WO2023226566A1 - Boom control method, control system, and construction machine - Google Patents

Boom control method, control system, and construction machine Download PDF

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Publication number
WO2023226566A1
WO2023226566A1 PCT/CN2023/083071 CN2023083071W WO2023226566A1 WO 2023226566 A1 WO2023226566 A1 WO 2023226566A1 CN 2023083071 W CN2023083071 W CN 2023083071W WO 2023226566 A1 WO2023226566 A1 WO 2023226566A1
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WO
WIPO (PCT)
Prior art keywords
boom
arm
section
damage value
stress
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PCT/CN2023/083071
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French (fr)
Chinese (zh)
Inventor
付玲
佘玲娟
尹莉
刘延斌
马德福
Original Assignee
中联重科股份有限公司
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Publication of WO2023226566A1 publication Critical patent/WO2023226566A1/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/04—Ageing analysis or optimisation against ageing

Definitions

  • the present invention relates to the technical field of construction machinery monitoring, and specifically to a boom control method, a boom control system, an electronic device, a construction machinery and a computer-readable storage medium.
  • the boom is a key load-bearing structure of engineering machinery.
  • a safe and reliable boom plays a vital role in the safe operation of large engineering machinery/equipment. Limited by the uncertainty of the actual operating environment of construction machinery and long-term operating specifications, it is difficult to avoid crack damage, structural fatigue, material fatigue during the life cycle of construction machinery, or even without signs (such as abnormal noises and/or during service). or visible deformation) fatigue failure. Therefore, monitoring the fatigue condition of the boom of construction machinery, as well as determining the health status of the boom and evaluating its remaining life are of great significance and value in determining whether the boom continues to serve and preventing the risk of boom fatigue failure.
  • the purpose of the present invention is to provide a boom control method, control system and engineering machinery, which are used to control the manner in which the engineering machinery boom participates in operations based on real-time damage assessment, and to improve health status monitoring to avoid unstandardized damage.
  • the movement mode suddenly causes the structural fatigue failure of the boom without warning, thereby minimizing the fatigue damage of the boom and improving the service life of the boom structure.
  • an embodiment of the present invention provides a method for controlling a boom.
  • the control method includes:
  • calculating the cumulative damage value of each segmented arm based on the stress time history data includes:
  • the cumulative damage value of each segmented arm on the boom is determined.
  • calculating the cumulative damage value of each segmented arm based on the stress time history data includes:
  • the cumulative damage value of each segmented arm on the boom is determined.
  • determining that the cumulative damage value of any section of the arm reaches the alarm threshold includes at least one of the following:
  • Any first-level alarm threshold is a configured damage value and is determined by the specified segment arm, the material and welding type of the specified segment arm. Relative to the specified segment arm, the second-level alarm threshold is greater than the third-level alarm threshold. Level 1 alarm threshold.
  • intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operations in accordance with the health warning control mode includes:
  • the movement of the boom is executed according to instructions selected from the boom movement combined operation instruction set, wherein the cumulative damage value of any section of the boom on the boom reaches the first-level alarm threshold.
  • intervening in the health warning control mode of the boom and restricting the execution of the construction machinery operations according to the health warning control mode includes:
  • An embodiment of the present invention provides a boom control system.
  • the boom control system includes:
  • the determination module is used to determine the stress time history data of each segmented arm on the boom of the construction machinery
  • a calculation module used to calculate the cumulative damage value of each segmented arm based on the stress time history data
  • the judgment module is used to determine that the cumulative damage value of any section of the arm reaches the alarm threshold
  • An early warning module is used to intervene in the health warning control mode of the boom and assist or limit the execution of the construction machinery operations according to the health warning control mode.
  • an electronic device which includes:
  • a memory connected to the at least one processor
  • the memory stores instructions that can be executed by the at least one processor, the at least one processor executes the instructions stored in the memory, and the at least one processor implements the foregoing by executing the instructions stored in the memory.
  • an embodiment of the present invention provides a construction machine, which has the aforementioned electronic device.
  • embodiments of the present invention provide a computer-readable storage medium that stores computer instructions. When the computer instructions are run on a computer, they cause the computer to execute the foregoing method.
  • the present invention can perform real-time calculation of the damage value of the boom and estimate its lifespan, and provides a solution for safely controlling the operation of the boom based on the damage and remaining life of the boom in any posture.
  • Figure 1 is a schematic diagram of the main steps of the method according to the embodiment of the present invention.
  • Figure 2 is a schematic diagram of a control framework of an exemplary device resource usage method according to an embodiment of the present invention
  • Figure 3 is a schematic diagram of the control framework of an exemplary device resource usage method according to an embodiment of the present invention.
  • Figure 4 is a schematic diagram of a control framework of an exemplary device resource usage method according to an embodiment of the present invention.
  • Figure 5 is a schematic diagram of an exemplary integrated module according to an embodiment of the present invention.
  • Figure 6 is a schematic diagram of an exemplary integrated module according to an embodiment of the present invention.
  • Figure 7 is a schematic diagram of an exemplary integrated module according to an embodiment of the present invention.
  • Figure 8 is a schematic diagram of an exemplary integrated module according to an embodiment of the present invention.
  • Figure 9 is a schematic diagram of a fatigue life prediction process
  • Figure 10 is a schematic diagram of the main steps of the real-time solution method for dynamic stress according to the embodiment of the present invention.
  • Figure 11 is a schematic diagram of an exemplary single-arm equivalent structure in an embodiment of the present invention.
  • Figure 12 is a schematic diagram of an exemplary load equivalent processing flow in the embodiment of the present invention.
  • Figure 13 is a schematic flowchart of an exemplary process of estimating the remaining life of a single arm from a random attitude of the arm according to an embodiment of the present invention.
  • the boom of construction machinery is a structural component of construction machinery. Construction machinery needs to continue to perform operations.
  • the boom during service is not an independent component that is disassembled during bench testing.
  • the boom In the actual operating environment, the boom is subject to random and complex loads. Fatigue loading is not necessarily the fatigue loading method under ideal or assumed working conditions. The actual stress changes of the boom during service are different from the stress under ideal or assumed working conditions. Variations vary widely, and at the same time, the actual jib There is an unacceptable deviation between the degree of fatigue damage and the degree of fatigue damage obtained from theoretical analysis. Therefore, the boom of construction machinery can hardly be regarded as a disassembled independent component.
  • Embodiments of the present invention provide a method for controlling a boom, as shown in Figure 1.
  • the control method may include:
  • the control method can be applied to engineering machinery. Specifically, instructions for implementing the control method can be executed by electronic equipment of the engineering machinery.
  • the stress time history data ie, equivalent dynamic stress data
  • the server can implement a real-time solution method for the boom dynamic stress by executing command to obtain the stress time history data of each segment of the boom, wherein the receiving operation can be implemented by communicating with the server through the configured interface or configured application program; or, in step S1), each section arranged on the boom can be received.
  • the measurement data of segmented strain sensors or acceleration sensors during operation, and the stress time history data of each segment of the boom determined by the measurement data.
  • the graded multi-level load data (or spectrum) can be first determined (for example, in a value range) through the stress time history data, and secondly, based on the multi-level load data, the number of cycles is determined and followed by the curve Or the cumulative damage calculation formula is calculated and superimposed separately, and finally the damage value of each segment of the boom is obtained, as well as the remaining life; in other applications, the material characteristics of the boom can be considered, and the stress time history data and the curve corresponding to the material can be obtained , determine the damage value of each segment of the boom and the remaining life.
  • step S3) the determination operation of determining that the cumulative damage value of any section of the arm reaches the alarm threshold may refer to comparison, reaching may refer to exceeding or being greater than or equal to, and the alarm threshold may be the configured cumulative damage value.
  • step S4) the intervention in the health warning control mode of the boom may be to start the health warning control mode of the boom, wherein this control mode is also a configured working mode of the construction machinery. .
  • the (remaining) life of the boom can be expressed or defined in a variety of ways, such as damage value mapping expression or specified normalized numerical expression or cycle number expression or based on the number of times and usage. The remainder of the situation estimate can be expressed numerically using time, etc.
  • the first example can enable the electronic equipment of construction machinery to have advanced and rich system functions.
  • control method can be applied to servers and construction machinery.
  • the instructions (combination) to implement steps S1) to S2) in the control method can be executed by the server, and the remaining instructions in the control method are implemented.
  • the instructions of steps (eg, step S3) to step S4)) may be executed by electronic equipment of the construction machine.
  • step S1 may be that the server can obtain stress time history data of the boom by executing instructions to implement a real-time solution method for dynamic stress of the boom.
  • Step S2) can be implemented with reference to the first example.
  • step S3) may include:
  • the status information may include healthy or unhealthy text/image information, and damage value information of each segment. wait;
  • step S4 If the accumulated damage value of any section of the arm reaches the alarm threshold, step S4) can be continued, and the current damage information for the construction machinery can be presented through the display device.
  • the damage information can include the boom (joint) arm serial number, section Arm structural characteristics, accumulated damage value, remaining life, and graded logo indicating the reached alarm threshold (one logo can be displayed after the damage value reaches the first-level alarm threshold, and another logo can be displayed after the damage value reaches the second-level alarm threshold) ), one or more types of information indicating the hierarchical identification of the received alarm signal (the first-level alarm signal may present one identification, and the second-level alarm signal may present another identification).
  • Step S4) may be to activate the health warning control mode of the boom, and may present the warning logo of the health warning control mode on the display device.
  • the second example has lower requirements for the electronic equipment of the construction machinery, takes up less computing resources, and has human-computer interaction functions, which can promptly remind the operator or operation and maintenance personnel about the current status of the construction machinery. health status.
  • control method can be applied to servers and construction machinery.
  • the instructions to implement steps S1) to S3) in the control method can be executed by the server, and the remaining steps in the control method (such as The instructions of step S4)) can be executed by the electronic equipment of the construction machinery.
  • the health warning of the intervention arm Control modes can include:
  • the operation of communicating with the server can also be implemented using the configured interface or the configured application program.
  • the health warning control mode can be a configured working mode of the construction machinery; if the server determines any section in step S3) If the accumulated damage value of the arm does not reach the alarm threshold, it is not necessary to communicate with the construction machinery, or to communicate to return any designated signal for not giving an alarm, or to obtain any designated data for not giving an alarm. It should be noted that the implementation of steps S1) to step S3) can be implemented accordingly with reference to the first example. Compared with the first two examples, the third example has the lowest requirements for the electronic equipment of the construction machinery and takes up the least computing resources.
  • calculating the cumulative damage value of each segmented arm based on the stress time history data may include:
  • the damage equivalent curve can include the S-N curve and the crack growth rate da/dN curve, etc., so that the life of the boom can be estimated in segments and regions based on the S-N curve and the crack growth rate da/dN curve, and the accumulation of each section of the arm can be obtained damage and calculate its remaining life.
  • Weld types can be classified according to the BS7608 standard. Welds can be classified into Type B, Type C, Type D, Type E, Type F, and Type G. For base metal and welds defined as Type B, based on the stress time history Data can be estimated using the SN curve. For welds in other segments or other areas on the boom (according to the structural type of the weld, you can refer to the standard to find the corresponding category) can be estimated using the da/dN curve, where , Class B welding quality is the highest, with (almost) no welding defects.
  • the K value and the damage warning value Y 1 can be used as the alarm threshold or the reference configuration value of the alarm threshold. Based on the first example of determining damage values, it is also possible to use converted multi-level load data to determine damage values.
  • calculating the cumulative damage value of each segmented arm based on the stress time history data may also include:
  • the stress size variation range and the characteristics of the selected point values can be queried (not limited to strict matching, The stress size change range and the selected point value can belong to the specified range) to match the configured typical load time history data (such as a typical load spectrum), and then determine the multi-level load based on the load size classification in the typical load spectrum.
  • Data multi-level load spectrum
  • the weld type it can be classified according to the BS7608 standard.
  • the S-N curve can be used to estimate.
  • Welds in other segments or other areas on the boom can be estimated using the da/dN curve, and the cumulative damage value and remaining life of each segment on the boom (in this case, each segment on a single arm) is finally determined.
  • the system functions corresponding to steps S3) and step S4) in the aforementioned control method can be used as life prediction signal warning (control ) module implementation, the module is embedded into the control system of the host used in construction machinery operations (supported and run by electronic equipment). It is mainly used to generate early warning/control signals to the control system of the host, requiring the control system of the host to adjust the motion logic, and In a particularly emergency situation, the control system of the main machine is required to restrict it from moving in a dangerous operation mode after completing this operation, and it is recommended that the control system of the main machine operate according to the recommended boom combination movement method, so as to achieve health warning control.
  • the mode provides operation assistance and necessary restrictions for construction machinery.
  • the system functions corresponding to steps S1) and S2) in the aforementioned control method can be implemented with an analysis module, and the analysis module can be configured in the control system of the engineering machinery.
  • the early warning module accepts the signal sent by the analysis module, which can include the cumulative damage value of any section of the arm.
  • the early warning module can determine whether the first-level alarm threshold Y 1i, j, h is reached. If it is not reached, the control system of the main engine of the construction machinery can operate in any combination for the boom; among them, the alarm threshold Y 1i, j, h , i It represents different arm sections, j represents different material forms, h represents different welding forms and structural forms, and h can be represented by the stress concentration level of the weld.
  • S301) determines that the cumulative damage value of any section of the arm reaches the first level alarm threshold.
  • intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operations in accordance with the health warning control mode may include:
  • the early warning module determines that the cumulative damage value of any section of the boom reaches the first-level alarm threshold, at this time, the damage value of a certain boom section or several boom sections reaches the first-level alarm threshold Y 1i, j, h , then the early warning module can push all the specific damage values of each arm to the control system and present them on the central control screen in the form of a configured interface.
  • a logo with the first damage information can be presented on the central control screen, so that Can attract the operator's attention.
  • the operator can input the required operation information.
  • the operation information can include the boom movement direction, speed, whether the boom is extended and other operation mode information, as well as the position information of the operation target.
  • the early warning module can convert The job information is displayed on the central control screen, and the corresponding information of the configured boom movement combination operation instruction set is displayed on the central control screen, such as movement combination 1, movement combination 2, movement combination 3...
  • the operator can input the boom movement combination operation instructions through buttons or joysticks, and the early warning module can convert the boom movement combination operation instructions to the configured boom movement combination operation instructions set in real time, and send them to the central control screen in real time.
  • Push information about optional boom movement combination operations that are beneficial to extending service life.
  • the dotted arrow in Figure 5 indicates that there is no need for forced intervention in the operator's manipulation. If the operator selects an instruction from the boom movement combined operation instruction set, the movement can be performed according to the selected instruction.
  • the given movement modes can all be configured and standardized movement modes suitable for extending life, that is, the instructions in the boom movement combination operation instruction set are standardized.
  • Motion combination operation instructions selecting any one operation, can greatly extend the use time of the boom and assist in completing the execution of the operation.
  • the engineering machinery can be installed with an infrared ranging sensor. The position point can be calculated through the measurement data of the infrared ranging sensor. The distance at this position will be directly transmitted to the control system through the infrared ranging sensor. , the control system can determine the coordinate point (i.e. position point) of the operation target based on the coordinate system and distance.
  • S302 determines that the cumulative damage value of any section of the arm reaches the second level alarm threshold.
  • the any level of alarm threshold can be the configured damage value and can be determined by the specified section of the arm, the specified section of the arm.
  • the second-level alarm threshold is greater than the first-level alarm threshold relative to the designated segment arm. It is understandable that in order to ensure safety, accuracy and meet actual needs, other parameters can be further introduced to adjust the alarm threshold, such as the unique segmented structural characteristics of the boom, whether there is a reinforced protective structure, etc.
  • intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operations in accordance with the health warning control mode may include:
  • steps S404) to step S407) and steps S401) to step S403) is not limited by the order of step numbers. For example, if it is determined that the accumulated damage value of any section of the arm reaches the second level alarm threshold, steps S404) to step S407) are directly executed without executing steps S401) to step S403); if it is determined that the accumulated damage value of any section of the arm is If the damage value reaches the first-level alarm threshold and it is determined that the accumulated damage value of any section of the arm does not reach the second-level alarm threshold, steps S401) to S403) are executed instead of steps S404) to S407).
  • the first instructions (combination) for implementing steps S404) to step S407), and the second instructions (combination) for implementing steps S401) to step S403) can both be configured in the electronic equipment of the construction machinery (or controlled by the electronic equipment). System), responsible for the operation assistance and necessary restrictions during the entire life cycle of the boom.
  • the early warning module when the damage value of a certain boom segment or certain boom segments reaches the second level alarm threshold Y 2i,j,h , the early warning module will continuously alarm at a high frequency (the alarm frequency is higher than the specified frequency). ), that is, compared to the requirements corresponding to the first-level alarm threshold, at this time, you can further require that the configured alarm frequency be met.
  • the early warning module after waiting for the completion of the current job operation, the early warning module will force the operator to input the required job information and operate according to the recommended boom combination. If the required job information is not entered, in most cases, at this time The operation will not be allowed to continue.
