowable angle error range; if the absolute difference is not within the preset allowable angle error range, an alarm message is output. Thus, potential fault hazards can be discovered in time, small problems can be avoided from developing into major faults, and the operator can be notified in time that there may be problems with the equipment. In high-altitude operations, the accuracy of angle measurement is directly related to operation safety. If the angle sensor fails and causes measurement deviation, serious accidents such as robotic arm collision and out-of-control operation range may occur. The alarm message enables the operator to quickly take measures, such as stopping the operation and checking the equipment, to avoid dangerous situations and ensure the safety of personnel and the integrity of the equipment.

[0041] In an alternative embodiment, according to the comparison result, the angle sensor corresponding to the robotic arm is calibrated, including:

[0042] When the aerial work machine is in the stowed state and an alarm message is output according to the comparison result, record the current angle values respectively collected by the main sensor and the calibration sensor;

[0043] Calibrate the main sensor to the first angle and the calibration sensor to the second angle.

[0044] The angle sensor calibration method provided by the embodiments of the present application, when the aerial work machine is in the stowed state and an alarm message is output according to the comparison result, record the current angle values respectively collected by the main sensor and the calibration sensor; calibrate the main sensor to the first angle and the calibration sensor to the second angle. In the above method, in the stowed state, if an alarm message is output, the main sensor is recalibrated to the first angle and the calibration sensor is recalibrated to the second angle, which can effectively correct the measurement deviation of the sensor. In addition, recording the current angle values respectively corresponding to the main sensor and the calibration sensor provides important data support for fault diagnosis. Maintenance personnel can analyze the reasons for the deviation of the sensor in depth based on these records, combined with the operating conditions and historical data of the equipment.

[0045] In a second aspect, the present invention provides an angle sensor calibration device, which is applied to an aerial work machine. Two angle sensors are installed in parallel at the tail of the boom of the aerial work machine. The device includes:

[0046] A first acquisition module, configured to periodically acquire the current angle value of the boom measured by each angle sensor during the luffing process of the boom of the aerial work machine;

[0047] A first comparison module, configured to compare the current angle values measured by the two angle sensors and output an alarm message according to the comparison result;

[0048] A calibration module, configured to calibrate the angle sensor corresponding to the boom according to the comparison result.

[0049] The angle sensor calibration device provided by the embodiment of the present application is applied to aerial work machinery. Two angle sensors are installed in parallel at the tail of the robotic arm of the aerial work machinery. By using the two angle sensors installed in parallel at the tail of the arm, angle information is collected from different positions and mutually calibrated. The measurement results of the two sensors are compared with each other, which can reduce the measurement errors that may exist in a single sensor and improve the accuracy of the overall angle measurement. For aerial work tasks with high requirements for angle accuracy (such as high-altitude installation, maintenance, etc.), this ensures that the robotic arm can accurately reach the designated position and improves the operation quality. During the amplitude change of the robotic arm of the aerial work machinery, the current angle value of the robotic arm measured by each angle sensor is periodically obtained. The current angle values measured by the two angle sensors are compared, and alarm information is output according to the comparison result; according to the comparison result, the angle sensor corresponding to the robotic arm is calibrated. Thus, data anomalies that may occur in the angle sensor can be detected in a timely manner. Once an anomaly is detected, the angle sensor is calibrated according to the comparison result, avoiding operation errors of the robotic arm caused by incorrect angle data, thereby ensuring the safety of the operator's life and the smooth progress of the operation, and reducing the risk of aerial work accidents.

[0050] In a third aspect, the present invention provides an electronic device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the angle sensor calibration method according to the first aspect or any corresponding embodiment thereof.

[0051] In a fourth aspect, the present invention provides an aerial work machinery, including an electronic device and an aerial work machinery body. Two angle sensors are installed in parallel at the tail of the robotic arm of the aerial work machinery body, and the electronic device is used to execute the angle sensor calibration method according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 is a schematic installation diagram of two angle sensors according to an embodiment of the present invention;

[0054] Figure 2 is a schematic flowchart of the angle sensor calibration method according to an embodiment of the present invention;

[0055] Figure 3It is a flowchart showing another method for calibrating an angle sensor according to an embodiment of the present invention;

[0056] Figure 4 It is a schematic diagram showing the installation position of a detection switch according to an embodiment of the present invention;

[0057] Figure 5 It is a block diagram showing the structure of an angle sensor calibration device according to an embodiment of the present invention;

[0058] Figure 6 It is a block diagram showing the structure of another angle sensor calibration device according to an embodiment of the present invention;

[0059] Figure 7 It is a block diagram showing the structure of yet another angle sensor calibration device according to an embodiment of the present invention;

[0060] Figure 8 It is a schematic diagram showing the hardware structure of an electronic device according to an embodiment of the present invention. Detailed implementation manners

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0062] In many fields such as modern architecture, municipal maintenance, and power maintenance, aerial work machinery, as a key construction equipment, plays an irreplaceable role. It can safely and efficiently deliver operators to designated high-altitude positions, greatly improving the efficiency and safety of aerial work. The operation safety of aerial work machinery highly depends on the precise control of the overall vehicle amplitude, and angle detection is the core link to achieve accurate amplitude calculation.

