Intelligent early warning method for boom sag of engineering vehicle, engineering vehicle and storage medium

Abstract

The embodiment of the application provides an engineering vehicle boom sinking intelligent early warning method, an engineering vehicle and a storage medium. The method comprises the following steps: when it is detected that the electric control state is in power-off and the power-off duration reaches a first preset duration, a sinking monitoring activation signal is generated and responded, and the luffing angle and the telescopic length of the boom are acquired; the luffing angle and the telescopic length are processed to obtain the effective luffing angle and the effective telescopic length of the boom at the current moment; the angle sinking amount and the angle sinking rate of the boom at the current moment are determined according to the effective luffing angle, and the length sinking amount and the length sinking rate are determined according to the effective telescopic length; when the first condition and / or the second condition are met, it is determined that the boom sinks, a sinking early warning signal is generated, the first condition is that the angle sinking amount or the length sinking amount exceeds the corresponding displacement threshold value and the continuous duration reaches a second preset duration, and the second condition is that the angle sinking rate or the length sinking rate exceeds the corresponding preset rate threshold value.

Description

Technical Field

[0001] This application relates to the field of engineering vehicle technology, specifically to an intelligent early warning method, device, engineering vehicle, and storage medium for engineering vehicle boom sinking. Background Technology

[0002] The booms of engineering vehicles, such as fire trucks, rely on hydraulic systems for support and positioning. In firefighting and high-altitude rescue operations, boom stability is crucial. Due to changes in hydraulic oil temperature, internal leakage in the cylinders, aging valves, or improper operation, the boom may slowly and imperceptibly sink. Excessive sinking can cause deviations in the working area, platform tilting, or even safety accidents, posing a serious threat to rescue accuracy and personnel safety.

[0003] Existing fire trucks generally employ the following monitoring technologies, but all have significant shortcomings. For example, the single-angle sensor monitoring scheme installs an angle sensor at the boom hinge point, triggering an alarm when the detected angle change exceeds a fixed threshold. However, the operating environment of fire trucks is complex; wind loads, ground vibrations, and operational jolting can all cause instantaneous angle fluctuations. The sensor cannot distinguish between actual structural displacement and external interference, resulting in a high false alarm rate. The hydraulic pressure change monitoring scheme judges sinking based on changes in oil pressure, but the hydraulic system has internal leakage compensation, oil expansion and contraction caused by temperature changes, and pressure fluctuations due to the opening and closing of safety valves. The pressure signal signal-to-noise ratio is low, making it difficult to distinguish between normal fluctuations and actual sinking. The single threshold exceeding alarm scheme uses a fixed threshold for comparison, without introducing a time dimension for judgment. Instantaneous interference signals can trigger false alarms, while slow, cumulative sinking may be ignored because it has not reached the threshold. More importantly, existing schemes lack rate detection capabilities. When a hydraulic line bursts or a seal suddenly fails, causing the boom to sink rapidly within seconds, it cannot distinguish between slow drift and rapid failure, missing the emergency response window.

[0004] In summary, existing technologies cannot simultaneously achieve accurate monitoring of slow sinking and immediate response to rapid sinking. Setting strict alarm thresholds, while capable of detecting slow sinking, is susceptible to momentary interference, leading to a high false alarm rate and reducing operator confidence in the system. Conversely, relaxing thresholds to reduce false alarms may result in missed reports of sudden, rapid sinking, causing delays in emergency response. Therefore, how to achieve highly reliable, multi-dimensional, real-time monitoring and tiered early warning of boom sinking in complex operating environments is a pressing technical problem that needs to be solved in this field. Summary of the Invention

[0005] The purpose of this application is to provide an intelligent early warning method, device, fire truck, and storage medium for engineering vehicle boom sinking, in order to solve the problem that the existing technology cannot simultaneously take into account the accurate monitoring of slow sinking and the real-time response to rapid sinking, resulting in a high false alarm rate or the risk of rapid failure due to missed alarms.

[0006] To achieve the above objectives, the first aspect of this application provides an intelligent early warning method for boom sinking of engineering vehicles, the method comprising: Real-time acquisition of the electrical control status of the loading valve of engineering vehicles; When the power-off status is detected and the power-off duration reaches the first preset duration, the boom is determined to be in a non-operation holding state, and a sinking monitoring activation signal is generated. In response to the sinking monitoring activation signal, the boom's luffing angle and telescopic length are acquired in real time; The luffing angle and telescopic length are filtered by moving average to obtain the effective luffing angle and effective telescopic length of the boom at the current moment. The angular sinking amount and angular sinking rate of the boom at the current moment are determined based on the effective luffing angle, and the length sinking amount and length sinking rate of the boom at the current moment are determined based on the effective telescopic length. If the first condition and / or the second condition are met, it is determined that the boom is sinking at the current moment, and a sinking warning signal is generated. The first condition is that the angle sinking amount or the length sinking amount exceeds the corresponding displacement threshold and the duration reaches the second preset duration. The second condition is that the angle sinking rate or the length sinking rate exceeds the corresponding preset rate threshold.