  • the central control screen displays the logo of the second type of damage information, and the combination of input operation information and boom movement is indicated by a solid arrow as mandatory, that is, at this time, the early warning module
  • the intervention of the rack's control logic program is of high authority, basically cannot be skipped, and basically cannot be ignored, and the movement combination can also be changed.
  • the early warning module can request a pause or interruption from the control system and perform the operation in the central control system.
  • the screen displays the forced boom movement combination operation instructions converted, thereby providing the operator with the choice of stopping movement or returning to the initial posture for operation and maintenance, or performing forced boom movement combination operation instructions, achieving necessary restrictions on execution.
  • the damage value if the damage value has reached the second level alarm threshold and meets the alarm frequency requirements, the damage status of the boom (reflected in the damage value of each segment of the boom) will be locked and construction machinery can be implemented. Or the necessary restriction/stop of the boom. It needs to be inspected, repaired or replaced before subsequent operations. Only by providing specified information to the early warning module can the lock be unlocked. Only then can the aforementioned control method be re-executed, that is, without inspection.
  • the embodiment of the present invention recommends inspection, repair or replacement for the level 2 alarm threshold Y 2i, j, h to ensure the operating safety of the boom. Partial replacement of the boom does not require the entire product to be scrapped, which greatly saves costs and satisfies the needs of engineering machinery. The development needs of green jobs.
  • the system function corresponding to step S4) in the aforementioned control method is calculated based on the life span.
  • the estimated signal early warning (control) module is implemented, and the system functions corresponding to steps S1) to step S3) in the aforementioned control method are implemented with the analysis module.
  • the analysis module can be configured in the server. At this time, the early warning module needs to receive the analysis module Classified alarm signals, and based on the classified alarm signals, perform operation assistance or necessary restrictions on the boom.
  • the early warning module (which can be via the control system) receives the first-level alarm signal sent by the analysis module, that is, a certain boom section or certain boom sections The segmented damage value reaches the first-level alarm threshold Y 1i, j, h , then, similarly, operation assistance can be performed; as shown in Figure 8, if the early warning module receives the second-level alarm signal sent by the analysis module, and ( The occurrence frequency of the second-level alarm signal relative to the specified boom segment is higher than the specified frequency, that is, the damage value of a certain boom segment or several boom segments reaches the second-level alarm threshold Y 2i, j, h , then, similarly, the necessary restrictions can be implemented.
  • the health warning control mode intervened in this embodiment avoids the sudden structural fatigue failure of the boom due to unstandardized movement patterns, thereby minimizing and improving the fatigue damage of the boom.
  • the service life of the boom structure is increased.
  • the control method of the present invention does not have high requirements on industrial solvers (such as the aforementioned processors of electronic equipment or servers), and ordinary industrial solvers can meet the requirements.
  • the commonly used fatigue life calculation method in boom structures is mainly the nominal stress method.
  • the nominal stress method estimates fatigue life based on the S-N curve of the material.
  • the accuracy of the stress and load spectrum in the nominal stress method directly affects the accuracy of fatigue life calculation.
  • the fatigue life calculation method mainly uses the finite element method to conduct multi-assumed working condition analysis on the boom structure to obtain the stress state under different working conditions, and then analyzes the load signals collected by the actual engineering machinery vehicle to obtain the load Spectral information is obtained, and finally the fatigue life of the boom is estimated based on the nominal stress method.
  • the stress is usually calculated using the finite element method, usually based on the assumed operating conditions of the boom, and then the fatigue life under specific loads is estimated.
  • the difference between the actual operating conditions and the specific operating conditions will lead to the use of Life expectancy deviates significantly from estimated life span.
  • Monitoring is carried out by using sensitive devices such as strain sensors and acceleration sensors on the boom during service. Because the detection parts of the sensitive devices (such as strain gauges or deformable parts) themselves have fatigue damage, their service life is very limited, and with the strain With the accumulation of usage time of the sensor or acceleration sensor, the collected signal will drift and the measurement accuracy will decrease with the increase of usage time. It is difficult to provide monitoring guarantee for the boom in service, and the strain data provided by the sensor will be used to determine the damage of the boom. Or life estimate (based on experience estimate or design result estimate), the reliability of the estimate is very low. The embodiments of the present invention provide further solutions.
  • Construction machinery booms generally consist of 5 to 6 sections of arms, with ever-changing postures.
  • the pressure and displacement of the main pump also change in real time, causing the stress on the boom structure to be extremely complex.
  • the embodiment of the present invention provides the real-time solution method of boom dynamic stress in Embodiment 1, which can be applied to engineering machinery. or server, as shown in Figure 10.
  • the real-time solution method for the dynamic stress of the boom can include:
  • the dynamic stress or dynamic stress of the boom is the structural stress that changes with time due to the influence of dynamic loads (dynamic loads) on the boom, and is the direct cause of fatigue failure of the boom. .
  • step M1) may include:
  • the boom attitude data and corresponding operating parameters can be sent to the server by the controller (or control system) of the construction machinery.
  • the specified operation time range can be a specified work cycle, and the work cycle can be specified based on the effects of use and testing.
  • the attitude data of the boom may include the attitude of the arm and the corresponding operation time (such as timestamp, time record).
  • the attitude of the arm may include the position of the specified position on the arm (one or more position points or location areas may exist).
  • the specified position can include the bottom of the boom (which can be one end close to the body or control room of the construction machinery), the middle of the boom, the end of the boom, and the hinge point connection.
  • the angle can be the inclination of the boom.
  • the posture of the aforementioned boom may be the posture of each section of the arm.
  • the joint arms of each segment of the boom may be segmented parts specified according to the actual structural characteristics of the boom, or may be specified according to the distribution of the aforementioned designated positions on the boom. You can specify the number of each section of the arm on the boom from the bottom to the end, such as the 1st section of the arm, the 2nd section of the arm, etc.
  • the measured value can be obtained by angle sensor, included angle sensor, etc.
  • the converted value can be obtained by calculating the measured value of the displacement sensor combined with the trigonometric function relationship.
  • the displacement sensor is a cylinder displacement sensor, a cable displacement sensor, etc. It can be understood that step M101) and step M102) can be executed asynchronously or (data packaging) synchronously.
  • the server can directly receive the measurement values to be processed, and step M1) can also include:
  • M101 ⁇ receives the measured values and corresponding operating parameters of the sensors on each segment of the boom of the construction machinery within the specified operating time range;
  • the computing resources of the controller of the construction machinery are not occupied, and the server is used for the main calculation and other data processing.
  • the aforementioned corresponding operating parameters are temporally related (i.e. corresponding) to the boom attitude data, for example, the attitude and corresponding operating parameters at each moment are recorded within a specified operating time range.
  • the operating parameters of the construction machinery may include pump pressure value and displacement, etc.
  • the pump may be a hydraulic pump of the boom, such as a main pressure pump that provides operation support.
  • the displacement can be estimated based on the gear information used when the engine is operating.
  • the operating parameters of the engineering machinery may also include the main pump pressure value and the engine Machine output power, etc.
  • Step M2) may include:
  • M202 Determine the typical attitude working conditions of the single arm based on the attitude change range of each arm section on the single arm and the corresponding operating parameters;
  • the single arm is a structural model that has an attitude equivalent relationship with the boom, and the structural model includes multiple arm sections, each of which is a simple structural unit.
  • a single arm can be a structural model described in a programming language.
  • the structural model can be a typical beam (such as a cantilever beam structural model), a rod, etc.
  • the simple structural unit is correspondingly a designated part of the beam or rod.
  • a single arm can also be There can be a bottom and an end, and from the bottom to the end, there are corresponding first arm sections, second arm sections, etc.
  • the number of single arm segments can be consistent with the number of boom segments (for example, 5 to 6 segments), or it can be inconsistent with the number of boom segments. For example, based on triangular relations and basic angle transformations, the multi-segment arm sections on the single arm are combined with the number of boom segments.
  • the posture of one section of the boom is equivalent, or the posture of the upper section of the single arm is equivalent to the posture of the multi-section section of the boom.
  • the specific number of sections can be used and tested based on the structural characteristics of the boom of the actual engineering machinery. Effect, make selections and specify mapping relationships.
  • the corresponding order of the single arm and the boom may be consistent.
  • the upper bottom arm section of the single arm corresponds to the upper bottom arm section of the boom
  • the upper middle arm section of the single arm corresponds to the upper middle section of the boom.
  • the arms correspond to each other, the upper end arm section of the single arm corresponds to the upper end section arm of the boom, etc.
  • the arm sections on the single arm and the arm sections on the boom frame have a designated mapping relationship
  • the mapping relationship is used to map the dynamic stress of the designated arm section on the boom to the posture of the designated arm section on the single arm,
  • the load history of the specified boom section on the single arm is equivalent to, with the attitude of the specified boom section on the single arm, within the specified operating time range, the load history of the rear section boom section on the single arm is affected by load effect.
  • the aforementioned typical attitude working conditions may be the typical working state of the single arm or the typical working state of the boom.
  • the working state is related to the change range of the attitude of the boom and the corresponding operating parameters within the specified operating time range.
  • there can be multiple typical working states within the specified operating time range that is, multiple typical attitude working conditions.
  • Typical working conditions are related to the actual types of construction machinery and booms, such as boom lifting, boom lowering, arm extension and bending of each joint of the boom, etc.
  • the attitude and corresponding operating parameters of the boom in service within the specified operating time range are measured and obtained, and the dynamic load or calculation of each section of the boom is measured and obtained. dynamic stress. Since the above-mentioned attitude equivalence exists between the single arm and the boom, and at the same time, relative to the working state of the boom in service in time, the attitude between each arm section on the single arm also shows a numerical correlation, and there are certain corresponding operating parameters. , that is, the working status of the boom in service can be uniquely described through the posture of each arm section of the single arm and the corresponding operating parameters.
  • the typical working status (typical working status) can be determined, and the If there is a relationship between the typical working status and the attitude change range of the single arm and the corresponding operating parameters within the specified operating time range, then it is used At this time, the typical working state of the boom or the typical working state of the single arm can be uniquely determined through the attitude change range of each arm section of the single arm and the corresponding operating parameters within the specified operating time range.
  • the data distribution of dynamic stress or dynamic load with typical working conditions is regular.
  • the dynamic stress spectrum or dynamic load spectrum has obvious distribution bands or numerical range characteristics. The regularity or distribution band characteristics of this data distribution are in Big data is presented centrally and prominently.
  • a typical working state can have a typical load spectrum of a dynamic load spectrum.
  • the typical load spectrum can be determined by the dynamic load coefficient.
  • the dynamic load coefficient can be the acceleration value relative to gravity.
  • typical attitude conditions can be represented by identifiers.
  • the boom attitude data can be used as the input data of the model to obtain the attitude change range of each arm section on the single arm within the specified operating time range.
  • the typical attitude working conditions of the single arm within the specified operating time range can be obtained.
  • the arm section of the single arm has structural characteristic parameters, and the structural characteristic parameters include at least one of the following: the cross-sectional shape characteristic parameters of the boom, the thickness characteristic parameters, the telescopic overlap characteristic parameters, and the connecting rod structure.
  • each arm section may have its own structural feature parameters, and a set of structural feature parameters may correspond to the segment number of the arm section.
  • the cross-sectional shape characteristic parameter may be a configuration parameter representing a circle, a rectangle, an I-shape, etc.
  • the thickness characteristic parameter may be a thickness numerical parameter, etc.
  • the end section of the single arm is configured to have the function of extending the length of the section. The load analysis of the boom can be simplified by using a single arm.
  • the aforementioned typical attitude working conditions and dynamic load coefficients can be determined through finite element analysis and experiments.
  • the boom and the single arm (preferably divided into 3-6 sections) can both have 5 sections.
  • Each arm section on the single arm and each section of the arm on the boom can be numbered in sequence from the bottom to the end.
  • the number of arm sections and end sections can be the largest.
  • the main force form of a single arm can be concentrated force, bending moment, etc. at the end of the single arm.
  • the problem of solving the dynamic stress of the i-th boom section on the boom in service is equivalent to the problem of solving the load history (or dynamic load) of the i-th boom section on a single arm; i is a positive integer and less than or equal to 5.
  • the load history of the i-th boom section on the single arm is equivalent to, based on the angle (can be an inclination angle) of the i-th boom section on the single arm, within the specified operating time range, the load history of the rear section on the single arm is affected by
  • the rear section arm section can be a structural unit composed of the (i+1) section arm section, (i+2) section arm section...the 5th section arm section, that is, except for the specified
  • Data can be collected during the service process of the boom of construction machinery.
  • the collected operating parameters such as main pump pressure value and displacement can be used to adjust the dynamic load coefficient during the stress loading process of the boom (the dynamic load coefficient will be affected by the pressure value, displacement, etc. (influence of parameters that express actual operating conditions), relative to the time record, the pressure value, displacement, and angle of each arm section of the single arm are correlated and mapped, and recorded to a designated database, which also stores each posture work conditions, such as recording the identifier of the working condition and the operating parameters and angle data corresponding to the identifier to form the service process
  • the relational data records in the database can have a specified scale. For example, if the data size and time record length exceed a specified threshold, it can be called a large data set. For data processing of large data sets, it mainly involves the statistical counting of attitude working conditions. You can use the big data framework to perform data processing, use configured database statement instructions, use basic statistical functions of tables, generate distribution diagrams, etc. any one or more method to complete processing.
  • performing big data processing can include:
  • the balance equation is used to solve each arm of the single arm under typical attitude conditions.
  • the load of each arm section is determined, and the stress of each arm section is determined.
  • the stress can be a functional relationship or numerical distribution of the stress corresponding to the (time-corresponding) angle or time. After the stress is obtained, for the numerical distribution of stress presented by the data, the numerical distribution of stress can be used as part of the aforementioned large data set, and can be based on the aforementioned regularity or the numerical distribution law of stress or the characteristics of the distribution zone of stress.
  • the stress conversion coefficient is not a limiting implementation.
  • the dynamic load coefficient can also be determined by transforming the expression form.
  • the structural characteristic parameters of the single arm at this time may include: boom cross-sectional shape characteristic parameters, thickness characteristic parameters, boom telescopic overlap characteristic parameters, boom and link mechanism characteristic parameters, auxiliary connection support characteristic parameters, etc. .
  • step A2) the stress on the arm joint at the end of the single arm is processed. Extend the length of the end arm section of a single arm.
  • the correction coefficient K can be configured according to the effects of testing and use. It should be added that if the end arm section has an extended part, the end of the single arm is the end position of the extended end arm section; the extension does not affect the quality of the end arm section.
  • each simple structural unit is solved.
  • the single arm mapped to the arm can have 6 segments.
  • the filled circles P1 to P6 in Figure 11 can exemplarily represent the segment positions of the single arm.
  • the filled circle P7 (whose structural influence can be related to the arm through a triangular relationship) can Indicates the hinge point position of the arm head cylinder.
  • ⁇ , ⁇ , and ⁇ are the angle values involved in the calculation of the balance equation. Based on considerations such as different coordinate systems, measurement positions, and the correlation between angles, the measurement, selection, and implementation of angle values are Optional, such as using boom inclination angle, joint arm angle, etc.
  • F1 can represent the force at the hinge point connecting the boom end cylinder and the boom
  • F2 can represent the phase force at the boom end.
  • F3 and F4 can be respectively the force at the hinge point connecting the connecting rod and the boom
  • F5 can represent the force at the hinge point connecting the arm head cylinder and the boom
  • F6 It can represent the force at the connecting hinge point of two adjacent joint arms at the arm head.
  • the unknown quantities can be F1, F2, F4, F5, and with the help of the grid (in order to provide distinction, the remaining filled circles are oblique Line filling) fills the circle with the bending moments M1 and M2 at the P2 segment position and P6 segment position for balance calculation.
  • the bending moment Mi received by each arm section in each attitude can be calculated in real time based on the real-time changes in the inclination angle of the boom.
  • the stress can be a stress time history or a time-related function ⁇ (t). In some visualization scenarios, it can be presented in the form of a spectrum. It should be emphasized that this stress is the stress without equivalent dynamic load.
  • the attitude change within the specified operating time range can be regarded as producing an equivalent dynamic load effect on the end of the single arm.
  • This dynamic load effect can be decomposed into the load on the single arm through the principle of load superposition.
  • the specified boom section is subject to the load of the rear section boom section.
  • the dynamic stress produced by the decomposed load on the specified boom section can be regarded as the stress on the specified boom section under a typical attitude condition.
  • the product of stress without dynamic load i.e., the stress selected above
  • the stress conversion coefficient This product can be used as the equivalent dynamic stress of typical attitude conditions, so as to obtain the arm in service within the specified operating time range. Structural stress that changes with time due to changes in frame attitude.
  • step A3) the dynamic stress generated by a large number of posture changes within a certain range of the multi-jointed arm on the boom can be converted into the equivalent dynamic stress of a typical posture working condition.
  • the equivalent end load may include the equivalent end concentrated force.
  • i is the segment number of the front arm section.
  • ⁇ m n is the equivalent boom mass
  • g′ is the corrected gravity acceleration
  • l n is the distance between the center of mass of the n-th boom section and the end of the structural unit of the rear section arm section
  • cos ⁇ n (t) is the n-th boom section segment arm
  • the rotation angle of the section changes with time; in the embodiment of the present invention, the equivalent boom mass is the mass of the rear section of the boom.