[0063] Currently, angle sensors are generally used in the industry to perform real-time angle detection on aerial work machinery. Although this detection method can obtain angle data under normal circumstances, it has obvious limitations. Once the angle sensor has inaccurate data, the existing system often fails to effectively detect it and prompt the operator in a timely manner.

[0064] In an actual operation scenario, the harm of inaccurate angle sensor data cannot be underestimated. When there is a deviation in the angle data, the calculated amplitude of the entire vehicle based on this data will inevitably be incorrect, which may cause the operation range to exceed the safety limit, resulting in a collision between the robotic arm and surrounding obstacles, not only damaging the equipment but also potentially causing casualties to the operating personnel. In the power maintenance operation, if the robotic arm approaches the high-voltage line due to an angle measurement error, it is extremely likely to trigger an electric shock accident, seriously threatening the lives of personnel and causing significant property losses.

[0065] The related technologies have deficiencies in dealing with the problem of inaccurate angle sensor data and are difficult to meet the increasing safety and precise operation requirements of aerial work machinery. Therefore, how to calibrate the angle sensors in aerial work machinery has become an urgent problem to be solved.

[0066] It should be noted that for the method for calibrating an angle sensor provided in the embodiments of the present application, the execution subject may be a device for calibrating an angle sensor. This device for calibrating an angle sensor can be implemented as part or all of an electronic device through software, hardware, or a combination of software and hardware. Among them, the electronic device can be a controller in the aerial work machinery or independent of the aerial work machinery. However, regardless of whether the electronic device is installed in the aerial work machinery or independent of the aerial work machinery, it is communicatively connected to two angle sensors installed on the aerial work machinery. In the following method embodiments, the execution subject is taken as an electronic device for illustration.

[0067] According to an embodiment of the present invention, there is provided an embodiment of a method for calibrating an angle sensor. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0068] In this embodiment, a method for calibrating an angle sensor is provided, which is applied to an aerial work machinery. Two angle sensors are installed in parallel at the tail of the robotic arm of the aerial work machinery. Exemplarily, the two sensors can be installed on the left and right sides of the tail of the robotic arm. Exemplarily, as Figure 1 shown, it is a schematic diagram of the installation of the two angle sensors. Among them, A represents one of the angle sensors, and B represents the other angle sensor. The execution subject of this method can be the above-mentioned electronic device, Figure 2 is a flowchart of the method for calibrating an angle sensor according to an embodiment of the present invention. As Figure 2 shown, this process includes the following steps:

[0069] Step S101, during the amplitude variation of the robotic arm of the aerial work machinery, periodically obtain the current angle values of the robotic arm measured by each angle sensor.

[0070] Specifically, the electronic device can obtain the luffing speed corresponding to the robotic arm, and then set the sampling period according to the luffing speed of the robotic arm. Exemplarily, if the luffing speed corresponding to the robotic arm is large, the sampling period is small; if the luffing speed is slow, the sampling period can be appropriately extended. For example, in some emergency rescue scenarios, the robotic arm needs to quickly adjust its position, and at this time, the sampling period may be set to multiple times per second; while in conventional high-altitude installation operations, the movement of the robotic arm is relatively stable, and the sampling period may be once or several times per second. The frequency of angle change cannot be ignored either. If the angle of the robotic arm changes frequently during luffing, a shorter sampling period is required to track the changes in a timely manner; otherwise, the period can be appropriately relaxed.

[0071] Then, based on the communication connection with each angle sensor, the electronic device obtains the current angle value of the robotic arm measured by each angle sensor.

[0072] Step S102, compare the current angle values measured by the two angle sensors, and output an alarm message according to the comparison result.

[0073] Specifically, the electronic device can calculate the absolute value of the current angle value measured by each angle sensor, and then compare the calculated absolute values.

[0074] This step will be introduced in detail below.

[0075] Step S103, calibrate the angle sensor corresponding to the robotic arm according to the comparison result.

[0076] Specifically, if the difference between the two absolute values is less than the preset difference, it is determined that the current two angle sensors are accurate; if the difference between the two absolute values is greater than or equal to the preset difference, it is determined that the current two angle sensors are inaccurate.

[0077] If the comparison result is that the angle sensor is accurate, the calibration of the angle sensor corresponding to the robotic arm is prohibited; if the comparison result is that the angle sensor is inaccurate, the two angle sensors are recalibrated.

[0078] This step will be introduced in detail below.