[0007] In the embodiments of this application, processing the luffing angle and telescopic length to obtain the effective luffing angle and effective telescopic length of the boom at the current moment includes: determining the sliding window length N; obtaining multiple historical luffing angles and multiple historical telescopic lengths for N-1 consecutive historical moments prior to the current moment; calculating the arithmetic mean of the angles of the luffing angle and the multiple historical luffing angles, and calculating the arithmetic mean of the lengths of the telescopic length and the multiple historical telescopic lengths; using the arithmetic mean of the angles as the effective luffing angle of the boom at the current moment, and using the arithmetic mean of the lengths as the effective telescopic length of the boom at the current moment.

[0008] In the embodiments of this application, determining the angle sinking amount and angle sinking rate of the boom at the current moment based on the effective luffing angle includes: responding to the sinking monitoring activation signal, determining the start time of sinking monitoring, and using the luffing angle at the start time as the luffing angle reference value; calculating the difference between the effective luffing angle and the luffing angle reference value, and using the difference as the angle sinking amount of the boom at the current moment; obtaining the historical effective luffing angle at a historical moment that is a third preset time interval from the current moment; calculating the difference between the effective luffing angles, and using the ratio of the difference to the third preset time interval as the angle sinking rate of the boom at the current moment.

[0009] In the embodiments of this application, determining the length sinking amount and length sinking rate of the boom at the current moment based on the effective telescopic length includes: responding to the sinking monitoring activation signal, determining the start time of sinking monitoring, and using the telescopic length at the start time as the telescopic length reference value; calculating the difference between the effective telescopic length and the telescopic length reference value, and using the difference as the length sinking amount of the boom at the current moment; obtaining the historical effective telescopic length at a historical moment that is a fourth preset time interval from the current moment; calculating the difference between the effective telescopic length and the historical effective telescopic length, and using the ratio of the difference to the fourth preset time interval as the length sinking rate of the boom at the current moment.

[0010] In embodiments of this application, the method further includes: responding to a sinking warning signal, outputting an audible and visual alarm trigger signal and a display trigger signal; controlling the audible and visual alarm based on the audible and visual alarm trigger signal, and triggering the HMI interface to display the angle sinking amount, length sinking amount, angle sinking rate, and length sinking rate based on the display trigger signal.

[0011] In embodiments of this application, the method further includes: obtaining the hydraulic oil temperature and load weight of the engineering vehicle at the current moment; determining a temperature compensation amount based on the hydraulic oil temperature, a preset reference temperature, a maximum hydraulic oil temperature threshold, a minimum hydraulic oil temperature threshold, and a first compensation factor; determining a load compensation amount based on the load weight, a maximum load weight threshold, and a second compensation factor; and correcting the displacement threshold reference value corresponding to the angle subsidence based on the temperature compensation amount and the load compensation amount to obtain the angle displacement threshold corresponding to the angle subsidence at the current moment.

[0012] In the embodiments of this application, a dual-axis tilt sensor is installed at the head of the first section of the boom. The dual-axis tilt sensor is used to collect the boom's luffing angle. A wire-type displacement sensor is installed between the telescopic section and the fixed section of the boom. The wire-type displacement sensor is used to collect the boom's telescopic length.

[0013] The second aspect of this application provides an intelligent early warning device for boom sinking of an engineering vehicle, comprising: The memory is configured to store instructions; The controller is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the aforementioned intelligent early warning method for boom sinking of engineering vehicles.

[0014] A third aspect of this application provides an engineering vehicle, comprising: The boom has a dual-axis tilt sensor installed at the head of the first boom section. The dual-axis tilt sensor is used to collect the boom's luffing angle. A wire-type displacement sensor is installed between the telescopic section and the fixed section of the boom. The wire-type displacement sensor is used to collect the boom's telescopic length. The aforementioned intelligent early warning device for boom sinking of engineering vehicles.

[0015] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned intelligent early warning method for boom sinking of engineering vehicles.

[0016] The above technical solution acquires the electronic control status of the loading valve of the engineering vehicle in real time; when the electronic control status is detected to be de-energized and the de-energization duration reaches a first preset duration, it determines that the boom is in a non-operation holding state and generates a sinking monitoring activation signal; in response to the sinking monitoring activation signal, it acquires the boom's luffing angle and telescopic length in real time; it processes the luffing angle and telescopic length to obtain the effective luffing angle and effective telescopic length of the boom at the current moment; it determines the angular sinking amount and angular sinking rate of the boom at the current moment based on the effective luffing angle, and determines the length sinking amount and length sinking rate of the boom at the current moment based on the effective telescopic length; under the condition of satisfying the first condition and / or the second condition, it determines that the boom has sunk at the current moment and generates a sinking warning signal, wherein the first condition is that the angular sinking amount or length sinking amount exceeds the corresponding displacement threshold and the duration reaches a second preset duration, and the second condition is that the angular sinking rate or length sinking rate exceeds the corresponding preset rate threshold. This invention judges the sinking amount and sinking rate by measuring the angle and length of the sinking, respectively. It alarms after continuous confirmation during slow sinking and alarms in a timely manner during rapid sinking, thus balancing the accuracy of steady-state monitoring with rapid response to transient risks.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a flowchart of an intelligent early warning method for boom sinking of an engineering vehicle according to an embodiment of this application; Figure 2 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] Figure 1 The illustration shows a schematic flowchart of an intelligent early warning method for boom sinking of an engineering vehicle according to an embodiment of this application. Figure 1 As shown in the figure, this application provides an intelligent early warning method for boom sinking of engineering vehicles, which may include the following steps: Step 101: Obtain the electrical control status of the loading valve of the engineering vehicle in real time.