  • the stress equivalent coefficient k i is obtained when the boom attitude changes (since the equivalent of a single arm is used, the stress conversion coefficient can be called the stress equivalent coefficient at this time)
  • M i is the bending moment of each arm section of the boom without considering the equivalent bending moment
  • u n is the stress conversion correction coefficient
  • u n can be used as a dynamic load coefficient
  • ⁇ m n is the equivalent boom mass
  • ⁇ n is the inclination angle of each boom in the rear section
  • ⁇ m n is the equivalent boom mass
  • ⁇ n is the inclination angle of each boom in the rear section
  • the specified operation time range is within the specified operation time range.
  • Typical attitude working conditions for example, through the changing range of the boom attitude and corresponding operating parameters, through database query or table matching or numerical comparison or identification of waveform characteristics, find the typical attitude working conditions within the specified operating time range, and then use
  • the aforementioned database or configured table completes the distribution of dynamic load coefficients corresponding to typical attitude conditions.
  • the equivalent dynamic stress of each segment on the boom is calculated.
  • the stress time history data is presented in the form of a spectrum, and then it can be determined according to the control method in Embodiment 1 whether maintenance of the boom segments is required.
  • the stress time history data can also be converted and statistically estimated to obtain Boom damage and/or boom (remaining) life.
  • a large number of engineering machinery data can also be used for comparative analysis, and a neural network fuzzy self-learning model based on discrete units can be used to further modify the structure and adjust the aforementioned
  • the configured parameters further improve the calculation accuracy.
  • the error of the dynamic stress calculation results of the present invention is basically within the range of less than or equal to 10%, and a few results are within the range of 15%.
  • the above-mentioned single arm can complete the data processing steps of the above same functions through configured calculation functions and/or numerical tables, such as splitting and splitting the use steps of the single arm.
  • the combination is implemented with calculation functions of the same function and/or numerical tables that can be matched by queries.
  • the calculation functions and tables of a single arm or here can be regarded as equivalent mapping models. Therefore, the aforementioned step M2) can also include:
  • the signal input of the single-joint arm of the boom can be used to obtain the angle of each boom during operation and the typical posture (bottom) angle. , based on this angle, determine the equivalent bending moment and typical attitude bending moment respectively, and obtain the stress conversion coefficient. Based on the stress conversion coefficient and real-time stress (which can be associated with the boom operating conditions), the single-arm stress calculated by the equivalent mapping model is obtained Time history, after converting the load spectrum data, the rainflow counting method can be used for statistics. Based on the statistical results, the boom damage and/or boom life can be estimated.
  • the arm attitude data and operating parameters can be provided to the server through the electronic device on the construction machinery (for example, the device has a microcontroller MCU/system on a chip SoC), and the server It can be used to execute instructions corresponding to the aforementioned real-time solution method for boom dynamic stress.
  • the server can obtain the boom dynamic stress and the final boom damage/remaining life estimate in just a few minutes.
  • the server and the construction machinery can communicate in real time/communicate according to request needs/communicate at specified intervals; the server can be a virtual server and/or a physical server, and the virtual server can be a cloud based on pooled computing resources.
  • the server can be configured with a container, and the execution of the aforementioned method is completed in the container;
  • the physical server can be configured as a remote server, or can be configured at a designated location on the working site to facilitate Use local area networks to securely communicate with electronic devices.
  • the actual effective load and stress analysis of the boom of the embodiment of the present invention is the basis for monitoring the health status of the boom of the engineering machinery and evaluating its remaining life.
  • the analysis of the load and stress needs to be as thorough as possible. It is necessary to avoid being disconnected from the actual conditions of the boom operation, so as to avoid failure of health status monitoring and excessive deviation in remaining life assessment.
  • Embodiments of the present invention can significantly improve the accuracy of fatigue life estimation, and compared with traditional methods, the accuracy is increased by 30%.
  • Non-strict query matching is used to obtain multi-level typical load spectrum of a single arm (multiple levels can be determined according to load size and number of cycles), and according to the load level, the S-N curve and the da/dN curve are combined to estimate the damage, or you can also directly Using the S-N curve and da/dN curve, calculate the cumulative damage value and remaining life of the single arm based on the stress time history of the single arm, which is an estimate of the equivalent boom damage and remaining life.
  • the invention provides an equivalent conversion model that equates the random attitude of the arm to the typical attitude of a single arm, realizing rapid calculation of damage and remaining life of the arm in any attitude; the invention innovatively proposes a simplification of the complex load of the arm
  • the calculation method by simplifying the boom into several discrete sections and quantitatively extending the end of the single arm, can achieve fast equivalent calculations from complex loads to simple loads on the boom, and quickly simplify the equivalent of complex structural features of the boom.
  • This invention avoids the use of ideal or assumed working conditions, uses unique structural mapping and models to analyze the stress situation of the real vehicle online, calculates the stress of the arm structure in any posture, and obtains the load spectrum information in any posture, thereby It provides a data basis for accurate prediction of real-time damage and life of the boom system.
  • the embodiments of the present invention belong to the same inventive concept as Embodiments 1 and 2.
  • the embodiments of the present invention provide a real-time solution system for boom dynamic stress.
  • the system may include:
  • the acquisition module is used to determine the boom attitude data of each segment on the boom of the construction machinery within the specified operating time range, as well as the corresponding operating parameters of the construction machinery;
  • a determination module configured to determine typical attitude working conditions within the specified operating time range based on the boom attitude data and the corresponding operating parameters
  • An allocation module used to allocate the dynamic load coefficient corresponding to the typical attitude working condition, and obtain the real-time operating parameters of the construction machinery;
  • a conversion module configured to determine the equivalent dynamic stress of each segment on the boom based on the dynamic load coefficient and the real-time operating parameters.
  • the system may further include a signal monitoring module, a signal acquisition module, a signal transmission module, a signal storage and preprocessing module, and a signal analysis and control module.
  • the signal monitoring module, signal acquisition module, and signal transmission module can be configured in engineering machinery.
  • the signal monitoring module is mainly a boom angle sensor and a sensor that monitors the pressure and displacement of the main pump;
  • the signal acquisition module is used to record real-time changes in angle, pressure, and displacement (gear information calculation) during the service of construction machinery;
  • the signal transmission module is mainly used to transmit the data of the boom in service to the cloud server platform in real time, and to transmit the data of the cloud server platform to the signal analysis and control module.
  • the signal analysis and control module performs real-time analysis on the transmitted data and transmits the analysis results to the control system of the construction machinery so that the analysis results are displayed in the control system of the construction machinery.
  • Embodiments of the present invention also provide a control system for the boom, which can be applied to engineering machinery and servers, or can be applied to engineering machinery.
  • the control system of the boom may include:
  • the determination module is used to determine the stress time history data of each segmented arm on the boom of the construction machinery
  • a calculation module used to calculate the cumulative damage value of each segmented arm based on the stress time history data
  • the judgment (or comparison) module is used to determine that the cumulative damage value of any section of the arm reaches the alarm threshold;
  • An early warning module is used to intervene in the health warning control mode of the boom and assist or limit the execution of the construction machinery operations according to the health warning control mode.
  • the cumulative damage value of each segmented arm is calculated, including:
  • the cumulative damage value of each segmented arm on the boom is determined.
  • the cumulative damage value of each segmented arm is calculated, including:
  • the cumulative damage value of each segmented arm on the boom is determined.
  • the cumulative damage value of any section of the arm reaches the alarm threshold, including at least one of the following:
  • Any first-level alarm threshold is a configured damage value and is determined by the specified segment arm, the material and welding type of the specified segment arm. Relative to the specified segment arm, the second-level alarm threshold is greater than the third-level alarm threshold. Level 1 alarm threshold.
  • intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operations in accordance with the health warning control mode includes:
  • the movement of the boom is executed according to instructions selected from the boom movement combined operation instruction set, wherein the cumulative damage value of any section of the boom on the boom reaches the first-level alarm threshold.
  • intervening in the health warning control mode of the boom and restricting the execution of the construction machinery operations according to the health warning control mode includes:
  • the embodiments of the present invention and Embodiments 1 to 3 all belong to the same inventive concept.
  • the embodiments of the present invention provide an electronic device.
  • the electronic device may include: at least one processor; a memory connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the method in the aforementioned Embodiment 1 by executing the instructions stored in the memory.
  • Electronic devices may include controller MCUs, system-on-chips SoCs, and/or integrated circuits with computing and control capabilities, etc.
  • Embodiments of the present invention also provide a server, which is communicatively connected to the construction machinery, and which has the aforementioned electronic device.
  • Embodiments of the present invention also provide engineering machinery, which may include excavators, cranes, telescopic arm/long arm crushers, pump trucks and other machinery/equipment equipped with booms.
  • the engineering machinery is communicatively connected to the aforementioned server.
  • the engineering machinery is configured with the aforementioned server or the aforementioned electronic device; in another example, the engineering machinery is configured with an industrial computer, and the industrial computer
  • the machine has the aforementioned electronic device; in the two examples here, if the electronic device has available computing resources, the electronic device can complete the calculations and queries in the aforementioned embodiments by itself.
  • the electronic device can request the server in the aforementioned embodiment through the configured interface/program, complete the calculations and queries in the aforementioned embodiment through the server, and also receive the equivalent dynamic force returned by the server through the configured interface/program. , fatigue damage and/or remaining life data.
  • the program is stored in a storage medium and includes several instructions to cause the microcontroller, chip or processor to (processor) executes all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media can be non-transient, and the storage media can include: U disk, hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), flash memory (Flash memory), Various media such as magnetic disks or optical disks that can store program code.
  • any combination of different implementation modes of the embodiments of the present invention can also be performed. As long as they do not violate the ideas of the embodiments of the present invention, they should also be regarded as the content disclosed in the embodiments of the present invention.

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Abstract

The present invention relates to the technical field of construction machine monitoring, and provides a boom control method, a control system, and a construction machine. The method comprises: determining stress time history data of each section of a boom of a construction machine; calculating an accumulated damage value of each section on the basis of the stress time history data; determining that the accumulated damage value of any section reaches an alarm threshold; and intervening in a health early warning control mode of the boom, and assisting or restricting operation execution of the construction machine according to the health early warning control mode. The present invention is used for predicting the service life of the boom.

Description

臂架的控制方法、控制***及工程机械Boom control method, control system and construction machinery 技术领域Technical field
本发明涉及工程机械监测技术领域，具体地涉及一种臂架的控制方法、一种臂架的控制***、一种电子设备、一种工程机械和一种计算机可读存储介质。The present invention relates to the technical field of construction machinery monitoring, and specifically to a boom control method, a boom control system, an electronic device, a construction machinery and a computer-readable storage medium.
背景技术Background technique
臂架是工程机械关键承载结构，安全可靠的臂架对大型工程机械/装备的安全运行起着至关重要的作用。受限于工程机械实际作业环境和长期作业规范性的不确定性，很难避免不出现工程机械生命周期内裂纹损伤、结构疲劳、材料疲劳，甚至是没有征兆(例如服役时发出异常声响和/或可见的形变)的疲劳失效。因此，监测工程机械的臂架疲劳情况，以及进行臂架健康状态确定和评估其剩余寿命，对于决定臂架是否继续服役和防范臂架疲劳失效风险，具有十分重要的意义和价值。The boom is a key load-bearing structure of engineering machinery. A safe and reliable boom plays a vital role in the safe operation of large engineering machinery/equipment. Limited by the uncertainty of the actual operating environment of construction machinery and long-term operating specifications, it is difficult to avoid crack damage, structural fatigue, material fatigue during the life cycle of construction machinery, or even without signs (such as abnormal noises and/or during service). or visible deformation) fatigue failure. Therefore, monitoring the fatigue condition of the boom of construction machinery, as well as determining the health status of the boom and evaluating its remaining life are of great significance and value in determining whether the boom continues to serve and preventing the risk of boom fatigue failure.
发明内容Contents of the invention
本发明的目的是提供一种臂架的控制方法、控制***及工程机械，用于基于实时的损伤情况评估，控制工程机械臂架参与作业的方式，并改善健康状态监测，避免因未规范的运动方式突然造成臂架的无征兆结构疲劳失效，从而实现臂架的疲劳损伤尽可能减小和改善臂架结构可使用寿命。The purpose of the present invention is to provide a boom control method, control system and engineering machinery, which are used to control the manner in which the engineering machinery boom participates in operations based on real-time damage assessment, and to improve health status monitoring to avoid unstandardized damage. The movement mode suddenly causes the structural fatigue failure of the boom without warning, thereby minimizing the fatigue damage of the boom and improving the service life of the boom structure.
为了实现上述目的，本发明实施例提供一种臂架的控制方法，该控制方法包括：In order to achieve the above object, an embodiment of the present invention provides a method for controlling a boom. The control method includes:
确定工程机械的臂架上各分段节臂的应力时间历程数据；Determine the stress time history data of each segmented arm on the boom of the construction machinery;
基于所述应力时间历程数据，计算各分段节臂的累积损伤值；Based on the stress time history data, calculate the cumulative damage value of each segmented arm;
确定任意一段节臂的累积损伤值达到报警阈值；Determine that the cumulative damage value of any section of the arm reaches the alarm threshold;
介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助或限制所述工程机械作业执行。Intervene in the health warning control mode of the boom, and assist or limit the execution of the construction machinery operations according to the health warning control mode.
具体的，所述基于所述应力时间历程数据，计算各分段节臂的累积损伤值，包括：Specifically, calculating the cumulative damage value of each segmented arm based on the stress time history data includes:
确定所述臂架上各段臂节内指定区域的焊缝类型；Determine the weld type in the designated area within each boom section on the boom;
确定与所述焊缝类型对应的损伤等效曲线；Determine the damage equivalent curve corresponding to the weld type;
通过所述损伤等效曲线和所述应力时间历程数据，确定所述臂架上各分段节臂的累积损伤值。Through the damage equivalent curve and the stress time history data, the cumulative damage value of each segmented arm on the boom is determined.
具体的，所述基于所述应力时间历程数据，计算各分段节臂的累积损伤值，包括： Specifically, calculating the cumulative damage value of each segmented arm based on the stress time history data includes:
确定所述臂架上各段臂节内指定区域的焊缝类型；Determine the weld type in the designated area within each boom section on the boom;
确定与所述焊缝类型对应的损伤等效曲线；Determine the damage equivalent curve corresponding to the weld type;
转换所述应力时间历程数据为多级载荷数据；Converting the stress time history data into multi-level load data;
通过所述损伤等效曲线和所述多级载荷数据，确定所述臂架上各分段节臂的累积损伤值。Through the damage equivalent curve and the multi-level load data, the cumulative damage value of each segmented arm on the boom is determined.
具体的，所述确定任意一段节臂的累积损伤值达到报警阈值，包括以下至少一项：Specifically, determining that the cumulative damage value of any section of the arm reaches the alarm threshold includes at least one of the following:
确定任意一段节臂的累积损伤值达到第一级报警阈值；Determine that the cumulative damage value of any section of the arm reaches the first level alarm threshold;
确定任意一段节臂的累积损伤值达到第二级报警阈值，其中，Determine that the cumulative damage value of any section of the arm reaches the second level alarm threshold, where,
任意一级报警阈值是配置的损伤值且由指定段节臂、所述指定段节臂的材料和焊接类型决定，相对于所述指定段节臂，所述第二级报警阈值大于所述第一级报警阈值。Any first-level alarm threshold is a configured damage value and is determined by the specified segment arm, the material and welding type of the specified segment arm. Relative to the specified segment arm, the second-level alarm threshold is greater than the third-level alarm threshold. Level 1 alarm threshold.
具体的，所述介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助所述工程机械作业执行，包括：Specifically, intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operations in accordance with the health warning control mode includes:
获取输入的臂架运动组合操作指令；Get the input boom movement combination operation instructions;
转换输入的臂架运动组合操作指令或作业信息为配置的臂架运动组合操作指令集；Convert the input boom movement combination operation instructions or job information into the configured boom movement combination operation instruction set;
按照所述臂架运动组合操作指令集中选择的指令执行所述臂架的运动，其中，所述臂架上任意一段节臂的累积损伤值达到所述第一级报警阈值。The movement of the boom is executed according to instructions selected from the boom movement combined operation instruction set, wherein the cumulative damage value of any section of the boom on the boom reaches the first-level alarm threshold.
具体的，所述介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式限制所述工程机械作业执行，包括：Specifically, intervening in the health warning control mode of the boom and restricting the execution of the construction machinery operations according to the health warning control mode includes:
等待当前的臂架运动组合操作指令执行完成；Wait for the completion of the current boom movement combination operation command;
停止所述臂架的运动，并获取输入的臂架运动组合操作指令或作业信息；Stop the movement of the boom and obtain the input boom movement combination operation instructions or operation information;
转换输入的臂架运动组合操作指令或作业信息为强制的臂架运动组合操作指令；Convert the input boom movement combination operation instructions or job information into mandatory boom movement combination operation instructions;
按照强制的臂架运动组合操作指令执行所述臂架的运动，或继续停止所述臂架的运动。Execute the movement of the boom according to the forced boom movement combination operation instruction, or continue to stop the movement of the boom.