[0079] The angle sensor calibration method provided in this embodiment is applied to aerial work machinery. Two angle sensors are installed in parallel at the tail of the robotic arm of the aerial work machinery. By using the two angle sensors installed in parallel at the tail, angle information is collected from different positions and cross-checked with each other. The measurement results of the two sensors are compared with each other, which can reduce the measurement errors that may exist in a single sensor and improve the accuracy of the overall angle measurement. For aerial work tasks that require high angle accuracy (such as aerial installation, maintenance, etc.), it ensures that the robotic arm can accurately reach the designated position and improves the operation quality. During the amplitude variation of the robotic arm of the aerial work machinery, the current angle value of the robotic arm measured by each angle sensor is periodically obtained. The current angle values measured by the two angle sensors are compared, and an alarm message is output according to the comparison result; according to the comparison result, the angle sensor corresponding to the robotic arm is calibrated. Thus, data anomalies that may occur in the angle sensor can be detected in a timely manner. Once an anomaly is detected, the angle sensor is calibrated according to the comparison result, avoiding operation errors of the robotic arm caused by incorrect angle data, thereby ensuring the safety of the operator's life and the smooth progress of the operation, and reducing the risk of aerial work accidents.

[0080] In this embodiment, an angle sensor calibration method is provided, which is applied to aerial work machinery. Two angle sensors are installed in parallel at the tail of the robotic arm of the aerial work machinery. The execution subject of this method can be the above-mentioned electronic device. Figure 3 It is a flowchart of the angle sensor calibration method according to an embodiment of the present invention, as Figure 3 shown. This process includes the following steps:

[0081] In an alternative embodiment of the present application, a detection switch is installed on the boom bracket of the aerial work machinery. Exemplarily, as Figure 4 shown is a schematic diagram of the installation position of the detection switch.

[0082] Step 201, obtain the status of the detection switch corresponding to the aerial work machinery.

[0083] Among them, the detection switch usually adopts a proximity switch or a travel switch, and is installed according to the structural characteristics and monitoring requirements of the aerial work machinery. The proximity switch is generally installed at a specific position of the robotic arm to detect whether the robotic arm approaches or leaves a preset position; the travel switch is installed at the limit position or key nodes of the robotic arm movement to monitor the movement stroke of the robotic arm. A detection switch is installed on the boom bracket of the aerial work vehicle to determine whether the whole vehicle has returned to the driving state. When the robotic arm is retracted and returns to a specific position, the detection switch will sense the state change of the robotic arm.

[0084] An electronic device obtains the status of the detection switch mainly through electrical connection and control systems. The detection switch is connected to the input module of the control system. When the status of the detection switch changes (such as closing or opening), a corresponding electrical signal is generated. This electrical signal is transmitted through the connection line to the input port of the control system, and the electronic device can identify and process the input signal according to the pre-written program. In some advanced aerial work machinery, a sensor data acquisition module is also used to centrally obtain the status information of multiple detection switches, improving the efficiency and accuracy of data acquisition.

[0085] Step 202, if the status of the detection switch is valid, determine that the aerial work machinery is in the vehicle retraction state.

[0086] Specifically, if the status of the detection switch is valid, the electronic device determines that the aerial work machinery is in the vehicle retraction state.

[0087] Step 203, when the aerial work machinery is in the vehicle retraction state, obtain the actual angle value corresponding to the robotic arm.

[0088] Optionally, when the aerial work machinery is in the vehicle retraction state, the electronic device can obtain the actual angle value corresponding to the robotic arm based on the above two angle sensors.

[0089] Optionally, the electronic device can also obtain the geographical location information of the aerial work machinery based on GPS. Then, obtain the actual angle value of the robotic arm based on IMU. Specifically, IMU mainly consists of an accelerometer and a gyroscope. In the vehicle retraction state, the gyroscope can measure the angular velocity of the robotic arm around each axis. When the robotic arm gradually stops from the moving state and enters the vehicle retraction state, the gyroscope continuously records the angular velocity data. By integrating the angular velocity, the angle change amount of the robotic arm during the stopping process can be obtained. The accelerometer can measure the acceleration of the robotic arm in three axial directions. By analyzing the acceleration, the relationship between the attitude of the robotic arm and the direction of gravity can be assisted in judgment. In the vehicle retraction state, the accelerometer can detect whether the robotic arm is in a horizontal or specific inclined angle. Combining the data of the gyroscope, the actual angle value of the robotic arm can be determined more accurately. During the process of the robotic arm gradually stopping to the vehicle retraction position, the angle change obtained by integrating the angular velocity measured by the gyroscope, combined with the gravity direction information measured by the accelerometer (used to correct the angle deviation), can accurately determine the final angle of the robotic arm relative to a certain initial position.

[0090] However, relying solely on GPS or IMU cannot accurately obtain the actual angle value of the robotic arm. Therefore, it is necessary to fuse the data of both. In the vehicle storage state, first, use the azimuth information of the aerial work machinery provided by GPS to perform global coordinate system conversion and calibration on the angles measured by IMU. Due to certain error accumulation in the measurement process of IMU (such as the drift error of the gyroscope), through the relatively stable azimuth reference provided by GPS, the angles measured by IMU can be corrected. Using the Extended Kalman Filter (EKF) algorithm, take the position and azimuth information of GPS as the observed values to fuse the angle data measured by IMU. The EKF algorithm can dynamically adjust the weights of both in angle calculation according to the noise characteristics of GPS and IMU data, thereby obtaining a more accurate actual angle value of the robotic arm. In actual operation, continuously update the data of GPS and IMU, and continuously optimize the angle calculation results through the EKF algorithm to ensure that the actual angle value of the robotic arm obtained in the vehicle storage state has a high accuracy.