[0023] In this embodiment, it should be noted that the engineering vehicle can refer to various types of work vehicles with a boom structure that rely on a hydraulic system for boom support and positioning. In this technical solution, the engineering vehicle may include, but is not limited to, fire trucks. The upper control valve, as the core hydraulic component controlling various boom movements, directly reflects whether the operator is actively controlling the boom. It is understood that when the operator pushes the control handle or presses the control button, the corresponding electromagnet in the upper control valve will be energized and attracted, driving the valve core to reverse direction, controlling the hydraulic oil flow to the corresponding cylinder, and realizing boom luffing, extension, and other movements; when the operator stops operating, the electromagnet is de-energized, the valve core returns to the neutral position, and the boom is held in its current position by hydraulic locking. Therefore, real-time acquisition of the upper control valve's electrical control status is essentially a continuous sensing of whether the boom is in a dynamic process of being manually controlled or in a static state held by hydraulic locking, providing a basis for subsequent judgment on whether to activate sinking monitoring.

[0024] Step 102: When it is detected that the electronic control is in a power-off state and the power-off time reaches the first preset time, it is determined that the boom is in a non-operation holding state and a sinking monitoring activation signal is generated.

[0025] In this embodiment, it should be noted that, based on continuously acquiring the electrical control status of the upper valve, when all electromagnets are detected to be de-energized, the boom is not immediately deemed to have entered a non-operational holding state. Instead, a confirmation period is introduced for judgment. It is understandable that during actual operation, operators may experience brief pauses in operation, or transient signal fluctuations may occur when the electromagnets engage and disengage. These situations can lead to a temporary illusion of power failure in the electrical control status. If the duration of the power failure is not confirmed, these transient situations may be mistakenly interpreted as the end of operation, resulting in the initiation of sinking monitoring at an inappropriate time. Therefore, only when the electrical control status is detected to be de-energized, and this de-energized state is maintained for a first preset duration, is it determined that the boom has indeed entered a non-operational holding state. The first preset duration can be set according to actual needs; for example, it can be set to 500 milliseconds. This duration is sufficient to filter out most transient fluctuations while being short enough not to cause significant delays in the subsequent initiation of sinking monitoring.

[0026] Furthermore, after confirming that the boom is in a non-operational holding state, the controller generates a sinking monitoring activation signal. It should be understood that this activation signal is an internal trigger signal used to notify the system to formally enter the sinking monitoring process from the current moment. Through the above-described state confirmation and activation signal generation process, it is ensured from the source that sinking monitoring will only be initiated when the boom is truly in a stopped state and held in position by hydraulic locking, effectively avoiding misinterpreting attitude changes caused by manual operation as boom sinking.

[0027] Step 103: Respond to the sinking monitoring activation signal and obtain the boom's luffing angle and telescopic length in real time.

[0028] In this embodiment, it should be noted that after the controller generates the sinking monitoring activation signal, the sinking monitoring process officially begins. The first step is to acquire the two core attitude parameters of the boom: the luffing angle and the telescopic length. The luffing angle reflects the boom's pitch relative to a horizontal plane or a reference plane, while the telescopic length reflects the total length of each boom section extended or retracted. These two parameters together determine the position of the boom end in space. Once the boom sinks, whether due to a slow decrease in the boom angle caused by internal leakage in the luffing cylinder or a slow retraction of the boom length caused by internal leakage in the telescopic cylinder, it will be reflected in changes in these two parameters. Therefore, simultaneously acquiring the luffing angle and telescopic length allows for monitoring of the boom's attitude changes from two dimensions, avoiding blind spots that may exist in monitoring a single parameter. It should be understood that in the non-operational holding state, if no sinking occurs, the luffing angle and telescopic length should theoretically remain constant. If either of these parameters undergoes a sustained change exceeding the normal range, it indicates that the boom may be sinking, requiring further analysis and judgment.

[0029] In this embodiment of the application, a dual-axis tilt sensor is installed at the head of the first section of the boom. The dual-axis tilt sensor is used to collect the boom's luffing angle. A wire-type displacement sensor is installed between the telescopic section and the fixed section of the boom. The wire-type displacement sensor is used to collect the boom's telescopic length.

[0030] In this embodiment, it should be noted that for obtaining the luffing angle, a dual-axis tilt sensor can be installed at the head of the first boom section to directly measure the boom's pitch angle relative to the horizontal plane. Installing the sensor at the head of the first boom section, away from the boom's luffing hinge point, allows for more sensitive reflection of changes in the overall boom attitude. For obtaining the telescopic length, a wire-type displacement sensor can be installed between the telescopic and fixed sections of the boom. One end of the wire is fixed to the fixed section, and the other end is connected to the movable end of the telescopic section. When the telescopic section of the boom extends or retracts relative to the fixed section, the wire stretches or contracts accordingly. The telescopic length of the boom can be directly obtained by measuring the displacement of the wire. It should be understood that the above sensor types and installation positions are merely illustrative examples, and other types of sensors and installation methods can be selected according to actual needs.

[0031] Step 104: Process the luffing angle and telescopic length to obtain the effective luffing angle and effective telescopic length of the boom at the current moment.