本发明实施例提供一种臂架的控制***，该臂架的控制***包括：An embodiment of the present invention provides a boom control system. The boom control system includes:
确定模块，用于确定工程机械的臂架上各分段节臂的应力时间历程数据；The determination module is used to determine the stress time history data of each segmented arm on the boom of the construction machinery;
计算模块，用于基于所述应力时间历程数据，计算各分段节臂的累积损伤值；A calculation module used to calculate the cumulative damage value of each segmented arm based on the stress time history data;
判断模块，用于确定任意一段节臂的累积损伤值达到报警阈值；The judgment module is used to determine that the cumulative damage value of any section of the arm reaches the alarm threshold;
预警模块，用于介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助或限制所述工程机械作业执行。An early warning module is used to intervene in the health warning control mode of the boom and assist or limit the execution of the construction machinery operations according to the health warning control mode.
再一方面，本发明实施例提供一种电子设备，该电子设备包括：In yet another aspect, an embodiment of the present invention provides an electronic device, which includes:
至少一个处理器；at least one processor;
存储器，与所述至少一个处理器连接；A memory connected to the at least one processor;
其中，所述存储器存储有能被所述至少一个处理器执行的指令，所述至少一个处理器通过执行所述存储器存储的指令，所述至少一个处理器通过执行所述存储器存储的指令实现前述的方法。 Wherein, the memory stores instructions that can be executed by the at least one processor, the at least one processor executes the instructions stored in the memory, and the at least one processor implements the foregoing by executing the instructions stored in the memory. Methods.
又一方面，本发明实施例提供一种工程机械，该工程机械具有前述的电子设备。In another aspect, an embodiment of the present invention provides a construction machine, which has the aforementioned electronic device.
又一方面，本发明实施例提供一种计算机可读存储介质，存储有计算机指令，当所述计算机指令在计算机上运行时，使得计算机执行前述的方法。In another aspect, embodiments of the present invention provide a computer-readable storage medium that stores computer instructions. When the computer instructions are run on a computer, they cause the computer to execute the foregoing method.
本发明能够进行臂架的损伤值的实时计算和寿命预估，提供了基于任意姿态臂架损伤与剩余寿命，进行臂架的操作安全控制的方案。The present invention can perform real-time calculation of the damage value of the boom and estimate its lifespan, and provides a solution for safely controlling the operation of the boom based on the damage and remaining life of the boom in any posture.
本发明实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。Other features and advantages of embodiments of the present invention will be described in detail in the detailed description that follows.
附图说明Description of the drawings
附图是用来提供对本发明实施例的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明实施例，但并不构成对本发明实施例的限制。在附图中：The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the description. Together with the following specific implementation modes, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the attached picture:
图1为本发明实施例的方法的主要步骤示意图；Figure 1 is a schematic diagram of the main steps of the method according to the embodiment of the present invention;
图2为本发明实施例的一种示例性设备资源使用方式的控制框架示意图；Figure 2 is a schematic diagram of a control framework of an exemplary device resource usage method according to an embodiment of the present invention;
图3为本发明实施例的一种示例性设备资源使用方式的控制框架示意图；Figure 3 is a schematic diagram of the control framework of an exemplary device resource usage method according to an embodiment of the present invention;
图4为本发明实施例的一种示例性设备资源使用方式的控制框架示意图；Figure 4 is a schematic diagram of a control framework of an exemplary device resource usage method according to an embodiment of the present invention;
图5为本发明实施例的一种示例性集成式模块示意图；Figure 5 is a schematic diagram of an exemplary integrated module according to an embodiment of the present invention;
图6为本发明实施例的一种示例性集成式模块示意图；Figure 6 is a schematic diagram of an exemplary integrated module according to an embodiment of the present invention;
图7为本发明实施例的一种示例性集成式模块示意图；Figure 7 is a schematic diagram of an exemplary integrated module according to an embodiment of the present invention;
图8为本发明实施例的一种示例性集成式模块示意图；Figure 8 is a schematic diagram of an exemplary integrated module according to an embodiment of the present invention;
图9为一种疲劳寿命预估流程示意图；Figure 9 is a schematic diagram of a fatigue life prediction process;
图10为本发明实施例的动应力实时求解方法的主要步骤示意图；Figure 10 is a schematic diagram of the main steps of the real-time solution method for dynamic stress according to the embodiment of the present invention;
图11为本发明实施例中一种示例性的单臂等效结构示意图；Figure 11 is a schematic diagram of an exemplary single-arm equivalent structure in an embodiment of the present invention;
图12为本发明实施例中一种示例性的载荷等效处理流程示意图；Figure 12 is a schematic diagram of an exemplary load equivalent processing flow in the embodiment of the present invention;
图13为本发明实施例的一种示例性的臂架随机姿态至单臂剩余寿命预估的处理流程示意图。Figure 13 is a schematic flowchart of an exemplary process of estimating the remaining life of a single arm from a random attitude of the arm according to an embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图对本发明实施例的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明实施例，并不用于限制本发明实施例。Specific implementation modes of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementations described here are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.
工程机械的臂架毕竟是工程机械的结构组成部分，工程机械需要持续执行作业，服役过程中的臂架不是台架试验中拆卸的独立构件。在实际作业环境中臂架受随机、复杂载荷作用，疲劳加载并不一定是理想或假定工况下的疲劳加载方式，服役过程中的臂架的应力实际变化情况与理想或假定工况下应力变化有很大差异，同时，臂架实际的 疲劳损伤程度与理论分析得到的疲劳损伤程度存在难以接受的偏差。因此，工程机械的臂架也很难被视为是拆卸的独立构件。After all, the boom of construction machinery is a structural component of construction machinery. Construction machinery needs to continue to perform operations. The boom during service is not an independent component that is disassembled during bench testing. In the actual operating environment, the boom is subject to random and complex loads. Fatigue loading is not necessarily the fatigue loading method under ideal or assumed working conditions. The actual stress changes of the boom during service are different from the stress under ideal or assumed working conditions. Variations vary widely, and at the same time, the actual jib There is an unacceptable deviation between the degree of fatigue damage and the degree of fatigue damage obtained from theoretical analysis. Therefore, the boom of construction machinery can hardly be regarded as a disassembled independent component.
实施例1Example 1
本发明实施例提供了臂架的控制方法，如图1，该控制方法可以包括：Embodiments of the present invention provide a method for controlling a boom, as shown in Figure 1. The control method may include:
S1)确定工程机械的臂架上各分段节臂的应力时间历程数据；S1) Determine the stress time history data of each segmented arm on the boom of the construction machinery;
S2)基于所述应力时间历程数据，计算各分段节臂的累积损伤值；S2) Calculate the cumulative damage value of each segmented arm based on the stress time history data;
S3)确定任意一段节臂的累积损伤值达到报警阈值；S3) Determine that the cumulative damage value of any section of the arm reaches the alarm threshold;
S4)介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助或限制所述工程机械作业执行。S4) Intervene in the health warning control mode of the boom, and assist or limit the execution of the construction machinery operations according to the health warning control mode.
在本发明公开的一些实施例中，在第一种示例中，该控制方法可以应用于工程机械，具体地，实现该控制方法的指令可以被工程机械的电子设备执行。在该第一种示例中，如图2，在步骤S1)中，可以接收服务器提供的应力时间历程数据(即等效动应力的数据)，该服务器可以通过执行实现臂架动应力实时求解方法的指令，得到臂架各分段的应力时间历程数据，其中，接收操作可以通过配置的接口或配置的应用程序与服务器通信实现；或者，在步骤S1)中，可以接收布置于臂架上各分段的应变传感器或加速度传感器的、作业过程中的测量数据，经测量数据确定的臂架各分段的应力时间历程数据。在步骤S2)中，在一些应用中，可以首先通过应力时间历程数据确定(例如以值大小范围)分级的多级载荷数据(或谱)，其次基于多级载荷数据，确定循环次数并按照曲线或累积损伤计算公式分别计算和叠加，最后得到臂架各分段的损伤值，以及剩余寿命；在另一些应用中，可以考虑臂架的材料特点，通过应力时间历程数据和与材料对应的曲线，确定臂架各分段的损伤值，以及剩余寿命。在步骤S3)中，所述确定任意一段节臂的累积损伤值达到报警阈值的确定操作可以是指比较，达到可以是指超过或大于等于，报警阈值可以是配置的累积损伤值。在步骤S4)中，所述介入所述臂架的健康预警控制模式，可以是，启动所述臂架的健康预警控制模式，其中，该控制模式也是工程机械的、被配置的一种工作模式。需要说明的是，在本发明实施例中，臂架的(剩余)寿命可以有多种表示或定义方式，例如损伤值映射表示或指定的归一化数值表示或循环次数表示或基于次数和使用情况估计的剩余可使用时间数值表示等。第一种示例可以使得工程机械的电子设备具有先进和丰富的***功能。In some embodiments disclosed in the present invention, in the first example, the control method can be applied to engineering machinery. Specifically, instructions for implementing the control method can be executed by electronic equipment of the engineering machinery. In this first example, as shown in Figure 2, in step S1), the stress time history data (ie, equivalent dynamic stress data) provided by the server can be received, and the server can implement a real-time solution method for the boom dynamic stress by executing command to obtain the stress time history data of each segment of the boom, wherein the receiving operation can be implemented by communicating with the server through the configured interface or configured application program; or, in step S1), each section arranged on the boom can be received. The measurement data of segmented strain sensors or acceleration sensors during operation, and the stress time history data of each segment of the boom determined by the measurement data. In step S2), in some applications, the graded multi-level load data (or spectrum) can be first determined (for example, in a value range) through the stress time history data, and secondly, based on the multi-level load data, the number of cycles is determined and followed by the curve Or the cumulative damage calculation formula is calculated and superimposed separately, and finally the damage value of each segment of the boom is obtained, as well as the remaining life; in other applications, the material characteristics of the boom can be considered, and the stress time history data and the curve corresponding to the material can be obtained , determine the damage value of each segment of the boom and the remaining life. In step S3), the determination operation of determining that the cumulative damage value of any section of the arm reaches the alarm threshold may refer to comparison, reaching may refer to exceeding or being greater than or equal to, and the alarm threshold may be the configured cumulative damage value. In step S4), the intervention in the health warning control mode of the boom may be to start the health warning control mode of the boom, wherein this control mode is also a configured working mode of the construction machinery. . It should be noted that in the embodiment of the present invention, the (remaining) life of the boom can be expressed or defined in a variety of ways, such as damage value mapping expression or specified normalized numerical expression or cycle number expression or based on the number of times and usage. The remainder of the situation estimate can be expressed numerically using time, etc. The first example can enable the electronic equipment of construction machinery to have advanced and rich system functions.
在第二种示例中，该控制方法可以应用于服务器和工程机械，具体地，实现该控制方法中步骤S1)至步骤S2)的指令(组合)可以被服务器执行，而实现该控制方法中其余步骤(例如步骤S3)至步骤S4))的指令可以被工程机械的电子设备执行。例如，如图3，若存在实现步骤S3)至步骤S4)的指令被工程机械的电子设备执行且该电子设备可以与显示设备连接(显示设备例如工程机械的中控屏)，即服务器此时负责执行实现步骤S1)至步骤S2)的指令，则步骤S1)可以是服务器可以通过执行实现臂架动应力实时求解方法的指令，得到臂架的应力时间历程数据。步骤S2)可以参照第一种示例实现。 In the second example, the control method can be applied to servers and construction machinery. Specifically, the instructions (combination) to implement steps S1) to S2) in the control method can be executed by the server, and the remaining instructions in the control method are implemented. The instructions of steps (eg, step S3) to step S4)) may be executed by electronic equipment of the construction machine. For example, as shown in Figure 3, if there is an instruction to implement steps S3) to step S4) that is executed by the electronic device of the construction machinery and the electronic device can be connected to the display device (the display device such as the central control screen of the construction machinery), that is, the server will Responsible for executing instructions to implement steps S1) to step S2), step S1) may be that the server can obtain stress time history data of the boom by executing instructions to implement a real-time solution method for dynamic stress of the boom. Step S2) can be implemented with reference to the first example.
此时，步骤S3)可以包括：At this time, step S3) may include:
将任意一段节臂的累积损伤值与报警阈值进行比较，其中，该任意一段节臂的累积损伤值可以从服务器接收；Compare the cumulative damage value of any section of arm with the alarm threshold, where the cumulative damage value of any section of arm can be received from the server;
若各节臂的累积损伤值未达到报警阈值，则结束或经显示设备呈现用于表示工程机械健康的状态信息，状态信息可以包括健康或不健康的文本/图像信息、各分段的损伤值信息等；If the cumulative damage value of each section arm does not reach the alarm threshold, it will end or the display device will present status information indicating the health of the construction machinery. The status information may include healthy or unhealthy text/image information, and damage value information of each segment. wait;
若任意一段节臂的累积损伤值达到报警阈值，则可以继续执行步骤S4)，并可以经显示设备呈现用于工程机械当前的损伤信息，损伤信息可以包括臂架(关)节臂序号、节臂结构特征、累积损伤值、剩余寿命、表示达到的报警阈值的分级标识(损伤值达到第一级报警阈值后可呈现一种标识，损伤值达到第二级报警阈值后可呈现另一种标识)、表示接收到的报警信号的分级标识(第一级报警信号可呈现一种标识，第二级报警信号可呈现另一种标识)等一种或多种信息。If the accumulated damage value of any section of the arm reaches the alarm threshold, step S4) can be continued, and the current damage information for the construction machinery can be presented through the display device. The damage information can include the boom (joint) arm serial number, section Arm structural characteristics, accumulated damage value, remaining life, and graded logo indicating the reached alarm threshold (one logo can be displayed after the damage value reaches the first-level alarm threshold, and another logo can be displayed after the damage value reaches the second-level alarm threshold) ), one or more types of information indicating the hierarchical identification of the received alarm signal (the first-level alarm signal may present one identification, and the second-level alarm signal may present another identification).
步骤S4)可以是启动所述臂架的健康预警控制模式，并可以将该健康预警控制模式的预警标识呈现于显示设备。第二种示例相比第一种示例，对工程机械的电子设备的要求较低，占用的计算资源较少，并且具备人机交互功能，能够及时提醒机手或运维人员关于目前工程机械的健康状态。Step S4) may be to activate the health warning control mode of the boom, and may present the warning logo of the health warning control mode on the display device. Compared with the first example, the second example has lower requirements for the electronic equipment of the construction machinery, takes up less computing resources, and has human-computer interaction functions, which can promptly remind the operator or operation and maintenance personnel about the current status of the construction machinery. health status.
在第三种示例中，该控制方法可以应用于服务器和工程机械，具体地，实现该控制方法中步骤S1)至步骤S3)的指令可以被服务器执行，而实现该控制方法中其余步骤(例如步骤S4))的指令可以被工程机械的电子设备执行。例如，如图4，若存在实现步骤S4)的指令被工程机械的电子设备执行，即服务器此时负责执行实现步骤S1)至步骤S3)的指令，则所述介入所述臂架的健康预警控制模式可以包括：In a third example, the control method can be applied to servers and construction machinery. Specifically, the instructions to implement steps S1) to S3) in the control method can be executed by the server, and the remaining steps in the control method (such as The instructions of step S4)) can be executed by the electronic equipment of the construction machinery. For example, as shown in Figure 4, if there is an instruction to implement step S4) that is executed by the electronic equipment of the construction machinery, that is, the server is responsible for executing the instructions to implement steps S1) to step S3) at this time, then the health warning of the intervention arm Control modes can include:
与服务器通信，具体地，可以接收服务器返回的信号或数据，以实现获得用于报警的任意指定信号或实现获得用于报警的任意指定数据；Communicate with the server, specifically, you can receive signals or data returned by the server to obtain any specified signal for alarm or to obtain any specified data for alarm;
启动臂架的健康预警控制模式。Activate the health warning control mode of the boom.
其中，与服务器通信的操作也可以使用配置的接口或配置的应用程序实现，该健康预警控制模式可以是工程机械的、被配置的一种工作模式；若服务器在步骤S3)中确定任意一段节臂的累积损伤值未达到报警阈值，则可以不与工程机械通信、或进行通信以返回用于不予报警的任意指定信号或实现获得用于不予报警的任意指定数据。需要说明的是，步骤S1)至步骤S3)的实现可以参照第一种示例相应实施。第三种示例相比前两种示例，对工程机械的电子设备的要求最低，占用的计算资源最少。Among them, the operation of communicating with the server can also be implemented using the configured interface or the configured application program. The health warning control mode can be a configured working mode of the construction machinery; if the server determines any section in step S3) If the accumulated damage value of the arm does not reach the alarm threshold, it is not necessary to communicate with the construction machinery, or to communicate to return any designated signal for not giving an alarm, or to obtain any designated data for not giving an alarm. It should be noted that the implementation of steps S1) to step S3) can be implemented accordingly with reference to the first example. Compared with the first two examples, the third example has the lowest requirements for the electronic equipment of the construction machinery and takes up the least computing resources.