[0091] Step S204: Calibrate the two angle sensors according to the actual angle value.

[0092] In an alternative embodiment of the present application, one of the two angle sensors is the main sensor, and the other is the calibration sensor. The above step S204 may include the following steps:

[0093] Step S2041: According to the actual angle value, calibrate the main sensor to the first angle and the calibration sensor to the second angle.

[0094] Wherein the first angle and the second angle are opposite to each other; the absolute values of the first angle and the second angle are both equal to the absolute value of the actual angle value.

[0095] Optionally, the electronic device may calibrate the main sensor to the actual angle value, that is, the first angle, and calibrate the calibration sensor to the negative of the actual angle value, that is, the second angle.

[0096] Optionally, the electronic device may calibrate the main sensor to the negative of the actual angle value, that is, the first angle, and calibrate the calibration sensor to the actual angle value, that is, the second angle.

[0097] Step S205: During the luffing process of the robotic arm of the aerial work machinery, periodically obtain the current angle value of the robotic arm measured by each angle sensor.

[0098] For this step, please refer to the introduction of step S103 above. It will not be elaborated here.

[0099] Step S206: Compare the current angle values measured by the two angle sensors, and output an alarm message according to the comparison result.

[0100] Specifically, the above step S206 may include the following steps:

[0101] Step S2061: Calculate the average value of each current angle value measured by the main sensor within the first preset duration to obtain a first average value.

[0102] Specifically, the electronic device may calculate the average value of each current angle value measured by the main sensor within the first preset duration to obtain a first average value.

[0103] Among them, the first preset duration is longer than the sampling period, and the first preset duration may be a preset multiple of the sampling period. For example, if the sampling period is assumed to be 0.1 s, the first preset duration may be 1 s. The embodiments of the present application do not make specific limitations on the first preset duration.

[0104] Step S2062: Calculate the average value of each current angle value measured by the calibration sensor within the first preset duration to obtain a second average value.

[0105] Specifically, the electronic device may calculate the average value of each current angle value measured by the calibration sensor within the first preset duration to obtain a second average value.

[0106] Exemplarily, the electronic device performs an averaging process on the currently collected angle values within the first preset duration, that is, (M1 + M2 + … Mn) / T 主 and (N1 + N2 + … Nm) / T 校 Verify to obtain the main angle value C 主 , that is, the first average value, and the calibration angle C 校验 , that is, the second average value.

[0107] Step S2063: Calculate the absolute values of the first average value and the second average value respectively to obtain a first absolute value and a second absolute value.

[0108] Specifically, the electronic device calculates the absolute values of the first average value and the second average value respectively to obtain a first absolute value corresponding to the first average value and a second absolute value corresponding to the second average value.

[0109] Step S2064: Calculate the difference between the first absolute value and the second absolute value to obtain an absolute difference.

[0110] Specifically, the electronic device may calculate the difference between the first absolute value and the second absolute value to obtain an absolute difference.

[0111] Step S2065: Compare the absolute difference with the preset allowable angle error range.

[0112] Specifically, the electronic device may compare the absolute difference with the maximum value and the minimum value in the preset allowable angle error range.

[0113] Among them, the preset allowable angle error range can be a reasonable angle difference range determined according to factors such as the accuracy requirements, safety standards, and actual operation experience of aerial work machinery.

[0114] Step S2066, if the absolute difference is not within the preset allowable angle error range, an alarm message is output.

[0115] Specifically, if the absolute difference is not within the preset allowable angle error range, the electronic device determines that the main sensor and the calibration sensor are abnormal and outputs an alarm message.

[0116] If the absolute difference is within the preset allowable angle error range, the electronic device determines that the main sensor and the calibration sensor are normal.

[0117] Step S207, according to the comparison result, calibrate the angle sensor corresponding to the robotic arm.

[0118] Specifically, the above step S207 may include the following steps:

[0119] Step S2071, when the aerial work machinery is in the vehicle storage state and according to the comparison result, an alarm message is output, then record the current angle values respectively collected by the main sensor and the calibration sensor.

[0120] Specifically, when the aerial work machinery is in the vehicle storage state and according to the comparison result, an alarm message is output, that is, it is determined that the main sensor and the calibration sensor are abnormal, then the electronic device records the current angle values respectively collected by the main sensor and the calibration sensor.

[0121] Step S2072, calibrate the main sensor to the first angle and the calibration sensor to the second angle.

[0122] Specifically, the electronic device calibrates the main sensor to the first angle and the calibration sensor to the second angle.

[0123] Step S208, obtain the total number of vehicle storage times of the aerial work machinery within the second preset time period.

[0124] Wherein, one vehicle storage refers to the whole process that the aerial work machinery changes from the vehicle storage state to the luffing state (indicating that the robotic arm starts luffing operation and leaves the vehicle storage state), and then changes from the luffing state to the vehicle storage state (indicating that the robotic arm completes the operation and returns to the vehicle storage state).