[0032] In this embodiment, it should be noted that the original signals of the boom angle and telescopic length acquired in real time by sensors often contain various interference components. It is understandable that the complex operating environment of fire trucks, including wind load impact, engine vibration, ground micro-vibrations, and hydraulic system pressure pulsations, can cause high-frequency fluctuations in the instantaneous values ​​output by the sensors. If these raw instantaneous values ​​are directly used for sinking judgment, these fluctuations may be mistakenly interpreted as changes in boom posture, leading to false alarms. Therefore, after acquiring the boom angle and telescopic length, it is necessary to first eliminate the noise and mechanical vibrations introduced by sensor sampling. Moving average filtering can smooth sensor noise by averaging continuous sampling points, reducing misjudgments caused by vibrations. Therefore, moving average filtering can be applied to the boom angle and telescopic length to filter out high-frequency noise and instantaneous vibrations, obtaining effective values ​​that more accurately reflect the trend of boom posture changes. The data after moving average filtering can be used as the effective boom angle and effective telescopic length at the current moment, respectively. It should be understood that the effective value after filtering can not only retain the true trend of boom attitude change, but also eliminate signal glitches caused by instantaneous interference, providing a reliable data basis for subsequent accurate calculation of sinking amount and sinking rate.

[0033] In this embodiment of the application, processing the luffing angle and telescopic length to obtain the effective luffing angle and effective telescopic length of the boom at the current moment includes: determining the sliding window length N; obtaining multiple historical luffing angles and multiple historical telescopic lengths for N-1 consecutive historical moments prior to the current moment; calculating the arithmetic mean of the luffing angle and the multiple historical luffing angles, and calculating the arithmetic mean of the telescopic length and the multiple historical telescopic lengths; using the arithmetic mean of the angles as the effective luffing angle of the boom at the current moment, and using the arithmetic mean of the lengths as the effective telescopic length of the boom at the current moment.

[0034] In this embodiment, it should be noted that the moving average filtering process can be implemented by setting a sliding window. It is understood that the length N of the sliding window determines the number of data points involved in the averaging calculation. A larger N value results in a smoother filtered curve, but a slower response to real changes; a smaller N value results in a faster response, but a weaker filtering effect. Therefore, the value of N can be reasonably selected based on the actual operating conditions and the sensor noise level.

[0035] Furthermore, after determining the sliding window length N, for each current moment, the historical amplitude angle and historical extension length of the previous N-1 consecutive historical moments are obtained. The amplitude angle obtained at the current moment is combined with these N-1 historical amplitude angles to obtain N amplitude angle values. The arithmetic mean of these N values ​​is calculated, and this arithmetic mean is taken as the effective amplitude angle of the boom at the current moment. Similarly, the extension length obtained at the current moment is combined with N-1 historical extension lengths to obtain N extension length values. The arithmetic mean of these N extension length values ​​is taken as the effective extension length of the boom at the current moment. Specifically, the effective amplitude angle and effective extension length can be calculated according to formula (1) and formula (2) respectively: (1) (2) in, Let be the boom's luffing angle at time t, and N be the length of the sliding window. Let t be the extension length of the boom. Let t be the effective luffing angle of the boom. Let t be the effective telescopic length of the boom at time t, and Δt be the historical time period.

[0036] in, The unit is °, the unit of Lt is mm, and Δt can be set to 100 ms. The time window can be set to 10-20 points, i.e., 1-2 seconds. This algorithm is equivalent to a low-pass filter with a cutoff frequency of... It can effectively filter out high-frequency jitter above 5Hz.

[0037] It should be understood that in this way, the effective value at each current moment is determined by multiple sampled values ​​over a recent period. The instantaneous fluctuation of a single sample point will not have a significant impact on the effective value, thus achieving effective suppression of high-frequency noise and instantaneous jitter.

[0038] Step 105: Determine the angle sinking amount and angle sinking rate of the boom at the current moment based on the effective luffing angle, and determine the length sinking amount and length sinking rate of the boom at the current moment based on the effective telescopic length.

[0039] In this embodiment, it should be noted that after obtaining the effective luffing angle and effective telescopic length at the current moment, the controller needs to quantitatively evaluate the degree and rate of boom descent, i.e., determine the angle descent amount, angle descent rate, length descent amount, and length descent rate. It can be understood that the descent amount reflects the cumulative change in boom attitude since monitoring began, a cumulative quantity, while the descent rate reflects the speed of change in boom attitude over a recent short period, an instantaneous trend. Both describe the boom's descent state from different dimensions and serve different subsequent warning judgment logics. Specifically, the angle descent amount and angle descent rate are determined based on the effective luffing angle, while the length descent amount and length descent rate are determined based on the effective telescopic length. It should be understood that since luffing and telescopic are two independent degrees of freedom of the boom, any abnormality in either degree of freedom means that the boom may have sunk. Therefore, it is necessary to calculate the sinking amount and sinking rate separately for the luffing angle and telescopic length, so as to achieve parallel monitoring of the two channels and avoid the possible missed reports that may occur when monitoring only one dimension.

[0040] In this embodiment of the application, determining the angle sinking amount and angle sinking rate of the boom at the current moment based on the effective luffing angle includes: responding to the sinking monitoring activation signal, determining the start time of sinking monitoring, and using the luffing angle at the start time as the luffing angle reference value; calculating the difference between the effective luffing angle and the luffing angle reference value, and using the difference as the angle sinking amount of the boom at the current moment; obtaining the historical effective luffing angle at a historical moment that is a third preset time interval from the current moment; calculating the difference between the effective luffing angles, and using the ratio of the difference to the third preset time interval as the angle sinking rate of the boom at the current moment.