在本发明公开的第一种确定损伤值示例中，所述基于所述应力时间历程数据，计算各分段节臂的累积损伤值，可以包括：In the first example of determining the damage value disclosed in the present invention, calculating the cumulative damage value of each segmented arm based on the stress time history data may include:
S201)确定所述臂架上各段臂节内指定区域的焊缝类型；S201) Determine the weld type of the designated area in each boom section on the boom;
S202)确定与所述焊缝类型对应的损伤等效曲线；S202) Determine the damage equivalent curve corresponding to the weld type;
S203)通过所述损伤等效曲线和所述应力时间历程数据，确定所述臂架上各分段节臂的累积损伤值。 S203) Determine the cumulative damage value of each segmented arm on the boom through the damage equivalent curve and the stress time history data.
损伤等效曲线可以包括S-N曲线和裂纹扩展速率da/dN曲线等，从而可以基于S-N曲线以及裂纹扩展速率da/dN曲线分段分区域对臂架的寿命进行预估，获取各节臂的累积损伤情况，并计算其剩余寿命。The damage equivalent curve can include the S-N curve and the crack growth rate da/dN curve, etc., so that the life of the boom can be estimated in segments and regions based on the S-N curve and the crack growth rate da/dN curve, and the accumulation of each section of the arm can be obtained damage and calculate its remaining life.
焊缝类型可以参照BS7608标准进行分类，焊缝可以分类为B类、C类、D类、E类、F类、G类，对于母材和被定义为B类的焊缝，基于应力时间历程数据，可以采用S-N曲线预估，对于臂架上其他分段或其他区域的焊缝(根据焊缝的结构类型，可参考标准，找到对应的类别)可以采用da/dN曲线进行预估，其中，B类焊接质量最高，(几乎)无焊接缺陷。并且，对于母材和被定义为B类的焊缝，当损伤值达到K值时，此K值等于损伤预警值Y1发生前的安全区域段边界值，K＝Y1+△y，则已可以进行报警。K值和损伤预警值Y1可以作为报警阈值或报警阈值的参考配置的数值。在第一种确定损伤值示例的基础上，也可以使用转换的多级载荷数据确定损伤值。Weld types can be classified according to the BS7608 standard. Welds can be classified into Type B, Type C, Type D, Type E, Type F, and Type G. For base metal and welds defined as Type B, based on the stress time history Data can be estimated using the SN curve. For welds in other segments or other areas on the boom (according to the structural type of the weld, you can refer to the standard to find the corresponding category) can be estimated using the da/dN curve, where , Class B welding quality is the highest, with (almost) no welding defects. Moreover, for the base metal and welds defined as Class B, when the damage value reaches the K value, this K value is equal to the safety zone boundary value before the damage warning value Y 1 occurs, K = Y 1 + △y, then Alarm is ready. The K value and the damage warning value Y 1 can be used as the alarm threshold or the reference configuration value of the alarm threshold. Based on the first example of determining damage values, it is also possible to use converted multi-level load data to determine damage values.
在本发明公开的第二种确定损伤值示例中，所述基于所述应力时间历程数据，计算各分段节臂的累积损伤值，也可以包括：In the second example of determining the damage value disclosed in the present invention, calculating the cumulative damage value of each segmented arm based on the stress time history data may also include:
S201`)确定所述臂架上各段臂节内指定区域的焊缝类型；S201`) Determine the weld type in the designated area within each boom section on the boom;
S202`)确定与所述焊缝类型对应的损伤等效曲线；S202`) Determine the damage equivalent curve corresponding to the weld type;
S203`)转换所述应力时间历程数据为多级载荷数据；S203`) Convert the stress time history data into multi-level load data;
S204`)通过所述损伤等效曲线和所述多级载荷数据，确定所述臂架上各分段节臂的累积损伤值。S204`) Determine the cumulative damage value of each segmented arm on the boom through the damage equivalent curve and the multi-level load data.
可以基于所述应力时间历程数据(例如应力谱)中应力大小变化范围和选定的点值(变化的频率、极值点、切点、拐点等)的特点，查询(并非限定是严格匹配，应力大小变化范围和选定的点值可以是属于指定的范围)匹配出配置的典型载荷时间历程数据(例如典型载荷谱)，然后依据该典型载荷谱中载荷的大小分级，确定得到多级载荷数据(多级载荷谱)，其后，按照焊缝类型可以参照BS7608标准进行分类，对于母材和被定义为B类的焊缝，基于应力时间历程数据，可以采用S-N曲线预估，对于臂架上其他分段或其他区域的焊缝可以采用da/dN曲线进行预估，最终确定臂架上各分段(此时也即单臂上各分段)的累积损伤值，以及剩余寿命。Based on the stress time history data (such as stress spectrum), the stress size variation range and the characteristics of the selected point values (frequency of change, extreme point, tangent point, inflection point, etc.) can be queried (not limited to strict matching, The stress size change range and the selected point value can belong to the specified range) to match the configured typical load time history data (such as a typical load spectrum), and then determine the multi-level load based on the load size classification in the typical load spectrum. Data (multi-level load spectrum), then, according to the weld type, it can be classified according to the BS7608 standard. For the base metal and welds defined as Class B, based on the stress time history data, the S-N curve can be used to estimate. For the arm Welds in other segments or other areas on the boom can be estimated using the da/dN curve, and the cumulative damage value and remaining life of each segment on the boom (in this case, each segment on a single arm) is finally determined.
在上述示例的基础上，在本发明公开的第一种有利的实施例中，如图5，可以将前述控制方法中步骤S3)和步骤S4)对应的***功能以寿命预估信号预警(控制)模块实现，将该模块嵌入工程机械作业使用的主机的控制***(由电子设备支持而运行)，主要用于对主机的控制***发生预警/控制信号，要求主机的控制***调整运动逻辑，并在特别紧急的情况下，要求主机的控制***完成本次作业后，限制其基本无法按危险作业方式运动，并建议主机的控制***按照建议的臂架组合运动方式作业，从而可以实现健康预警控制模式对工程机械的作业辅助和必要限制。可以将前述控制方法中步骤S1)和步骤S2)对应的***功能以分析模块实现，分析模块可以被配置于工程机械的控制***中。Based on the above examples, in the first advantageous embodiment disclosed by the present invention, as shown in Figure 5, the system functions corresponding to steps S3) and step S4) in the aforementioned control method can be used as life prediction signal warning (control ) module implementation, the module is embedded into the control system of the host used in construction machinery operations (supported and run by electronic equipment). It is mainly used to generate early warning/control signals to the control system of the host, requiring the control system of the host to adjust the motion logic, and In a particularly emergency situation, the control system of the main machine is required to restrict it from moving in a dangerous operation mode after completing this operation, and it is recommended that the control system of the main machine operate according to the recommended boom combination movement method, so as to achieve health warning control. The mode provides operation assistance and necessary restrictions for construction machinery. The system functions corresponding to steps S1) and S2) in the aforementioned control method can be implemented with an analysis module, and the analysis module can be configured in the control system of the engineering machinery.
预警模块接受分析模块发送的信号，该信号可以包括任意一段节臂的累积损伤值。 The early warning module accepts the signal sent by the analysis module, which can include the cumulative damage value of any section of the arm.
预警模块可以确定是否达到第一级报警阈值Y1i，j，h，若没有达到，则工程机械的主机的控制***针对臂架可任意组合作业；其中，报警阈值Y1i，j，h，i表征不同臂节，j表征不同的材料形式，h表征不同焊接形式与结构形式，h可采用焊缝的应力集中等级表示。The early warning module can determine whether the first-level alarm threshold Y 1i, j, h is reached. If it is not reached, the control system of the main engine of the construction machinery can operate in any combination for the boom; among them, the alarm threshold Y 1i, j, h , i It represents different arm sections, j represents different material forms, h represents different welding forms and structural forms, and h can be represented by the stress concentration level of the weld.
在本实施例中，S301)确定任意一段节臂的累积损伤值达到第一级报警阈值。此时，所述介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助所述工程机械作业执行，可以包括：In this embodiment, S301) determines that the cumulative damage value of any section of the arm reaches the first level alarm threshold. At this time, intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operations in accordance with the health warning control mode may include:
S401)获取输入的臂架运动组合操作指令或作业信息；S401) Obtain the input boom movement combination operation instructions or operation information;
S402)转换输入的臂架运动组合操作指令或作业信息为配置的臂架运动组合操作指令集(合)；S402) Convert the input boom movement combined operation instructions or job information into a configured boom movement combination operation instruction set (collection);
S403)按照所述臂架运动组合操作指令集中选择的指令执行所述臂架的运动。S403) Execute the movement of the boom according to the instructions selected in the boom movement combined operation instruction set.
若预警模块确定任意一段节臂的累积损伤值达到第一级报警阈值，此时，达到即某节臂架分段或某几节臂架分段的损伤值达到第一级报警阈值Y1i，j，h，则预警模块可以向控制***推送各单臂的所有的具体损伤值并以配置的界面形式呈现在中控屏上，中控屏上可呈现有第一种损伤信息的标识，从而可以引起操作手注意。此时，操作手可以输入需要的作业信息，作业信息可以包括臂架运动方向、速度、臂架是否伸展等作业方式信息以及作业目标的位置信息等信息，在作业信息输入之后，预警模块可以转换该作业信息，并将配置的臂架运动组合操作指令集相应的信息呈现在中控屏上，例如运动组合1、运动组合2、运动组合3……。而在一些应用中，操作手可以通过按键或操纵杆输入臂架运动组合操作指令，预警模块可以实时转换臂架运动组合操作指令至配置的臂架运动组合操作指令集，并向中控屏实时推送可选的、利于延长使用寿命的臂架运动组合操作的信息。图5中虚线箭头表示为可以不对操作手的操纵进行强制的干预。若操作手选择了所述臂架运动组合操作指令集中的指令，则可以按照选择的指令执行运动。此时，对于预警模块所给出的多种臂架组合运动方式，给出的运动方式均可以是配置的、适合延长寿命的规范运动方式，即臂架运动组合操作指令集中的指令是规范的运动组合操作指令，任选其一作业，能够大大延长臂架的使用时间，以及完成执行作业辅助。其中，对于作业目标的位置(点)，工程机械可以被安装有红外测距传感器，可通过红外测距传感器的测量数据计算位置点，此位置的距离会通过红外测距传感器直接传输到控制***，控制***可根据坐标系和距离确定该作业目标的坐标点(即位置点)。If the early warning module determines that the cumulative damage value of any section of the boom reaches the first-level alarm threshold, at this time, the damage value of a certain boom section or several boom sections reaches the first-level alarm threshold Y 1i, j, h , then the early warning module can push all the specific damage values of each arm to the control system and present them on the central control screen in the form of a configured interface. A logo with the first damage information can be presented on the central control screen, so that Can attract the operator's attention. At this time, the operator can input the required operation information. The operation information can include the boom movement direction, speed, whether the boom is extended and other operation mode information, as well as the position information of the operation target. After the operation information is input, the early warning module can convert The job information is displayed on the central control screen, and the corresponding information of the configured boom movement combination operation instruction set is displayed on the central control screen, such as movement combination 1, movement combination 2, movement combination 3... In some applications, the operator can input the boom movement combination operation instructions through buttons or joysticks, and the early warning module can convert the boom movement combination operation instructions to the configured boom movement combination operation instructions set in real time, and send them to the central control screen in real time. Push information about optional boom movement combination operations that are beneficial to extending service life. The dotted arrow in Figure 5 indicates that there is no need for forced intervention in the operator's manipulation. If the operator selects an instruction from the boom movement combined operation instruction set, the movement can be performed according to the selected instruction. At this time, for the various boom combination movement modes given by the early warning module, the given movement modes can all be configured and standardized movement modes suitable for extending life, that is, the instructions in the boom movement combination operation instruction set are standardized. Motion combination operation instructions, selecting any one operation, can greatly extend the use time of the boom and assist in completing the execution of the operation. Among them, for the position (point) of the operating target, the engineering machinery can be installed with an infrared ranging sensor. The position point can be calculated through the measurement data of the infrared ranging sensor. The distance at this position will be directly transmitted to the control system through the infrared ranging sensor. , the control system can determine the coordinate point (i.e. position point) of the operation target based on the coordinate system and distance.
在本实施例中，S302)确定任意一段节臂的累积损伤值达到第二级报警阈值，任意一级报警阈值可以是配置的损伤值且可以由指定段节臂、所述指定段节臂的材料和焊接类型决定，相对于所述指定段节臂，所述第二级报警阈值大于所述第一级报警阈值。可以理解的，为了安全性、准确性和符合实际需求，可以进一步引入其他参数调整报警阈值，如臂架独特分段的结构特点、是否存在加强防护结构等。此时，所述介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助所述工程机械作业执行，可以包括： In this embodiment, S302) determines that the cumulative damage value of any section of the arm reaches the second level alarm threshold. The any level of alarm threshold can be the configured damage value and can be determined by the specified section of the arm, the specified section of the arm. Depending on the material and welding type, the second-level alarm threshold is greater than the first-level alarm threshold relative to the designated segment arm. It is understandable that in order to ensure safety, accuracy and meet actual needs, other parameters can be further introduced to adjust the alarm threshold, such as the unique segmented structural characteristics of the boom, whether there is a reinforced protective structure, etc. At this time, intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operations in accordance with the health warning control mode may include:
S404)等待当前的臂架运动组合操作指令执行完成；S404) Wait for the completion of the execution of the current boom movement combination operation command;
S405)停止所述臂架的运动，并获取输入的臂架运动组合操作指令或作业信息；S405) Stop the movement of the boom, and obtain the input boom movement combination operation instructions or operation information;
S406)转换输入的臂架运动组合操作指令或作业信息为强制的臂架运动组合操作指令；S406) Convert the input boom movement combination operation instruction or operation information into a forced boom movement combination operation instruction;
S407)按照强制的臂架运动组合操作指令执行所述臂架的运动，或继续停止所述臂架的运动。S407) Execute the movement of the boom according to the forced boom movement combination operation instruction, or continue to stop the movement of the boom.
需要说明的是，步骤S404)至步骤S407)，与步骤S401)至步骤S403)，并非受步骤标号顺序限制执行顺序。例如，若已确定任意一段节臂的累积损伤值达到第二级报警阈值，则步骤S404)至步骤S407)直接执行而不执行步骤S401)至步骤S403)；若已确定任意一段节臂的累积损伤值达到第一级报警阈值且已确定任意一段节臂的累积损伤值未达到第二级报警阈值，则执行步骤S401)至步骤S403)而不执行步骤S404)至步骤S407)。实现步骤S404)至步骤S407)的第一指令(组合)，与实现步骤S401)至步骤S403)的第二指令(组合)可以均被配置于工程机械的电子设备(或受电子设备支持的控制***)，负责臂架的全生命周期的作业辅助和必要限制。It should be noted that the execution order of steps S404) to step S407) and steps S401) to step S403) is not limited by the order of step numbers. For example, if it is determined that the accumulated damage value of any section of the arm reaches the second level alarm threshold, steps S404) to step S407) are directly executed without executing steps S401) to step S403); if it is determined that the accumulated damage value of any section of the arm is If the damage value reaches the first-level alarm threshold and it is determined that the accumulated damage value of any section of the arm does not reach the second-level alarm threshold, steps S401) to S403) are executed instead of steps S404) to S407). The first instructions (combination) for implementing steps S404) to step S407), and the second instructions (combination) for implementing steps S401) to step S403) can both be configured in the electronic equipment of the construction machinery (or controlled by the electronic equipment). System), responsible for the operation assistance and necessary restrictions during the entire life cycle of the boom.