[0125] Specifically, the electronic device can set a second preset duration according to factors such as the usage frequency, maintenance cycle, and fault statistics requirements of the aerial work machinery. The second preset duration can be one day, or it can be 8 hours, 5 hours, or even one hour, or other durations. The embodiments of the present application do not make specific limitations on the second preset duration.

[0126] Specifically, the electronic device can query the number of vehicle retractions of the aerial work machinery within the second preset duration to obtain the total number of vehicle retractions of the aerial work machinery within the second preset duration.

[0127] Step S209: Obtain the number of alarms with alarm information output among the total number of vehicle retractions.

[0128] Specifically, the electronic device detects whether alarm information is output for each vehicle retraction corresponding to each number of vehicle retractions, so as to determine the number of alarms with alarm information output among the total number of vehicle retractions.

[0129] Step S210: Calculate the ratio of the number of alarms to the total number of vehicle retractions.

[0130] Specifically, the electronic device can divide the number of alarms by the total number of vehicle retractions to obtain the ratio of the number of alarms to the total number of vehicle retractions.

[0131] Step S211: Compare the ratio with a preset allowable ratio.

[0132] Specifically, the electronic device can receive the preset allowable ratio input by the user, or it can receive the preset allowable ratio sent by other devices.

[0133] The electronic device can also obtain the service life, maintenance records (such as replacing parts, calibrating sensors, etc.) and historical operation data of the aerial work machinery (including the operation duration, operation times, environmental parameters (temperature, humidity, wind speed, etc.) of each operation, the number of vehicle retractions, the number of alarms, and the measurement data of key components such as angle sensors under different working conditions). Then, the service life, maintenance records, and historical operation data of the aerial work machinery are input into a preset machine learning model to output the preset allowable ratio corresponding to the aerial work machinery. Among them, the preset machine learning model can be linear regression, decision tree, random forest, neural network, etc. For new equipment, since its performance is relatively stable, the preset allowable ratio can be relatively low; while for equipment with a longer service life and more maintenance times, the preset allowable ratio is appropriately increased to adapt to the performance changes brought about by equipment aging.

[0134] Specifically, the training process of the preset machine learning model can be as follows:

[0135] The electronic device can comprehensively collect various types of data of aerial work machinery. It accurately records the service life of the aerial work machinery, starting from the time of first put into use, accurate to the day. The maintenance records cover detailed information of each component replacement, such as the name, model, manufacturer, replacement time of the replaced components; the time of calibrating the sensors, the calibration method, and the data comparison before and after calibration. The historical operation data includes the time, location, type of operation task, operation environment parameters (temperature, humidity, wind speed, air pressure, etc.), number of vehicle closures, number of alarms, real-time measurement data of each sensor, etc. These data are organized into a structured data set for convenient subsequent analysis.

[0136] Then, the electronic device cleans the collected data to remove duplicate, incorrect or missing data. For missing values, methods such as mean filling and regression prediction are used for supplementation. The data is standardized to unify data with different dimensions to the same scale, such as normalizing data such as temperature and humidity to the interval [0, 1] so that machine learning algorithms can better process it. Feature engineering also needs to be performed on the data to extract features closely related to the number of alarms and the operating status of the device, such as calculating the average number of alarms in different time periods, the alarm frequency under different environmental parameters, etc.

[0137] Next, the electronic device can select a suitable machine learning algorithm model according to the data characteristics and task requirements, such as linear regression, decision tree, random forest, neural network, etc. The random forest algorithm has good effects in dealing with complex non-linear relationships and multi-feature data, and can comprehensively consider the influence of multiple factors such as service life, maintenance records, and historical operation data on the number of alarms.

[0138] The electronic device can divide the preprocessed data into a training set and a test set, usually in a ratio of 70%-30% or 80%-20%. The selected model is trained using the training set, and by continuously adjusting the parameters of the model, such as the number of trees in the random forest and the depth of the decision tree, etc., the model can accurately learn the rules in the data. During the training process, with the preset allowable ratio as the target variable, and the features related to service life and maintenance records and the features of historical operation data as input variables, the model is allowed to learn the relationship between these factors and the ratio.

[0139] The trained model is evaluated using the test set, and by calculating indicators such as accuracy, recall rate, and mean squared error, the performance of the model is judged. If the accuracy of the model on the test set is low, it indicates that there may be overfitting or underfitting problems with the model.

[0140] Optimize the model according to the evaluation results. If it is an overfitting problem, regularization methods, reducing model complexity, etc. can be used for improvement; if it is an underfitting problem, more training data can be added, model parameters can be adjusted, or a more complex model can be replaced. Techniques such as cross-validation can also be used to further improve the generalization ability of the model.