[0041] In this embodiment, it should be noted that determining the angle sinking amount and angle sinking rate first requires establishing a reference benchmark. When the controller responds to the sinking monitoring activation signal and formally enters the sinking monitoring process, this activation moment is determined as the start moment of sinking monitoring, and the effective amplitude angle at this start moment is recorded and used as the amplitude angle benchmark value throughout the monitoring process. It can be understood that this benchmark value represents the initial attitude of the boom when it has just stopped operating and entered the holding state; all subsequent angle changes are measured with reference to this initial attitude.

[0042] During the monitoring process, the effective amplitude angle obtained after the moving average filtering at the current moment is subtracted from the baseline amplitude angle value, and the absolute value of the difference is taken. This difference is the angle subsidence of the boom at the current moment. Specifically, it can be calculated according to formula (3): (3) in, For the boom in The angle of depression at any given moment For the boom in Effective amplitude angle at any moment This is the reference value for the amplitude angle.

[0043] It should be understood that the angle drop reflects the cumulative deviation of the boom luffing angle from the initial reference position since the start of monitoring. It is a cumulative change used to determine whether the boom has experienced continuous attitude drift.

[0044] To determine the angle sinking rate, a relatively short time window needs to be introduced for calculation. Obtain the historical effective amplitude angle corresponding to a historical moment that is three preset time intervals away from the current moment. Calculate the difference between the current effective amplitude angle and the historical effective amplitude angle. Then divide this difference by the three preset time interval. The resulting ratio is the angle sinking rate of the boom at the current moment. The three preset time intervals can be set according to actual needs. Specifically, it can be calculated according to formula (4): (4) in, For the boom in The angle of descent rate at any given moment, The third preset duration is the rate calculation time window. For the boom in Effective amplitude angle at any moment The boom is at a distance of the third preset time from the current moment. The effective historical amplitude angle corresponding to a certain historical moment.

[0045] in, It can be set to 500ms-1s.

[0046] It should be understood that the angle sinking rate reflects how fast the boom luffing angle changes in a short period of time. It is a measure of instantaneous change trend and, together with the aforementioned cumulative sinking amount, describes the sinking state of the boom on different time scales.

[0047] In this embodiment, determining the boom's length sinking amount and length sinking rate at the current moment based on the effective telescopic length includes: responding to a sinking monitoring activation signal, determining the start time of sinking monitoring, and using the telescopic length at the start time as the telescopic length reference value; calculating the difference between the effective telescopic length and the telescopic length reference value, and using the difference as the boom's length sinking amount at the current moment; obtaining the historical effective telescopic length at a historical moment that is a fourth preset time interval from the current moment; calculating the difference between the effective telescopic length and the historical effective telescopic length, and using the ratio of the difference to the fourth preset time interval as the boom's length sinking rate at the current moment.

[0048] In this embodiment, it should be noted that determining the length sinking amount and the length sinking rate first requires establishing a reference benchmark. When the controller responds to the sinking monitoring activation signal and formally enters the sinking monitoring process, this activation moment is determined as the start moment of sinking monitoring, and the effective extension length at this start moment is recorded as the reference value for the extension length throughout the monitoring process. It can be understood that this reference value represents the initial posture of the boom when it has just stopped operating and entered the holding state; all subsequent length changes are measured with reference to this initial posture.

[0049] During the monitoring process, the effective telescopic length obtained after the moving average filtering at the current moment is subtracted from the baseline telescopic length, and the absolute value of the difference is taken. This difference is the length subsidence of the boom at the current moment. Specifically, it can be calculated according to formula (4): (4) in, For the boom in The length of time and the amount of sinking. For the boom in Effective stretch length at any given time This is the baseline value for the telescopic length.

[0050] in, It can be set to 500ms-1s.

[0051] To determine the length sinking rate, a relatively short time window needs to be introduced for calculation. Obtain the historical effective amplitude length corresponding to a historical moment that is four preset time intervals away from the current moment, calculate the difference between the current effective telescopic length and that historical effective telescopic length, and then divide this difference by the fourth preset time interval. The resulting ratio is the length sinking rate of the boom at the current moment. Specifically, it can be calculated according to formula (5): (5) in, For the boom in The length of time and the rate of sinking. The third preset duration is the rate calculation time window. For the boom in Effective stretch length at any given time The boom is at a distance of the fourth preset time from the current moment. The effective historical stretch length corresponding to a certain historical moment.

[0052] Among them, four preset durations It can be configured according to actual needs. It can be set to 500ms-1s.

[0053] It should be understood that the length sinking rate reflects how quickly the boom extension length changes in a short period of time. It is a measure of instantaneous change trend and, together with the aforementioned cumulative sinking amount, describes the sinking state of the boom on different time scales.

[0054] Step 106: If the first condition and / or the second condition are met, determine that the boom is sinking at the current moment and generate a sinking warning signal. The first condition is that the angle sinking amount or the length sinking amount exceeds the corresponding displacement threshold and the duration reaches the second preset duration. The second condition is that the angle sinking rate or the length sinking rate exceeds the corresponding preset rate threshold.