在本实施例中，某节臂架分段或某几节臂架分段的损伤值达到第二级报警阈值Y2i，j，h，预警模块连续高频报警(报警频率高于指定的频率)，即相比第一级报警阈值相应的要求，此时，还可以进一步要求符合配置的报警频率。如图6，在等待当前的作业的操作执行完成后，预警模块将强制操作手输入需要的作业信息，按推荐的臂架组合作业，若没有输入需要的作业信息，在大多数情况中此时将不允许继续作业，相比图5，此时中控屏呈现第二种损伤信息的标识，并且输入作业信息和臂架运动组合是以实线箭头表示强制性，即此时预警模块对臂架的控制逻辑程序的干预是高权限的、基本不能跳过的、基本不能忽略的，运动组合也可以有变化。而在一些应用中，操作手通过按键或操纵杆输入的臂架运动组合操作指令(不属于当前正在执行而属于即将执行的指令)，预警模块可以向控制***请求暂停或中断，并在中控屏显示转换得出的强制的臂架运动组合操作指令，从而向操作手提供停止运动或恢复初始姿态进行运维或进行强制的臂架运动组合操作指令的选择，实现了执行必要限制。在一些进一步的应用中，若损伤值已达到第二级报警阈值且符合报警频率要求，则该臂架的损伤状态(体现为臂架各分段的损伤值)将可以被锁定且实施工程机械或臂架的必要限制/停止，后续作业之前需要经过检查、维修或更换，向预警模块提供指定的信息，才能解除锁定，此后才可以重新执行前述的控制方法，也即是，在未经过检查、维修或更换等处理，没有向预警模块提供指定的信息，而存在未达到第二级报警阈值的状态，也可以不被预警模块接受。本发明实施例对于已达二级报警阈值Y2i，j，h建议检查、维修或更换，保证臂架的作业安全，局部的臂架更换，不需产品整体报废，大大节约成本，满足工程机械绿色作业的发展需求。In this embodiment, when the damage value of a certain boom segment or certain boom segments reaches the second level alarm threshold Y 2i,j,h , the early warning module will continuously alarm at a high frequency (the alarm frequency is higher than the specified frequency). ), that is, compared to the requirements corresponding to the first-level alarm threshold, at this time, you can further require that the configured alarm frequency be met. As shown in Figure 6, after waiting for the completion of the current job operation, the early warning module will force the operator to input the required job information and operate according to the recommended boom combination. If the required job information is not entered, in most cases, at this time The operation will not be allowed to continue. Compared with Figure 5, at this time, the central control screen displays the logo of the second type of damage information, and the combination of input operation information and boom movement is indicated by a solid arrow as mandatory, that is, at this time, the early warning module The intervention of the rack's control logic program is of high authority, basically cannot be skipped, and basically cannot be ignored, and the movement combination can also be changed. In some applications, when the operator inputs boom movement combination operation instructions through buttons or joysticks (which are not instructions currently being executed but are about to be executed), the early warning module can request a pause or interruption from the control system and perform the operation in the central control system. The screen displays the forced boom movement combination operation instructions converted, thereby providing the operator with the choice of stopping movement or returning to the initial posture for operation and maintenance, or performing forced boom movement combination operation instructions, achieving necessary restrictions on execution. In some further applications, if the damage value has reached the second level alarm threshold and meets the alarm frequency requirements, the damage status of the boom (reflected in the damage value of each segment of the boom) will be locked and construction machinery can be implemented. Or the necessary restriction/stop of the boom. It needs to be inspected, repaired or replaced before subsequent operations. Only by providing specified information to the early warning module can the lock be unlocked. Only then can the aforementioned control method be re-executed, that is, without inspection. , repair or replacement, etc., if the specified information is not provided to the early warning module, and there is a state that does not reach the second level alarm threshold, it may not be accepted by the early warning module. The embodiment of the present invention recommends inspection, repair or replacement for the level 2 alarm threshold Y 2i, j, h to ensure the operating safety of the boom. Partial replacement of the boom does not require the entire product to be scrapped, which greatly saves costs and satisfies the needs of engineering machinery. The development needs of green jobs.
在第二种有利的实施例中，可以参照前述的第三种示例和第一种有利的实施例，将前述控制方法中步骤S4)对应的***功能以寿命 预估信号预警(控制)模块实现，而将前述控制方法中步骤S1)至步骤S3)对应的***功能以分析模块实现，分析模块可以被配置于服务器中，此时，预警模块需要接收分析模块分级的报警信号，并基于分级的报警信号，执行臂架的作业辅助或必要限制。在该第二种有利的实施例中，如图7，若预警模块(可以经控制***)接收到由分析模块发送的第一级报警信号，即某节臂架分段或某几节臂架分段的损伤值达到第一级报警阈值Y1i，j，h，则，类似地，可以执行作业辅助；如图8，若预警模块接收到由分析模块发送的第二级报警信号，且(相对于指定段臂架分段)第二级报警信号的出现频率高于指定的频率，即某节臂架分段或某几节臂架分段的损伤值达到第二级报警阈值Y2i， j，h，则，类似地，可以执行必要限制。In the second advantageous embodiment, with reference to the aforementioned third example and the first advantageous embodiment, the system function corresponding to step S4) in the aforementioned control method is calculated based on the life span. The estimated signal early warning (control) module is implemented, and the system functions corresponding to steps S1) to step S3) in the aforementioned control method are implemented with the analysis module. The analysis module can be configured in the server. At this time, the early warning module needs to receive the analysis module Classified alarm signals, and based on the classified alarm signals, perform operation assistance or necessary restrictions on the boom. In this second advantageous embodiment, as shown in Figure 7, if the early warning module (which can be via the control system) receives the first-level alarm signal sent by the analysis module, that is, a certain boom section or certain boom sections The segmented damage value reaches the first-level alarm threshold Y 1i, j, h , then, similarly, operation assistance can be performed; as shown in Figure 8, if the early warning module receives the second-level alarm signal sent by the analysis module, and ( The occurrence frequency of the second-level alarm signal relative to the specified boom segment is higher than the specified frequency, that is, the damage value of a certain boom segment or several boom segments reaches the second-level alarm threshold Y 2i, j, h , then, similarly, the necessary restrictions can be implemented.
因此，本实施例中介入的健康预警控制模式(工作模式)，避免了因未规范的运动方式突然造成臂架的无征兆结构疲劳失效，从而实现了臂架的疲劳损伤尽可能减小和改善了臂架结构可使用寿命。本发明控制方法对工业求解器(例如前述的电子设备或服务器的处理器)的要求不高，普通的工业求解器既能满足。Therefore, the health warning control mode (working mode) intervened in this embodiment avoids the sudden structural fatigue failure of the boom due to unstandardized movement patterns, thereby minimizing and improving the fatigue damage of the boom. The service life of the boom structure is increased. The control method of the present invention does not have high requirements on industrial solvers (such as the aforementioned processors of electronic equipment or servers), and ordinary industrial solvers can meet the requirements.
实施例2Example 2
在臂架类结构中常用的疲劳寿命计算方法主要是名义应力法。名义应力法基于材料的S-N曲线进行疲劳寿命的预估，名义应力法中应力和载荷谱的准确性直接影响疲劳寿命计算的精度。The commonly used fatigue life calculation method in boom structures is mainly the nominal stress method. The nominal stress method estimates fatigue life based on the S-N curve of the material. The accuracy of the stress and load spectrum in the nominal stress method directly affects the accuracy of fatigue life calculation.
如图9所示，疲劳寿命计算方法主要利用有限元方法对臂架结构进行多假定工况分析，获取不同工况下的应力状态，随后对工程机械实车采集的载荷信号进行分析，获取载荷谱信息，最后基于名义应力法实现对臂架疲劳寿命预估。应力的获取多利用有限元方法进行计算，通常主要针对臂架的假定工况进行计算，随后对特定载荷下的疲劳寿命进行预估，但是实际使用工况与特定工况的差异性会导致使用寿命严重偏离预估寿命。As shown in Figure 9, the fatigue life calculation method mainly uses the finite element method to conduct multi-assumed working condition analysis on the boom structure to obtain the stress state under different working conditions, and then analyzes the load signals collected by the actual engineering machinery vehicle to obtain the load Spectral information is obtained, and finally the fatigue life of the boom is estimated based on the nominal stress method. The stress is usually calculated using the finite element method, usually based on the assumed operating conditions of the boom, and then the fatigue life under specific loads is estimated. However, the difference between the actual operating conditions and the specific operating conditions will lead to the use of Life expectancy deviates significantly from estimated life span.
通过在服役过程中的臂架上使用应变传感器和加速度传感器等敏感器件进行监测，因敏感器件的检测部件(如应变片或可变形部件)本身存在疲劳损伤，使用寿命很有限，并且随着应变传感器或加速度传感器的采集使用时间的积累，采集的信号将发生漂移，测量精度随使用时间增加而降低，很难为服役的臂架提供监测保障，并且以该传感器提供的应变数据进行臂架的损伤或寿命预估(基于经验预估或设计结果预估)，预估值的可靠性很低。本发明实施例提供了进一步的解决方案。Monitoring is carried out by using sensitive devices such as strain sensors and acceleration sensors on the boom during service. Because the detection parts of the sensitive devices (such as strain gauges or deformable parts) themselves have fatigue damage, their service life is very limited, and with the strain With the accumulation of usage time of the sensor or acceleration sensor, the collected signal will drift and the measurement accuracy will decrease with the increase of usage time. It is difficult to provide monitoring guarantee for the boom in service, and the strain data provided by the sensor will be used to determine the damage of the boom. Or life estimate (based on experience estimate or design result estimate), the reliability of the estimate is very low. The embodiments of the present invention provide further solutions.
工程机械臂架一般由5至6节臂组成，姿态***。臂架服役过程中随着作业范围与作业对象的不同，主泵的压力与排量也在实时发生变化，造成臂架结构受力极为复杂。为了实现服役过程中臂架动应力的实时求解，本发明实施例与实施例1属于同一发明构思，本发明实施例提供了实施例1中的臂架动应力实时求解方法，可以应用于工程机械或服务器，如图10，该臂架动应力实时求解方法可以包括：Construction machinery booms generally consist of 5 to 6 sections of arms, with ever-changing postures. During the service of the boom, as the operating scope and operating objects vary, the pressure and displacement of the main pump also change in real time, causing the stress on the boom structure to be extremely complex. In order to achieve real-time solution of boom dynamic stress during service, the embodiments of the present invention and Embodiment 1 belong to the same inventive concept. The embodiment of the present invention provides the real-time solution method of boom dynamic stress in Embodiment 1, which can be applied to engineering machinery. or server, as shown in Figure 10. The real-time solution method for the dynamic stress of the boom can include:
M1)确定指定作业时间范围内工程机械的臂架上各分段的臂架姿态数据，以及所述工程机械的相应运行参数； M1) Determine the boom attitude data of each segment on the boom of the construction machinery within the specified operating time range, as well as the corresponding operating parameters of the construction machinery;
M2)基于所述臂架姿态数据和所述相应运行参数，确定所述指定作业时间范围内的典型姿态工况；M2) Based on the boom attitude data and the corresponding operating parameters, determine the typical attitude working conditions within the specified operating time range;
M3)分配与所述典型姿态工况对应的动载系数，并获取所述工程机械的实时运行参数；M3) Assign the dynamic load coefficient corresponding to the typical attitude working condition, and obtain the real-time operating parameters of the construction machinery;
M4)基于所述动载系数和所述实时运行参数，确定所述臂架上各分段的等效动应力。M4) Based on the dynamic load coefficient and the real-time operating parameters, determine the equivalent dynamic stress of each segment on the boom.
在本发明实施例中，服役过程中，臂架的动态应力或动应力，是臂架受动态载荷(动载)影响产生的随时间变化的结构应力，是导致臂架发生疲劳失效的直接原因。In the embodiment of the present invention, during the service process, the dynamic stress or dynamic stress of the boom is the structural stress that changes with time due to the influence of dynamic loads (dynamic loads) on the boom, and is the direct cause of fatigue failure of the boom. .
在本发明实施例公开的一些示例中，步骤M1)可以包括：In some examples disclosed in the embodiments of the present invention, step M1) may include:
M101)接收指定作业时间范围内工程机械的臂架上各分段的臂架姿态数据；M101) Receive the boom attitude data of each segment on the boom of the construction machinery within the specified operating time range;
M102)接收所述指定作业时间范围内所述工程机械的相应运行参数。M102) Receive corresponding operating parameters of the construction machinery within the specified operating time range.
其中，臂架姿态数据和相应运行参数可以由工程机械的控制器(或控制***)发送至服务器。指定作业时间范围可以是指定的工作周期，可以依据使用、测试的效果，指定该工作周期。臂架姿态数据可以包括臂架的姿态和相应的作业时间(例如时间戳、时刻的记录)，臂架的姿态可以包括臂架上指定位置(可存在一个或多个位置点或位置区域)的角度(和/或夹角)的测量值或换算值，指定位置可以包括臂架底部(可以是接近工程机械的车体或控制室的一端)、臂架中部、臂架端部、铰点连接机构、伸缩机构等，例如角度可为臂架倾角。在本发明实施例中，前述的臂架的姿态可以为各段节臂的姿态。臂架各分段的节臂可以是按照臂架实际结构特征指定的分段部分，也可以是按照前述指定位置在臂架上的分布而指定的分段部分。可以在臂架上从底部至端部依次指定各段节臂的编号，如第1段节臂，第2段节臂等。测量值可以是角度传感器、夹角传感器等测取获得，换算值可以经位移传感器的测量值结合三角函数关系计算获得的，例如，位移传感器为油缸位移传感器、拉线位移传感器等。可以理解的，步骤M101)和步骤M102)可以异步或(将数据打包)同步执行。Among them, the boom attitude data and corresponding operating parameters can be sent to the server by the controller (or control system) of the construction machinery. The specified operation time range can be a specified work cycle, and the work cycle can be specified based on the effects of use and testing. The attitude data of the boom may include the attitude of the arm and the corresponding operation time (such as timestamp, time record). The attitude of the arm may include the position of the specified position on the arm (one or more position points or location areas may exist). The measured value or conversion value of the angle (and/or included angle). The specified position can include the bottom of the boom (which can be one end close to the body or control room of the construction machinery), the middle of the boom, the end of the boom, and the hinge point connection. mechanism, telescopic mechanism, etc., for example, the angle can be the inclination of the boom. In the embodiment of the present invention, the posture of the aforementioned boom may be the posture of each section of the arm. The joint arms of each segment of the boom may be segmented parts specified according to the actual structural characteristics of the boom, or may be specified according to the distribution of the aforementioned designated positions on the boom. You can specify the number of each section of the arm on the boom from the bottom to the end, such as the 1st section of the arm, the 2nd section of the arm, etc. The measured value can be obtained by angle sensor, included angle sensor, etc. The converted value can be obtained by calculating the measured value of the displacement sensor combined with the trigonometric function relationship. For example, the displacement sensor is a cylinder displacement sensor, a cable displacement sensor, etc. It can be understood that step M101) and step M102) can be executed asynchronously or (data packaging) synchronously.
在上述示例的基础上，在本发明的一些应用中，服务器可以直接接收待处理的测量值，步骤M1)也可以包括：Based on the above examples, in some applications of the present invention, the server can directly receive the measurement values to be processed, and step M1) can also include:
M101`)接收指定作业时间范围内工程机械的臂架上各分段的传感器的测量值和相应运行参数；M101`) receives the measured values and corresponding operating parameters of the sensors on each segment of the boom of the construction machinery within the specified operating time range;
M102`)通过测量值结合三角函数关系，计算获得臂架姿态数据。M102`) Calculate and obtain arm attitude data by combining measured values with trigonometric functions.
从而可以不占用工程机械的控制器的计算资源，使用服务器负责主要的计算等数据处理。As a result, the computing resources of the controller of the construction machinery are not occupied, and the server is used for the main calculation and other data processing.
前述的相应运行参数，该参数是与臂架姿态数据呈时间上关联关系(即相应)，例如在指定作业时间范围内记录各时刻的姿态和相应运行参数。在本发明实施例中，工程机械的运行参数可以包括泵压力值和排量等，泵可以是臂架的液压泵，例如提供作业支持的主要压力泵。排量可以依据发动机的作业时使用的档位信息进行推算。在本发明的一些应用中，工程机械的运行参数也可以包括主泵压力值和发动 机输出功率等。The aforementioned corresponding operating parameters are temporally related (i.e. corresponding) to the boom attitude data, for example, the attitude and corresponding operating parameters at each moment are recorded within a specified operating time range. In the embodiment of the present invention, the operating parameters of the construction machinery may include pump pressure value and displacement, etc. The pump may be a hydraulic pump of the boom, such as a main pressure pump that provides operation support. The displacement can be estimated based on the gear information used when the engine is operating. In some applications of the present invention, the operating parameters of the engineering machinery may also include the main pump pressure value and the engine Machine output power, etc.
本发明实施例在动力求解时不需要使用应变传感器和加速度传感器，可以进行典型姿态工况的确定步骤。步骤M2)可以包括：The embodiment of the present invention does not require the use of strain sensors and acceleration sensors during dynamic solution, and can determine the typical attitude working conditions. Step M2) may include:
M201)将所述臂架姿态数据，转换为单臂上各段臂节的姿态变化范围；M201) Convert the boom attitude data into the attitude change range of each arm section on the single arm;
M202)基于所述单臂上各段臂节的姿态变化范围和所述相应运行参数，确定所述单臂的典型姿态工况；M202) Determine the typical attitude working conditions of the single arm based on the attitude change range of each arm section on the single arm and the corresponding operating parameters;
其中，所述单臂是与所述臂架呈姿态等效关系的结构模型，所述结构模型包括多段臂节，各段臂节是简单结构单元。Wherein, the single arm is a structural model that has an attitude equivalent relationship with the boom, and the structural model includes multiple arm sections, each of which is a simple structural unit.