[0141] Finally, the electronic device deploys the optimized model to the warning system of the aerial work machinery to receive the latest data of the device in real time, including new maintenance records and operation data. Based on this real-time data, the model automatically calculates and adjusts the preset allowable ratio. When a sensor calibration is performed on the aerial work machinery, the model will recalculate a more appropriate preset allowable ratio according to the data changes before and after calibration and other relevant factors. In addition, the electronic device can continuously collect the operation data and alarm information of the aerial work machinery, and compare the actual alarm situation with the model prediction results. If it is found that the preset allowable ratio adjusted by the model still causes false alarms or missed alarms, these feedback information will be added as new data to the training set to retrain the model and further optimize the performance of the model, making the adjustment of the preset allowable ratio more accurate and reasonable.

[0142] Finally, the electronic device compares the ratio with the preset allowable ratio.

[0143] In step S212, if the ratio is greater than or equal to the preset allowable ratio, an early warning prompt for the entire vehicle of the aerial work machinery is triggered.

[0144] Specifically, if the ratio is greater than or equal to the preset allowable ratio, an early warning prompt for the entire vehicle of the aerial work machinery is triggered.

[0145] The angle sensor calibration method provided by the embodiment of the present application obtains the state of the detection switch corresponding to the aerial work machine. If the state of the detection switch is valid, it is determined that the aerial work machine is in the vehicle storage state; when the aerial work machine is in the vehicle storage state, the actual angle value corresponding to the robotic arm is obtained. The above method determines whether the aerial work machine is in the vehicle storage state by obtaining the state of the detection switch, providing an accurate basis for the equipment state for subsequent operations. The state of the detection switch can intuitively reflect whether the aerial work machine has completed the operation and entered the vehicle storage state, avoiding the uncertainty brought by human judgment errors or other ambiguous methods. Only by accurately judging the vehicle storage state can it be ensured that subsequent operations for the vehicle storage state (such as obtaining the actual angle value of the robotic arm, calibrating the angle sensor, etc.) are executed accurately without error, ensuring the coherence and accuracy of the operation of each link of the equipment. Then, according to the actual angle value, the main sensor is calibrated to the first angle, and the calibration sensor is calibrated to the second angle. Calibrating the main sensor and the calibration sensor to the first angle and the second angle that are opposite to each other and whose absolute values are equal to the absolute value of the actual angle value can significantly improve the accuracy and reliability of angle measurement. During the subsequent amplitude variation of the robotic arm, the data collected by the two sensors can be mutually verified. During the operation of the aerial work machine, once the difference between the measured values of the two is abnormal, it can be quickly determined which sensor may be faulty, or whether there is abnormal deformation of the robotic arm and other problems.

[0146] Next, during the luffing process of the manipulator of the aerial work machine, the current angle values of the manipulator measured by each angle sensor are periodically obtained. The average value is calculated for each of the current angle values measured by the main sensor within the first preset duration to obtain the first average value; the average value is calculated for each of the current angle values measured by the calibration sensor within the first preset duration to obtain the second average value, thereby effectively reducing data fluctuations and noise interference, and making the obtained first average value and second average value better reflect the real angle situation. Then, the absolute value is calculated for the first average value and the second average value respectively to obtain the first absolute value and the second absolute value; the difference between the first absolute value and the second absolute value is calculated to obtain the absolute difference. Calculating the absolute difference based on these two relatively stable first average value and second average value can accurately judge the difference degree between the measurement results of the two angle sensors. The absolute difference is compared with the preset allowable angle error range; if the absolute difference is not within the preset allowable angle error range, an alarm message is output. Thus, potential fault hazards can be discovered in time, small problems can be prevented from developing into major faults, and the operator can be notified in time that there may be problems with the equipment. In aerial work, the accuracy of angle measurement is directly related to work safety. If a fault occurs in the angle sensor, resulting in measurement deviation, serious accidents such as manipulator collision and out-of-control working range may be caused. The alarm message enables the operator to take measures quickly, such as stopping work and checking the equipment, to avoid dangerous situations and ensure the safety of personnel and the integrity of the equipment. When the aerial work machine is in the stowed state and an alarm message is output according to the comparison result, the current angle values respectively collected by the main sensor and the calibration sensor are recorded; the main sensor is calibrated as the first angle, and the calibration sensor is calibrated as the second angle. By re-calibrating the main sensor as the first angle and the calibration sensor as the second angle when an alarm message is output in the stowed state, the above method can effectively correct the measurement deviation of the sensor. In addition, recording the current angle values respectively corresponding to the main sensor and the calibration sensor provides important data support for fault diagnosis. Maintenance personnel can analyze the reasons for the deviation of the sensor in depth based on these records, combined with the operating conditions and historical data of the equipment.

[0147] In addition, the total number of times of stowing the aerial work machine within the second preset duration is obtained, and the number of alarm times when an alarm message is output in the total number of times of stowing is obtained; the ratio of the number of alarm times to the total number of times of stowing is calculated; the ratio is compared with the preset allowable ratio; if the ratio is greater than or equal to the preset allowable ratio, an early warning prompt for the whole vehicle of the aerial work machine is triggered. Thus, potential serious problems of the equipment can be discovered in advance. For example, if the proportion of the number of alarm times in the total number of times of stowing is too high, it means that there may be frequent fault hazards in the angle sensor or the manipulator structure, etc. Through early warning, the operator can take measures in time to avoid serious faults occurring suddenly during subsequent operations and ensure the safety of aerial work.