[0055] In this embodiment, it should be noted that after obtaining the angle sinking amount, angle sinking rate, length sinking amount, and length sinking rate, the controller enters the early warning judgment stage. Boom sinking can refer to the non-active displacement of the boom of an engineering vehicle in a non-operational state due to hydraulic leakage, valve loosening, or temperature changes, including angle sinking and telescopic displacement sinking. It can be understood that boom sinking may manifest in two completely different modes in actual working conditions. One is slow drifting caused by factors such as internal leakage in the cylinder and slow aging of seals. This sinking speed is slow but accumulates over time. The other is rapid descent caused by factors such as hydraulic line rupture and sudden seal failure. This sinking produces a large displacement in a very short time and is far more dangerous than the former. For these two sinking modes with different risk levels, the controller sets two parallel judgment conditions, namely the first condition and the second condition. Among them, the first condition is for slow accumulation sinking. When the detected angular subsidence exceeds its corresponding displacement threshold, or the detected length subsidence exceeds its corresponding displacement threshold, the controller does not immediately determine that subsidence has occurred. Instead, it further determines whether the over-limit state has persisted for a second preset duration. The second preset duration can be set according to actual needs; for example, it can be set to 2 seconds. Only after the over-limit state has been maintained for a sufficiently long time does the controller confirm that the first condition has been met.

[0056] It should be understood that the duration judgment is introduced to filter out brief signal spikes caused by instantaneous wind load impacts, accidental mechanical vibrations, etc., ensuring that only genuine, continuous descent is recognized by the controller. The second condition addresses sudden, rapid descent. When the detected angular descent rate exceeds its corresponding preset rate threshold, or the length descent rate exceeds its corresponding preset rate threshold, the controller immediately confirms that the second condition is met, without waiting for any duration confirmation. Here, exceeding the rate limit means that the boom is changing attitude at an abnormally fast speed; this condition usually corresponds to a serious failure of the hydraulic system, and the controller must respond immediately.

[0057] The first and second conditions are parallel and independent in their judgment logic. If either condition is met, the controller determines that the boom has subsided at the current moment and generates a subsidence warning signal. It should be understood that this subsidence warning signal is an alarm trigger signal generated internally by the controller, indicating that the controller has confirmed an abnormal subsidence event on the boom that requires alerting the operator.

[0058] In this embodiment of the application, the method further includes: responding to the sinking warning signal, outputting an audible and visual alarm trigger signal and a display trigger signal; controlling the audible and visual alarm based on the audible and visual alarm trigger signal, and triggering the HMI interface to display the angle sinking amount, length sinking amount, angle sinking rate and length sinking rate based on the display trigger signal.

[0059] In this embodiment, it should be noted that after the controller generates a sinking warning signal, this signal needs to be converted into an alarm prompt and information display in the control room that can be perceived by the operator. The controller responds to the sinking warning signal by simultaneously outputting two types of trigger signals. The first is an audible and visual alarm trigger signal, which controls the audible and visual alarm device in the cab to activate, alerting the operator that the boom is sinking and requires immediate attention through a combination of sound and light. The second is a display trigger signal, which triggers the HMI interface on the control panel to switch to alarm display mode, displaying key data such as the current angle sinking amount, length sinking amount, angle sinking rate, and length sinking rate in real time. It should be understood that while the audible and visual alarm can immediately attract the operator's attention, displaying specific data on the HMI interface helps the operator quickly understand the severity and type of sinking, providing a basis for subsequent countermeasures.

[0060] Secondly, alarm records can be uploaded to the cloud platform, where alarm records and trend data are stored.

[0061] In this embodiment of the application, the method further includes: obtaining the hydraulic oil temperature and load weight of the engineering vehicle at the current moment; determining the temperature compensation amount based on the hydraulic oil temperature, a preset reference temperature, a maximum hydraulic oil temperature threshold, a minimum hydraulic oil temperature threshold, and a first compensation factor; determining the load compensation amount based on the load weight, a maximum load weight threshold, and a second compensation factor; and correcting the displacement threshold reference value corresponding to the angle subsidence based on the temperature compensation amount and the load compensation amount to obtain the angle displacement threshold corresponding to the angle subsidence at the current moment.

[0062] In this embodiment, it should be noted that the displacement threshold, used as a reference standard for judging whether the angle subsidence exceeds the limit, is difficult to adapt to the actual differences of fire trucks under different ambient temperatures and load conditions if a fixed value is used. It is understandable that hydraulic oil viscosity is significantly affected by temperature; at low temperatures, the oil is viscous and internal leakage is reduced, so the same subsidence may indicate a more serious seal failure at low temperatures; at high temperatures, the oil becomes thinner and internal leakage increases, so normal internal leakage may be misjudged as subsidence. Simultaneously, different load weights result in different boom stress states; the risk and rate of boom subsidence are usually higher under full load conditions than under no-load conditions. Therefore, the controller can obtain the hydraulic oil temperature and load weight of the fire truck at the current moment and dynamically correct the displacement threshold according to the actual working conditions.

[0063] Furthermore, the controller can obtain the hydraulic oil temperature and load weight of the fire truck at the current moment, determine the temperature compensation amount based on the hydraulic oil temperature, preset reference temperature, maximum hydraulic oil temperature threshold, minimum hydraulic oil temperature threshold, and the first compensation factor, and determine the load compensation amount based on the load weight, maximum load weight threshold, and the second compensation factor. Based on the temperature compensation amount and the load compensation amount, the displacement threshold reference value corresponding to the angle subsidence is corrected to obtain the angle displacement threshold corresponding to the angle subsidence at the current moment. Specifically, the correction can be performed according to formula (6): (6) in, The threshold value for the angular displacement of the boom at the current moment. This is the displacement threshold reference value. As the first compensation factor, As the second compensation factor, Hydraulic oil temperature For the preset reference temperature, The maximum hydraulic oil temperature threshold. The minimum hydraulic oil temperature threshold. For load weight, This is the maximum load weight threshold.