单臂可以是程序语言描述的结构模型，该结构模型可以是典型的梁(如悬臂梁结构模型)、杆等，简单结构单元也相应地是梁、杆的指定部分，类似地，单臂也可以有底部和端部，可以从底部至端部，分别对应存在第1段臂节，第2段臂节等。单臂分段数量可以与臂架分段数量一致(例如也为5至6段)，也可以与臂架分段数量不一致，例如基于三角关系和基本角度变换，将单臂上多段臂节与臂架一段节臂姿态等效，或将单臂上一段臂节与臂架上多段节臂姿态等效，具体的分段数量，可以根据实际工程机械的臂架结构特点，结合使用、测试的效果，进行选择、指定映射关系。在本发明公开的一些应用中，单臂与臂架的对应顺序可以是一致的，例如单臂上底部臂节与臂架上底部节臂对应，单臂上中部臂节与臂架上中部节臂对应，单臂上端部臂节与臂架上端部节臂对应等。A single arm can be a structural model described in a programming language. The structural model can be a typical beam (such as a cantilever beam structural model), a rod, etc. The simple structural unit is correspondingly a designated part of the beam or rod. Similarly, a single arm can also be There can be a bottom and an end, and from the bottom to the end, there are corresponding first arm sections, second arm sections, etc. The number of single arm segments can be consistent with the number of boom segments (for example, 5 to 6 segments), or it can be inconsistent with the number of boom segments. For example, based on triangular relations and basic angle transformations, the multi-segment arm sections on the single arm are combined with the number of boom segments. The posture of one section of the boom is equivalent, or the posture of the upper section of the single arm is equivalent to the posture of the multi-section section of the boom. The specific number of sections can be used and tested based on the structural characteristics of the boom of the actual engineering machinery. Effect, make selections and specify mapping relationships. In some applications disclosed in the present invention, the corresponding order of the single arm and the boom may be consistent. For example, the upper bottom arm section of the single arm corresponds to the upper bottom arm section of the boom, and the upper middle arm section of the single arm corresponds to the upper middle section of the boom. The arms correspond to each other, the upper end arm section of the single arm corresponds to the upper end section arm of the boom, etc.
在以上基础上，对于单臂，On the basis of the above, for single arm,
所述单臂上的臂节与所述臂架上的节臂有指定的映射关系；The arm sections on the single arm and the arm sections on the boom frame have a designated mapping relationship;
所述映射关系用于将所述臂架上的指定段节臂的动应力，与所述单臂上的指定段臂节的姿态映射，The mapping relationship is used to map the dynamic stress of the designated arm section on the boom to the posture of the designated arm section on the single arm,
所述单臂上的指定段臂节的载荷历程被等效为，以所述单臂上的指定段臂节的姿态，在指定作业时间范围内，受所述单臂上的后段臂节的载荷作用。The load history of the specified boom section on the single arm is equivalent to, with the attitude of the specified boom section on the single arm, within the specified operating time range, the load history of the rear section boom section on the single arm is affected by load effect.
在本发明实施例中，前述的典型姿态工况可以是单臂的典型的工作状态或臂架的典型的工作状态，该工作状态是与指定作业时间范围内臂架姿态变化范围以及相应运行参数对应的，需要注意的是，在指定作业时间范围内可以有多个典型的工作状态，即多个典型姿态工况。典型的工作状态与工程机械和臂架的实际种类是相关的，例如臂架抬升、臂架下放、臂架各关节节臂伸展、弯曲等工作状态。In the embodiment of the present invention, the aforementioned typical attitude working conditions may be the typical working state of the single arm or the typical working state of the boom. The working state is related to the change range of the attitude of the boom and the corresponding operating parameters within the specified operating time range. Correspondingly, it should be noted that there can be multiple typical working states within the specified operating time range, that is, multiple typical attitude working conditions. Typical working conditions are related to the actual types of construction machinery and booms, such as boom lifting, boom lowering, arm extension and bending of each joint of the boom, etc.
在本发明实施例的实现和原理方面(非使用时)，测量并获得服役的臂架在指定作业时间范围内的姿态以及相应运行参数，测量并获得臂架各段节臂的动态载荷或计算动应力。由于单臂与臂架存在前述的姿态等效，同时在时间上相对于服役的臂架的工作状态，单臂上各臂节之间姿态也表现出数值关联关系，且存在确定的相应运行参数，即可以将服役的臂架的工作状态通过单臂各臂节的姿态以及相应运行参数唯一地描述，通过数据收集和处理，可以确定具备典型性的工作状态(典型的工作状态)，建立该具备典型性的工作状态与指定作业时间范围内单臂的姿态变化范围和相应运行参数的联系，则在使用 时，可以通过在指定作业时间范围内单臂各臂节的姿态变化范围以及相应运行参数，唯一地确定臂架的典型的工作状态或单臂的典型的工作状态。其中，具备典型性的工作状态的动应力或动态载荷的数据分布呈规律性，例如动应力谱或动态载荷谱存在明显的分布带或数值范围特点，此数据分布的规律性或分布带特点在大数据集中显著呈现。In terms of implementation and principle of the embodiment of the present invention (when not in use), the attitude and corresponding operating parameters of the boom in service within the specified operating time range are measured and obtained, and the dynamic load or calculation of each section of the boom is measured and obtained. dynamic stress. Since the above-mentioned attitude equivalence exists between the single arm and the boom, and at the same time, relative to the working state of the boom in service in time, the attitude between each arm section on the single arm also shows a numerical correlation, and there are certain corresponding operating parameters. , that is, the working status of the boom in service can be uniquely described through the posture of each arm section of the single arm and the corresponding operating parameters. Through data collection and processing, the typical working status (typical working status) can be determined, and the If there is a relationship between the typical working status and the attitude change range of the single arm and the corresponding operating parameters within the specified operating time range, then it is used At this time, the typical working state of the boom or the typical working state of the single arm can be uniquely determined through the attitude change range of each arm section of the single arm and the corresponding operating parameters within the specified operating time range. Among them, the data distribution of dynamic stress or dynamic load with typical working conditions is regular. For example, the dynamic stress spectrum or dynamic load spectrum has obvious distribution bands or numerical range characteristics. The regularity or distribution band characteristics of this data distribution are in Big data is presented centrally and prominently.
在使用时，典型的工作状态可以有动态载荷谱的典型的载荷谱，典型的载荷谱可以由动载系数确定，例如若载荷谱是通过加速度谱描述，则动载系数可以是加速度值相对重力加速度值的比例系数。在一些应用中，典型姿态工况可以通过标识符表示。When in use, a typical working state can have a typical load spectrum of a dynamic load spectrum. The typical load spectrum can be determined by the dynamic load coefficient. For example, if the load spectrum is described by the acceleration spectrum, the dynamic load coefficient can be the acceleration value relative to gravity. The proportional coefficient of the acceleration value. In some applications, typical attitude conditions can be represented by identifiers.
在以上基础上，步骤M201)中可以将臂架姿态数据作为该模型的输入数据，分别获得在指定作业时间范围内单臂上各段臂节的姿态变化范围。步骤M202)中该姿态变化范围的数值特点，结合时间上关联的运行参数，可以获得在指定作业时间范围内单臂的典型姿态工况。On the basis of the above, in step M201), the boom attitude data can be used as the input data of the model to obtain the attitude change range of each arm section on the single arm within the specified operating time range. Based on the numerical characteristics of the attitude change range in step M202), combined with the time-related operating parameters, the typical attitude working conditions of the single arm within the specified operating time range can be obtained.
在本发明实施例中，单臂的臂节具有结构特征参数，所述结构特征参数包括以下至少一项：所述臂架的截面形状特征参数、厚度特征参数、伸缩重叠特征参数、连杆结构特征参数、连接结构特征参数、支撑结构特征参数，这些参数可以约束单臂的载荷，可以是数值化的参数，也可以是选择的(类型、有或无等)配置参数。在一些示例中，各臂节可以有各自的结构特征参数，一组结构特征参数可以与臂节的分段编号对应。例如，截面形状特征参数可以为表示圆形、矩形、工字形等的配置参数，厚度特征参数可以为厚度数值参数等。在一些情况中，所述单臂的端部臂节被配置成具有延伸臂节长度的功能。通过单臂可以使得臂架的载荷分析简化。In the embodiment of the present invention, the arm section of the single arm has structural characteristic parameters, and the structural characteristic parameters include at least one of the following: the cross-sectional shape characteristic parameters of the boom, the thickness characteristic parameters, the telescopic overlap characteristic parameters, and the connecting rod structure. Characteristic parameters, connection structure characteristic parameters, and support structure characteristic parameters. These parameters can constrain the load of a single arm. They can be numerical parameters or selected (type, presence or absence, etc.) configuration parameters. In some examples, each arm section may have its own structural feature parameters, and a set of structural feature parameters may correspond to the segment number of the arm section. For example, the cross-sectional shape characteristic parameter may be a configuration parameter representing a circle, a rectangle, an I-shape, etc., and the thickness characteristic parameter may be a thickness numerical parameter, etc. In some cases, the end section of the single arm is configured to have the function of extending the length of the section. The load analysis of the boom can be simplified by using a single arm.
在载荷分析简化的基础上，仍在本发明实施例的实现方面，在本发明公开的一种示例性实例中，可以通过有限元分析和试验，确定前述的典型姿态工况以及动载系数。臂架和单臂(优选分段可为3-6段)可以均有5段，可以从底部至端部，依次对单臂上各臂节和臂架上各节臂分别进行编号，端部臂节、端部节臂的编号可以最大。On the basis of the simplification of load analysis and still in terms of implementation of the embodiments of the present invention, in an exemplary example disclosed in the present invention, the aforementioned typical attitude working conditions and dynamic load coefficients can be determined through finite element analysis and experiments. The boom and the single arm (preferably divided into 3-6 sections) can both have 5 sections. Each arm section on the single arm and each section of the arm on the boom can be numbered in sequence from the bottom to the end. The number of arm sections and end sections can be the largest.
单臂的主要受力形式可以为单臂端部的集中力、弯矩等。服役的臂架上第i段节臂的动应力求解问题，被等效为单臂上第i段臂节的载荷历程(或动态载荷)的求解问题；i为正整数且小于等于5。The main force form of a single arm can be concentrated force, bending moment, etc. at the end of the single arm. The problem of solving the dynamic stress of the i-th boom section on the boom in service is equivalent to the problem of solving the load history (or dynamic load) of the i-th boom section on a single arm; i is a positive integer and less than or equal to 5.
单臂上第i段臂节的载荷历程被等效为，以单臂上的第i段臂节的角度(可为倾角)，在指定作业时间范围内，受所述单臂上的后段臂节的载荷作用，后段臂节可以为由第(i+1)段臂节、第(i+2)段臂节……第5段臂节构成的结构单元，即单臂上除指定段臂节外的其余臂节构成的结构单元。The load history of the i-th boom section on the single arm is equivalent to, based on the angle (can be an inclination angle) of the i-th boom section on the single arm, within the specified operating time range, the load history of the rear section on the single arm is affected by The load effect of the arm section, the rear section arm section can be a structural unit composed of the (i+1) section arm section, (i+2) section arm section...the 5th section arm section, that is, except for the specified A structural unit composed of the remaining arm sections except the segment arm section.
可以对工程机械的臂架服役过程进行数据采集，采集的主泵压力值、排量等运行参数可用于调整臂架受力过程中的动载系数(动载系数将受压力值和排量等表现实际作业情况的参数的影响)，相对于时间的记录，将压力值、排量、单臂各臂节的角度三者进行关联映射，并记录至指定的数据库，该数据库还存储各个姿态工况，例如记录工况的标识符和与该标识符对应的运行参数、角度数据，形成服役过程 中的关系数据记录，该数据库中的关系数据记录可以有指定规模，例如数据大小、时间记录长度超过指定阈值，可以称为大数据集。对于大数据集的数据处理，主要涉及姿态工况的统计计数，可以采用大数据框架执行数据处理、采用配置的数据库语句指令、采用数表基本统计函数、生成分布图等任意一种或多种方式完成处理。Data can be collected during the service process of the boom of construction machinery. The collected operating parameters such as main pump pressure value and displacement can be used to adjust the dynamic load coefficient during the stress loading process of the boom (the dynamic load coefficient will be affected by the pressure value, displacement, etc. (influence of parameters that express actual operating conditions), relative to the time record, the pressure value, displacement, and angle of each arm section of the single arm are correlated and mapped, and recorded to a designated database, which also stores each posture work conditions, such as recording the identifier of the working condition and the operating parameters and angle data corresponding to the identifier to form the service process The relational data records in the database can have a specified scale. For example, if the data size and time record length exceed a specified threshold, it can be called a large data set. For data processing of large data sets, it mainly involves the statistical counting of attitude working conditions. You can use the big data framework to perform data processing, use configured database statement instructions, use basic statistical functions of tables, generate distribution diagrams, etc. any one or more method to complete processing.
在实现方面，执行大数据处理可以包括：On the implementation side, performing big data processing can include:
A1)基于姿态随时间的变化，以及相应运行参数，对姿态变化范围所属的典型姿态工况进行统计计数，从而通过计数数值大小(统计结果)可以记录得到呈显著的数值关联关系的数据和确定典型姿态工况。A1) Based on the change of attitude over time and the corresponding operating parameters, statistically count the typical attitude operating conditions belonging to the attitude change range, so that by counting the numerical values (statistical results), data and determination of significant numerical correlations can be recorded and determined Typical attitude conditions.
A2)基于单臂的结构特征(可通过结构特征参数和与臂架的映射关系决定)，随臂架的角度(如倾角)的动态变化，通过平衡方程求解典型姿态工况下单臂各臂节的载荷，并确定各臂节的应力，该应力可以是与(时间对应)角度或时间对应的应力的函数关系或数值分布。该应力求取后，对于数据所呈现出的应力数值分布，应力的数值分布可以作为前述的大数据集的一部分，并可以基于前述的规律性或应力的数值分布规律或应力的分布带特点，建立应力数值分布与关系数据记录(特别是典型姿态工况)的关联关系，从而选取出应力，即选取方式可以是通过大数据集呈现的显著数值规律/特点实现的。值得注意的是，该应力相应的载荷是基于平衡方程得到的且没有受分解的等效的动态载荷的作用。A2) Based on the structural characteristics of the single arm (which can be determined by the structural characteristic parameters and the mapping relationship with the boom), as the angle of the boom (such as inclination) changes dynamically, the balance equation is used to solve each arm of the single arm under typical attitude conditions. The load of each arm section is determined, and the stress of each arm section is determined. The stress can be a functional relationship or numerical distribution of the stress corresponding to the (time-corresponding) angle or time. After the stress is obtained, for the numerical distribution of stress presented by the data, the numerical distribution of stress can be used as part of the aforementioned large data set, and can be based on the aforementioned regularity or the numerical distribution law of stress or the characteristics of the distribution zone of stress. Establish a correlation between stress numerical distribution and relational data records (especially typical attitude working conditions), so as to select stress, that is, the selection method can be realized through significant numerical patterns/characteristics presented in large data sets. It is worth noting that the corresponding load for this stress is obtained based on the equilibrium equation and is not affected by the decomposed equivalent dynamic load.
A3)基于载荷叠加原理，确定单臂的端部等效载荷，建立步骤A2)求解的载荷与端部等效载荷的关系式，通过所述关系式确定应力转换系数的表达式，在本发明实施例中，应力转换系数并非是限定的实施方式，例如通过变换式子表达形式，也可以确定动载系数。A3) Based on the load superposition principle, determine the end equivalent load of the single arm, establish the relationship between the load solved in step A2) and the end equivalent load, and determine the expression of the stress conversion coefficient through the relationship. In the present invention In the embodiment, the stress conversion coefficient is not a limiting implementation. For example, the dynamic load coefficient can also be determined by transforming the expression form.
在步骤A2)中，此时单臂的结构特征参数可以包括：臂架截面形状特征参数、厚度特征参数、臂架伸缩重叠特征参数、臂架与连杆机构特征参数、附属连接支撑特征参数等。In step A2), the structural characteristic parameters of the single arm at this time may include: boom cross-sectional shape characteristic parameters, thickness characteristic parameters, boom telescopic overlap characteristic parameters, boom and link mechanism characteristic parameters, auxiliary connection support characteristic parameters, etc. .
在步骤A2)中，将单臂端部臂节的受力进行处理。将单臂端部臂节的长度进行延伸，延伸的具体长度基于弯矩与集中力之间的数值关系：l＝KM/F，其中，l为延伸的长度，M为端部弯矩，F为端部集中力，K为修正系数，该修正系数K可以根据测试、使用的效果进行配置。需要补充说明的是，若端部臂节存在延伸部分，则单臂的端部即延伸后的端部臂节的端部位置；延伸不影响端部臂节的质量。In step A2), the stress on the arm joint at the end of the single arm is processed. Extend the length of the end arm section of a single arm. The specific length of extension is based on the numerical relationship between bending moment and concentrated force: l=KM/F, where l is the length of extension, M is the end bending moment, F is the end concentration force, and K is the correction coefficient. The correction coefficient K can be configured according to the effects of testing and use. It should be added that if the end arm section has an extended part, the end of the single arm is the end position of the extended end arm section; the extension does not affect the quality of the end arm section.