[0148] In this embodiment, an angle sensor calibration device is further provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0149] This embodiment provides an angle sensor calibration device, which is applied to aerial work machinery. Two angle sensors are installed in parallel at the tail of the robotic arm of the aerial work machinery. As Figure 5 shown, it includes:

[0150] A first acquisition module 301, configured to periodically acquire the current angle value of the robotic arm measured by each angle sensor during the amplitude change process of the robotic arm of the aerial work machinery;

[0151] A first comparison module 302, configured to compare the current angle values measured by the two angle sensors, and output an alarm message according to the comparison result;

[0152] A calibration module 303, configured to calibrate the angle sensor corresponding to the robotic arm according to the comparison result.

[0153] In some alternative implementation manners, as Figure 6 shown, the above-mentioned angle sensor calibration device may further include:

[0154] A second acquisition module 304, configured to acquire the total number of vehicle retraction times of the aerial work machinery within a second preset time period, where one vehicle retraction refers to the entire process of the aerial work machinery changing from the vehicle retraction state to the amplitude change state and then from the amplitude change state to the vehicle retraction state;

[0155] A third acquisition module 305, configured to acquire the number of alarm times when an alarm message is output during the total number of vehicle retraction times;

[0156] A calculation module 306, configured to calculate the ratio of the number of alarm times to the total number of vehicle retraction times;

[0157] A second comparison module 307, configured to compare the ratio with a preset allowable ratio;

[0158] A prompt module 308, configured to trigger a vehicle-wide warning prompt for the aerial work machinery if the ratio is greater than or equal to the preset allowable ratio.

[0159] In some alternative embodiments, the second comparison module 307 is specifically configured to obtain the service life, maintenance records, and historical operation data of the aerial work machine; input the service life, maintenance records, and historical operation data into a preset machine learning model to output a preset allowable ratio corresponding to the aerial work machine; and compare the ratio with the preset allowable ratio.

[0160] In some alternative embodiments, a detection switch is installed on the boom bracket of the aerial work machine; as Figure 6 shown, the above-mentioned angle sensor calibration device may further include:

[0161] A fourth acquisition module 309, configured to acquire the status of the detection switch corresponding to the aerial work machine;

[0162] A determination module 310, configured to determine that the aerial work machine is in the vehicle storage state if the status of the detection switch is valid;

[0163] A fifth acquisition module 311, configured to acquire the actual angle value corresponding to the robotic arm when the aerial work machine is in the vehicle storage state;

[0164] A calibration module 312, configured to calibrate the two angle sensors according to the actual angle value.

[0165] In some alternative embodiments, one of the two angle sensors is a main sensor and the other is a calibration sensor; the above-mentioned calibration module 305 is specifically configured to calibrate the main sensor as a first angle and the calibration sensor as a second angle according to the actual angle value; wherein the first angle and the second angle are opposite to each other; the absolute value of the first angle and the absolute value of the second angle are both equal to the absolute value of the actual angle value.

[0166] In some alternative embodiments, the above-mentioned first comparison module 302 is specifically configured to calculate the mean value of each current angle value measured by the main sensor within a first preset time period to obtain a first mean value; calculate the mean value of each current angle value measured by the calibration sensor within the first preset time period to obtain a second mean value; calculate the absolute value of the first mean value and the second mean value respectively to obtain a first absolute value and a second absolute value; calculate the difference between the first absolute value and the second absolute value to obtain an absolute difference; compare the absolute difference with a preset allowable angle error range; and if the absolute difference is not within the preset allowable angle error range, output an alarm message.

[0167] In some alternative embodiments, the above-mentioned calibration module 303 is specifically configured to record the current angle values respectively collected by the main sensor and the calibration sensor when the aerial work machine is in the vehicle storage state and an alarm message is output according to the comparison result; calibrate the main sensor as a first angle and the calibration sensor as a second angle.

[0168] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding above-mentioned embodiments, and will not be repeated here.

[0169] The angle sensor calibration device in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0170] An embodiment of the present invention further provides an electronic device having the above-mentioned Figure 5 - Figure 7 shown angle sensor calibration device.

[0171] Please refer to Figure 8 , Figure 8 which is a schematic structural diagram of an electronic device provided by an alternative embodiment of the present invention. As Figure 8 shown, the electronic device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common main board or installed in other ways as needed. The processor can process instructions executed within the electronic device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 8 In

[0172] Processor 10 can be a central processor, a network processor, or a combination thereof. Among them, processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0173] Among them, the memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above-mentioned embodiments.

[0174] The memory 20 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data created according to the use of the electronic device and the like. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely disposed relative to the processor 10, and these remote memories may be connected to the electronic device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0175] The memory 20 may include a volatile memory, such as a random access memory. The memory may also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive. The memory 20 may further include a combination of the above types of memories.