[0064] in, , Determined through calibration, It can be set to 25℃. This can be obtained through a pressure sensor or a torque limiter.

[0065] It should be understood that after the above corrections, the threshold will be tightened accordingly under low temperature or light load conditions to improve monitoring sensitivity, while the threshold will be relaxed accordingly under high temperature or heavy load conditions to avoid false alarms, so that the sinking judgment criteria remain reasonable and consistent across the entire operating range.

[0066] The above technical solution acquires the electronic control status of the loading valve of the engineering vehicle in real time; when the electronic control status is detected to be de-energized and the de-energization duration reaches a first preset duration, it determines that the boom is in a non-operation holding state and generates a sinking monitoring activation signal; in response to the sinking monitoring activation signal, it acquires the boom's luffing angle and telescopic length in real time; it processes the luffing angle and telescopic length to obtain the effective luffing angle and effective telescopic length of the boom at the current moment; it determines the angular sinking amount and angular sinking rate of the boom at the current moment based on the effective luffing angle, and determines the length sinking amount and length sinking rate of the boom at the current moment based on the effective telescopic length; under the condition of satisfying the first condition and / or the second condition, it determines that the boom has sunk at the current moment and generates a sinking warning signal, wherein the first condition is that the angular sinking amount or length sinking amount exceeds the corresponding displacement threshold and the duration reaches a second preset duration, and the second condition is that the angular sinking rate or length sinking rate exceeds the corresponding preset rate threshold. This invention judges the amount and rate of sinking by measuring the angle and length of sinking, respectively. It alarms after continuous confirmation during slow sinking and alarms immediately during rapid sinking, thus balancing the accuracy of steady-state monitoring with rapid response to transient risks.

[0067] This application provides an intelligent early warning device for boom sinking of an engineering vehicle, including: The memory is configured to store instructions; The controller is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the aforementioned intelligent early warning method for boom sinking of engineering vehicles.

[0068] This application provides an engineering vehicle, including: The boom has a dual-axis tilt sensor installed at the head of the first boom section. The dual-axis tilt sensor is used to collect the boom's luffing angle. A wire-type displacement sensor is installed between the telescopic section and the fixed section of the boom. The wire-type displacement sensor is used to collect the boom's telescopic length. The aforementioned intelligent early warning device for boom sinking of engineering vehicles.

[0069] This application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned intelligent early warning method for boom sinking of engineering vehicles.

[0070] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 2 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data related to an intelligent early warning method for boom sinking of engineering vehicles. The network interface A02 communicates with external terminals via a network connection. When the processor A01 executes the computer program B02, it implements an intelligent early warning method for boom sinking of engineering vehicles.

[0071] Those skilled in the art will understand that Figure 2 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0072] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: real-time acquisition of the electrical control status of the loading valve of the engineering vehicle; when the electrical control status is detected to be de-energized and the de-energization duration reaches a first preset duration, determining that the boom is in a non-operation holding state and generating a sinking monitoring activation signal; responding to the sinking monitoring activation signal, real-time acquisition of the boom's luffing angle and telescopic length; processing the luffing angle and telescopic length to obtain the effective luffing angle and effective telescopic length of the boom at the current moment; determining the angle sinking amount and angle sinking rate of the boom at the current moment based on the effective luffing angle, and determining the length sinking amount and length sinking rate of the boom at the current moment based on the effective telescopic length; under the condition of satisfying a first condition and / or a second condition, determining that the boom has sunk at the current moment and generating a sinking warning signal, wherein the first condition is that the angle sinking amount or length sinking amount exceeds the corresponding displacement threshold and the duration reaches a second preset duration, and the second condition is that the angle sinking rate or length sinking rate exceeds the corresponding preset rate threshold.

[0073] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program with the following method steps: real-time acquisition of the electrical control status of the loading valve of the engineering vehicle; when the electrical control status is detected to be de-energized and the de-energization duration reaches a first preset duration, determining that the boom is in a non-operation holding state and generating a sinking monitoring activation signal; responding to the sinking monitoring activation signal, real-time acquisition of the boom's luffing angle and telescopic length; processing the luffing angle and telescopic length to obtain the effective luffing angle and effective telescopic length of the boom at the current moment, respectively; determining the angular sinking amount and angular sinking rate of the boom at the current moment based on the effective luffing angle, and determining the length sinking amount and length sinking rate of the boom at the current moment based on the effective telescopic length; under the condition of satisfying a first condition and / or a second condition, determining that the boom has sunk at the current moment and generating a sinking warning signal, wherein the first condition is that the angular sinking amount or length sinking amount exceeds the corresponding displacement threshold and the duration reaches a second preset duration, and the second condition is that the angular sinking rate or length sinking rate exceeds the corresponding preset rate threshold.