[0176] The electronic device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected through a bus or other means. Figure 8 Taking connection through a bus as an example.

[0177] The input device 30 may receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the electronic device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (such as an LED), and a tactile feedback device (such as a vibration motor), etc. The above display device includes but is not limited to a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0178] Embodiments of the present invention also provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium. Thus, the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0179] The present invention also provides an aerial work machine, including an electronic device and an aerial work machine body. Two angle sensors are installed in parallel at the tail of the robotic arm of the aerial work machine body. The electronic device is used to execute the angle sensor calibration method of the above embodiment.

[0180] A part of the present invention can be applied as a computer program product. For example, computer program instructions, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should be able to understand that the forms of existence of computer program instructions in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0181] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for calibrating an angle sensor, characterized in that: Applied to aerial work machinery, two angle sensors are installed in parallel at the tail of the mechanical arm of the aerial work machinery, and the method comprises: During the amplitude change process of the mechanical arm of the aerial work machine, periodically obtaining the current angle value of the mechanical arm measured by each angle sensor; Comparing the current angle values ​​measured by the two angle sensors, and outputting alarm information according to the comparison result; According to the comparison result, the angle sensor corresponding to the robotic arm is calibrated.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining the total number of times the aerial work machine is retracted within the second preset time period, wherein one retraction refers to the entire process of the aerial work machine changing from a retracted state to a variable amplitude state, and then from a variable amplitude state to a retracted state; Obtain the number of alarms for outputting alarm information in the total number of vehicle collections; Calculating the ratio of the number of alarms to the total number of vehicle collections; comparing the ratio with a preset allowable ratio; If the ratio is greater than or equal to the preset allowable ratio, an early warning prompt for the aerial work machinery vehicle is triggered.

3. The method according to claim 2, characterized in that The comparing the ratio with a preset allowable ratio includes: Obtaining the service life, maintenance records and historical operation data of the aerial work machinery; Input the service life, the maintenance record and the historical operation data into a preset machine learning model, and output the preset allowable ratio corresponding to the aerial work machinery; The ratio is compared with a preset allowed ratio.

4. The method according to claim 1, characterized in that: A detection switch is installed on the boom bracket of the aerial work machine; before periodically obtaining the current angle value of the mechanical arm measured by each angle sensor during the amplitude change process of the mechanical arm of the aerial work machine, the method further includes: Obtaining the state of the detection switch corresponding to the aerial work machine; If the state of the detection switch is valid, it is determined that the aerial work machine is in the retracted state; When the aerial work machine is in a retracted state, obtaining an actual angle value corresponding to the mechanical arm; The two angle sensors are calibrated according to the actual angle value.

5. The method according to claim 4, characterized in that One of the two angle sensors is a main sensor and the other is a calibration sensor; the two angle sensors are calibrated according to the actual angle value, including: According to the actual angle value, the main sensor is calibrated to a first angle and the verification sensor is calibrated to a second angle; wherein the first angle and the second angle are reciprocal numbers of each other; and the absolute value of the first angle and the absolute value of the second angle are both equal to the absolute value of the actual angle value.

6. The method according to claim 5, characterized in that The comparing the current angle values ​​measured by the two angle sensors and outputting alarm information according to the comparison result includes: Calculate the average of the current angle values ​​measured by the main sensor within a first preset time period to obtain a first average value; Calculate the average of the current angle values ​​measured by the calibration sensor within the first preset time period to obtain a second average value; Performing absolute value calculations on the first mean and the second mean respectively to obtain a first absolute value and a second absolute value; Calculating a difference between the first absolute value and the second absolute value to obtain an absolute difference; Comparing the absolute difference with a preset allowable angle error range; If the absolute difference is not within the preset allowable angle error range, an alarm message is output.

7. The method according to claim 6, characterized in that The step of verifying the angle sensor corresponding to the robotic arm according to the comparison result includes: When the aerial work machine is in a retracted state, and according to the comparison result, the alarm information is output, the current angle values ​​respectively collected by the main sensor and the verification sensor are recorded; The main sensor is calibrated to the first angle, and the verification sensor is calibrated to the second angle.

8. An angle sensor calibration device, characterized in that: Applied to aerial work machinery, two angle sensors are installed in parallel at the tail of the mechanical arm of the aerial work machinery, and the device includes: A first acquisition module, used for periodically acquiring the current angle value of the mechanical arm measured by each angle sensor during the amplitude change process of the mechanical arm of the aerial work machine; A first comparison module, used for comparing the current angle values ​​measured by the two angle sensors, and outputting alarm information according to the comparison result; The verification module is used to verify the angle sensor corresponding to the mechanical arm according to the comparison result.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the angle sensor calibration method according to any one of claims 1 to 7 by executing the computer instructions.

10. A high-altitude working machine, characterized in that: It comprises an electronic device and an aerial work machine body, wherein two angle sensors are installed in parallel at the tail of the mechanical arm of the aerial work machine body, and the electronic device is used to execute the angle sensor calibration method described in any one of claims 1 to 7.

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