[0074] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0079] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0080] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0081] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0082] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for intelligent early warning of boom sinking in engineering vehicles, characterized in that, The method includes: The electrical control status of the loading valve of the engineering vehicle is acquired in real time. When it is detected that the electronic control state is in a power-off state and the power-off duration reaches a first preset duration, it is determined that the boom is in a non-operation holding state and a sinking monitoring activation signal is generated. In response to the sinking monitoring activation signal, the boom's luffing angle and telescopic length are acquired in real time; The luffing angle and the telescopic length are processed to obtain the effective luffing angle and effective telescopic length of the boom at the current moment, respectively. The angle drop and angle drop rate of the boom at the current moment are determined based on the effective luffing angle, and the length drop and length drop rate of the boom at the current moment are determined based on the effective telescopic length. If the first condition and / or the second condition are met, it is determined that the boom is sinking at the current moment, and a sinking warning signal is generated. The first condition is that the angle sinking amount or the length sinking amount exceeds the corresponding displacement threshold and the duration reaches a second preset duration. The second condition is that the angle sinking rate or the length sinking rate exceeds the corresponding preset rate threshold.

2. The intelligent early warning method for boom sinking of engineering vehicles according to claim 1, characterized in that, The process of processing the luffing angle and the telescopic length to obtain the effective luffing angle and effective telescopic length of the boom at the current moment includes: Determine the length N of the sliding window; Obtain multiple historical amplitude angles and multiple historical stretch lengths for N-1 consecutive historical moments prior to the current moment; Calculate the arithmetic mean of the amplitude change angle and the multiple historical amplitude change angles, and calculate the arithmetic mean of the extension length and the multiple historical extension lengths; The arithmetic mean of the angles is taken as the effective luffing angle of the boom at the current moment, and the arithmetic mean of the lengths is taken as the effective extension length of the boom at the current moment.

3. The intelligent early warning method for boom sinking of engineering vehicles according to claim 1, characterized in that, Determining the angle of descent and the angle of descent rate of the boom at the current moment based on the effective luffing angle includes: In response to the sinking monitoring activation signal, the start time of sinking monitoring is determined, and the amplitude angle at the start time is used as the amplitude angle reference value. Calculate the difference between the effective luffing angle and the reference value of the luffing angle, and use the difference as the angle subsidence of the boom at the current moment; Obtain the historical effective amplitude angle at a historical moment that is a third preset time interval from the current moment; Calculate the difference between the effective amplitude angle and the effective amplitude angle, and use the ratio of the difference to the third preset time as the angle sinking rate of the boom at the current moment.

4. The intelligent early warning method for boom sinking of engineering vehicles according to claim 1, characterized in that, Determining the length subsidence and length subsidence rate of the boom at the current moment based on the effective telescopic length includes: In response to the sinking monitoring activation signal, the start time of sinking monitoring is determined, and the extension length at the start time is used as the reference value of the extension length. Calculate the difference between the effective telescopic length and the reference value of the telescopic length, and use the difference as the length subsidence of the boom at the current moment; Obtain the historical effective stretch length at a historical moment that is a fourth preset time interval from the current moment; Calculate the difference between the effective telescopic length and the historical effective telescopic length, and use the ratio of the difference to the fourth preset time as the length sinking rate of the boom at the current moment.

5. The intelligent early warning method for boom sinking of engineering vehicles according to claim 1, characterized in that, The method further includes: In response to the sinking warning signal, output an audible and visual alarm trigger signal and a display trigger signal; The sound and light alarm is controlled based on the sound and light alarm trigger signal, and the HMI interface is triggered to display the angle sinking amount, the length sinking amount, the angle sinking rate, and the length sinking rate based on the display trigger signal.

6. The intelligent early warning method for boom sinking of engineering vehicles according to claim 1, characterized in that, The method further includes: Obtain the hydraulic oil temperature and load weight of the engineering vehicle at the current moment; The temperature compensation amount is determined based on the hydraulic oil temperature, the preset reference temperature, the maximum hydraulic oil temperature threshold, the minimum hydraulic oil temperature threshold, and the first compensation factor. The load compensation amount is determined based on the load weight, the maximum load weight threshold, and the second compensation factor. The displacement threshold reference value corresponding to the angle subsidence is corrected based on the temperature compensation amount and the load compensation amount to obtain the angle displacement threshold corresponding to the angle subsidence at the current moment.

7. The intelligent early warning method for boom sinking of engineering vehicles according to claim 1, characterized in that, A dual-axis tilt sensor is installed at the head of the first section of the boom. The dual-axis tilt sensor is used to collect the luffing angle of the boom. A wire-type displacement sensor is installed between the telescopic section and the fixed section of the boom. The wire-type displacement sensor is used to collect the telescopic length of the boom.

8. An intelligent early warning device for boom sinking of engineering vehicles, characterized in that, include: The memory is configured to store instructions; The controller is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the intelligent early warning method for boom sinking of engineering vehicles according to any one of claims 1 to 7.

9. An engineering vehicle, characterized in that, include: The boom has a dual-axis tilt sensor installed at the head of the first boom section. The dual-axis tilt sensor is used to collect the luffing angle of the boom. A wire-type displacement sensor is installed between the telescopic section and the fixed section of the boom. The wire-type displacement sensor is used to collect the telescopic length of the boom. The intelligent early warning device for boom sinking of engineering vehicles according to claim 8.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by the controller, the instruction causes the controller to be configured to perform the intelligent early warning method for boom sinking of engineering vehicles according to any one of claims 1 to 7.

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