在本发明实施例公开的一种示例中，在步骤A2)中，参照图11，进行各简单结构单元的求解。与臂架映射的单臂可有6分段，图11中填充圆圈P1至P6可示例性地表示单臂的分段位置，填充圆圈P7(其结构影响可以通过三角关系与臂架关联)可表示臂头油缸的铰点位置，α、β、γ是参与平衡方程计算的角度值，基于不同坐标系、测量位置、角度之间的关联关系等考虑，角度值的测量、选择和实现都是可选的，例如使用臂架倾角、关节臂夹角等。在关联映射的臂架上，这些分段位置的作用力可以表示为F1至F6。具体地，F1可以表示臂架端油缸与臂架连接铰点处的作用力，F2可以表示臂架端相 邻两个关节臂连接铰点处的作用力，F3、F4可以分别是连杆与臂架连接铰点处的作用力，F5可以表示臂头油缸与臂架连接铰点处的作用力，F6可以表示臂头处相邻两个关节臂连接铰点处的作用力，示例地，未知量可为F1，F2，F4，F5，并且可以借助网格(为了提供区分性，其余填充圆圈是斜线填充)填充圆圈P2分段位置和P6分段位置的弯矩M1、M2进行平衡计算。In an example disclosed in the embodiment of the present invention, in step A2), with reference to Figure 11, each simple structural unit is solved. The single arm mapped to the arm can have 6 segments. The filled circles P1 to P6 in Figure 11 can exemplarily represent the segment positions of the single arm. The filled circle P7 (whose structural influence can be related to the arm through a triangular relationship) can Indicates the hinge point position of the arm head cylinder. α, β, and γ are the angle values involved in the calculation of the balance equation. Based on considerations such as different coordinate systems, measurement positions, and the correlation between angles, the measurement, selection, and implementation of angle values are Optional, such as using boom inclination angle, joint arm angle, etc. On the associatively mapped boom, the forces at these segmented positions can be expressed as F1 to F6. Specifically, F1 can represent the force at the hinge point connecting the boom end cylinder and the boom, and F2 can represent the phase force at the boom end. The force at the hinge point connecting the two adjacent joint arms, F3 and F4 can be respectively the force at the hinge point connecting the connecting rod and the boom, F5 can represent the force at the hinge point connecting the arm head cylinder and the boom, F6 It can represent the force at the connecting hinge point of two adjacent joint arms at the arm head. For example, the unknown quantities can be F1, F2, F4, F5, and with the help of the grid (in order to provide distinction, the remaining filled circles are oblique Line filling) fills the circle with the bending moments M1 and M2 at the P2 segment position and P6 segment position for balance calculation.
可以确定平衡方程：
∑F1＝0；∑F2＝0；
∑M2＝0；∑N1＝0The equilibrium equation can be determined:
∑F 1 =0; ∑F 2 =0;
∑M 2 =0; ∑N 1 =0
在求解到合适的平衡方程后，针对服役的臂架，根据臂架倾角的实时变化，可对各臂节在各个姿态受到的弯矩Mi进行实时计算。并通过理论分析与试验标定方法，例如有限元分析和试验，确定单臂各臂节的应力及其与大数据集中工况的关系。该应力可以是应力时间历程或与时间相关的函数σ(t)，在一些可视化的场景中，可以以谱的形式呈现。需要强调的是，该应力是没有等效的动态载荷作用下的应力。而在臂架服役过程中，在指定作业时间范围内姿态变化可以被视为在单臂的端部产生了等效的动态载荷作用，此动态载荷作用可以通过载荷叠加原理，分解为单臂上指定段臂节受后段臂节的载荷作用，该指定段臂节上受该分解的载荷作用产生的动应力就可以被视为是某个典型姿态工况下，该指定段臂节上的、没有动态载荷作用下的应力(即前述选取的应力)和应力转换系数的乘积，此乘积可以被作为典型姿态工况的等效动应力，从而求解得到在指定作业时间范围内，服役的臂架姿态变化产生的随时间变化的结构应力。After the appropriate balance equation is solved, for the boom in service, the bending moment Mi received by each arm section in each attitude can be calculated in real time based on the real-time changes in the inclination angle of the boom. And through theoretical analysis and experimental calibration methods, such as finite element analysis and experiments, the stress of each arm section of the single arm and its relationship with the working conditions of the large data set are determined. The stress can be a stress time history or a time-related function σ(t). In some visualization scenarios, it can be presented in the form of a spectrum. It should be emphasized that this stress is the stress without equivalent dynamic load. During the service process of the boom, the attitude change within the specified operating time range can be regarded as producing an equivalent dynamic load effect on the end of the single arm. This dynamic load effect can be decomposed into the load on the single arm through the principle of load superposition. The specified boom section is subject to the load of the rear section boom section. The dynamic stress produced by the decomposed load on the specified boom section can be regarded as the stress on the specified boom section under a typical attitude condition. , the product of stress without dynamic load (i.e., the stress selected above) and the stress conversion coefficient. This product can be used as the equivalent dynamic stress of typical attitude conditions, so as to obtain the arm in service within the specified operating time range. Structural stress that changes with time due to changes in frame attitude.
在步骤A3)中，可以将臂架上多关节臂一定范围内的大量的姿态变化产生的动应力，转化到某典型姿态工况的等效动应力。In step A3), the dynamic stress generated by a large number of posture changes within a certain range of the multi-jointed arm on the boom can be converted into the equivalent dynamic stress of a typical posture working condition.
在步骤A3)中，等效端部载荷可以包括等效端部集中力，等效端部集中力的计算公式如下：
Fi＝∑mng′In step A3), the equivalent end load may include the equivalent end concentrated force. The calculation formula of the equivalent end concentrated force is as follows:
F i =∑m n g′
i为当前臂节的分段编号，当i＝1时，n取为2至5；当i＝2时，n取为3至5；当i＝3时，n取为4至5；当i＝4时，n取为5；当i＝5时，可以取F5＝F。i is the segment number of the front arm section. When i=1, n is taken as 2 to 5; when i=2, n is taken as 3 to 5; when i=3, n is taken as 4 to 5; when When i=4, n is taken to be 5; when i=5, F 5 =F can be taken.
等效弯矩计算如下式：
Mg(t)i＝∑mng′lncosθn(t)The equivalent bending moment is calculated as follows:
M g (t) i =∑m n g′l n cosθ n (t)
式中，当i＝1时，n取为2至5；当i＝2时，n取为3至5；当i＝3时，n取为4至5；当i＝4时，n取为5；当i＝5时，若当前的姿态工况中不存在臂架的延伸情况，则可以取M5＝M，若当前的姿态工况中存在臂架的延伸长度l`，则可以取M5＝Fl`/K。In the formula, when i=1, n takes 2 to 5; when i=2, n takes 3 to 5; when i=3, n takes 4 to 5; when i=4, n takes is 5; when i=5, if there is no extension of the boom in the current attitude working condition, then M 5 =M can be taken. If there is an extension length l` of the boom in the current attitude working condition, then Take M 5 =Fl`/K.
∑mn为当量臂架质量，g′为修正的重力加速度，ln为第n段臂节的臂节质心距后段臂节的结构单元端部的距离，cosθn(t)为第n段臂 节的旋转角度随时间变化关系；在本发明实施例中，当量臂架质量为后段臂节的质量，例如在i＝1时，当量臂架质量为第2段臂节至第5段臂节，4段臂节的质量之和，在i＝2时，当量臂架质量为第3段臂节、第4段臂节、第5段臂节，3段臂节的质量之和，以此类推。∑m n is the equivalent boom mass, g′ is the corrected gravity acceleration, l n is the distance between the center of mass of the n-th boom section and the end of the structural unit of the rear section arm section, cosθ n (t) is the n-th boom section segment arm The rotation angle of the section changes with time; in the embodiment of the present invention, the equivalent boom mass is the mass of the rear section of the boom. For example, when i=1, the equivalent boom mass is the second to fifth section of the boom section. section, the sum of the masses of the 4-section boom section, when i=2, the equivalent boom mass is the sum of the masses of the 3rd section, 4th section, 5th section, the 3-section arm section, as And so on.
根据载荷叠加原理，得到臂架姿态变化下的应力等效系数(由于使用了单臂的等效，因此，此时应力转换系数可以称为应力等效系数)ki计算如下：
ki(x,t)＝f(x,θ1(t),θ2(t),θ3(t),…)
According to the principle of load superposition, the stress equivalent coefficient k i is obtained when the boom attitude changes (since the equivalent of a single arm is used, the stress conversion coefficient can be called the stress equivalent coefficient at this time) k i is calculated as follows:
k i (x, t) = f (x, θ 1 (t), θ 2 (t), θ 3 (t),…)
上式中，x仅作为函数关系f的自变量形式表达。In the above formula, x is only expressed as an independent variable of the functional relationship f.
相应地，等效应力计算如下：
Correspondingly, the equivalent stress is calculated as follows:
式中，Mi为不考虑等效弯矩时臂架各臂节弯矩，un为应力转换修正系数，un可以作为一种动载系数，∑mn为当量臂架质量，θn为后段各臂架倾角，为单臂上各臂节(等效为臂架各节臂)的应力的矩阵，为单臂各臂节(没有等效的动态载荷作用)的应力的矩阵。In the formula, M i is the bending moment of each arm section of the boom without considering the equivalent bending moment, u n is the stress conversion correction coefficient, u n can be used as a dynamic load coefficient, ∑m n is the equivalent boom mass, θ n is the inclination angle of each boom in the rear section, is the matrix of the stress of each arm section on a single arm (equivalent to each section of the boom arm), is the stress matrix of each arm section of a single arm (without equivalent dynamic load).
可以理解的，上述公开的式子和值是大多数情况中有利的实施方式，并非是本发明实施例的唯一限定的实施方式，基于实际需要和测试使用的效果，可以存在适应的式子变形、参量转换、数值调整等。It can be understood that the above disclosed formulas and values are advantageous implementations in most cases, and are not the only limited implementation of the embodiments of the present invention. Based on actual needs and the effects of test use, there may be adapted formula variations. , parameter conversion, numerical adjustment, etc.
在上述示例的基础上，在本发明实施例公开的第一种应用示例中，在使用方面，在指定作业时间范围内，基于获取的臂架姿态数据和相应运行参数，确定指定作业时间范围内的典型姿态工况，例如通过臂架姿态的变化范围和相应运行参数，以数据库查询或匹配查表或数值比较或识别波形特征等方式，找到指定作业时间范围内的典型姿态工况，再由前述的数据库或配置的表格，完成与典型姿态工况对应的动载系数的分配，最后，基于动载系数和实时运行参数，计算得到臂架上各分段的等效动应力。从而，实现了随机姿态到等效姿态的转换关系，并通过关联臂架压力、排量对臂架动应力的影响，采用了数值分层分级的方式，进行查表获取，确定了臂架各部位的最终的等效动应该应力时间历程数据以谱形式呈现，然后可以按照实施例1中的控制方法，确定是否需要对臂架的分段进行维护。当然，可以理解的，为了准确性，也可以将该应力时间历程数据进行转换和统计，预估得到 臂架损伤和/或臂架(剩余)寿命。On the basis of the above examples, in the first application example disclosed in the embodiment of the present invention, in terms of use, within the specified operation time range, based on the acquired boom attitude data and corresponding operating parameters, it is determined that the specified operation time range is within the specified operation time range. Typical attitude working conditions, for example, through the changing range of the boom attitude and corresponding operating parameters, through database query or table matching or numerical comparison or identification of waveform characteristics, find the typical attitude working conditions within the specified operating time range, and then use The aforementioned database or configured table completes the distribution of dynamic load coefficients corresponding to typical attitude conditions. Finally, based on the dynamic load coefficients and real-time operating parameters, the equivalent dynamic stress of each segment on the boom is calculated. As a result, the conversion relationship from random attitude to equivalent attitude is realized, and by correlating the influence of boom pressure and displacement on boom dynamic stress, a numerical hierarchical classification method is used to obtain the table lookup and determine the various parameters of the boom. The final equivalent action of the part The stress time history data is presented in the form of a spectrum, and then it can be determined according to the control method in Embodiment 1 whether maintenance of the boom segments is required. Of course, it is understandable that for the sake of accuracy, the stress time history data can also be converted and statistically estimated to obtain Boom damage and/or boom (remaining) life.
在上述单臂的模型计算中，为了提升计算精度，同样也可以使用大量工程机械的数据进行对比分析，并可采用可基于离散单元的神经网络模糊自学习模型对结构进行进一步修正，调整前述可配置的参数，让计算精度进一步提高。本发明动应力计算结果的误差基本处于小于等于10％的范围，少数结果处于在15％范围内。In the above single-arm model calculation, in order to improve the calculation accuracy, a large number of engineering machinery data can also be used for comparative analysis, and a neural network fuzzy self-learning model based on discrete units can be used to further modify the structure and adjust the aforementioned The configured parameters further improve the calculation accuracy. The error of the dynamic stress calculation results of the present invention is basically within the range of less than or equal to 10%, and a few results are within the range of 15%.
需要说明的是，在使用时，上述的单臂(结构模型)可以通过配置的计算函数和/或数值表格的方式完成以上相同功能的数据处理步骤，例如对单臂的使用步骤的拆分和组合，以相同功能的计算函数和/或可被查询匹配的数值表实现，单臂或此处的计算函数及数表可以视为等效映射模型，因此，前述的步骤M2)也可以包括：It should be noted that when used, the above-mentioned single arm (structural model) can complete the data processing steps of the above same functions through configured calculation functions and/or numerical tables, such as splitting and splitting the use steps of the single arm. The combination is implemented with calculation functions of the same function and/or numerical tables that can be matched by queries. The calculation functions and tables of a single arm or here can be regarded as equivalent mapping models. Therefore, the aforementioned step M2) can also include:
M201`)基于所述臂架姿态数据，确定所述指定作业时间范围内各节臂的姿态变化范围；M201`) Based on the boom attitude data, determine the attitude change range of each section of the arm within the specified operating time range;
M202`)基于所述姿态变化范围和所述相应运行参数，通过配置的计算函数返回结果和/或数值表格匹配确定各节臂的典型姿态工况。M202`) Based on the attitude change range and the corresponding operating parameters, determine the typical attitude working conditions of each section arm through the configured calculation function return results and/or numerical table matching.
在本发明实施例公开的第二种应用示例中，参照图12，在在线使用阶段中，可以利用臂架单关节臂的信号输入，获得工作期间各臂架的角度以及典型姿态(下)角度，基于该角度，分别确定等效弯矩和典型姿态弯矩，得到应力转换系数，基于应力转换系数和实时的应力(可以关联臂架作业工况)，得到等效映射模型计算的单臂应力时间历程，转换载荷谱数据后可使用雨流计数方式进行统计，基于统计结果，预估得到臂架损伤和/或臂架寿命。In the second application example disclosed in the embodiment of the present invention, referring to Figure 12, in the online use stage, the signal input of the single-joint arm of the boom can be used to obtain the angle of each boom during operation and the typical posture (bottom) angle. , based on this angle, determine the equivalent bending moment and typical attitude bending moment respectively, and obtain the stress conversion coefficient. Based on the stress conversion coefficient and real-time stress (which can be associated with the boom operating conditions), the single-arm stress calculated by the equivalent mapping model is obtained Time history, after converting the load spectrum data, the rainflow counting method can be used for statistics. Based on the statistical results, the boom damage and/or boom life can be estimated.
在第一种应用示例和第二种应用示例中，可以通过工程机械上的电子设备(如该设备具有微控制器MCU/片上***SoC)，向服务器提供臂架姿态数据和运行参数，该服务器可以用于执行与前述的臂架动应力实时求解方法对应的指令，经实际测试、使用，服务器仅需几分钟即可得到臂架动应力，以及最终的臂架损伤/剩余寿命估计值。其中，该服务器与工程机械可以是实时通信的/根据请求需要而通信的/间隔指定时间而通信的；该服务器可以是虚拟服务器和/或物理服务器，虚拟服务器可以是基于池化计算资源的云服务器或普通虚拟机；该服务器在具体执行时，可被配置有容器，在容器中完成前述方法的执行；物理服务器可以被配置为远程服务器，也可以被配置在作业场地的指定位置，以便于使用本地局域网络与电子设备进行安全通信。In the first application example and the second application example, the arm attitude data and operating parameters can be provided to the server through the electronic device on the construction machinery (for example, the device has a microcontroller MCU/system on a chip SoC), and the server It can be used to execute instructions corresponding to the aforementioned real-time solution method for boom dynamic stress. After actual testing and use, the server can obtain the boom dynamic stress and the final boom damage/remaining life estimate in just a few minutes. Among them, the server and the construction machinery can communicate in real time/communicate according to request needs/communicate at specified intervals; the server can be a virtual server and/or a physical server, and the virtual server can be a cloud based on pooled computing resources. Server or ordinary virtual machine; during specific execution, the server can be configured with a container, and the execution of the aforementioned method is completed in the container; the physical server can be configured as a remote server, or can be configured at a designated location on the working site to facilitate Use local area networks to securely communicate with electronic devices.
相对而言，现阶段，有大量学者基于神经网络对疲劳寿命尝试进行预估。然而，基于神经网络的疲劳寿命预估方法，发展仍不成熟，模型实际可用性和结果准确性、可靠性恐难以达到监测臂架的基本安全要求，采样样本通常需要大量时间、大量工程机械的样本数据获取，无异于将工程机械的臂架置于试验场地进行台架试验，试验时的作业工况与实际使用时工况很难视为是一致的情况，载荷加载方式和预估损伤大小都存在难以接受的偏差，同时，在使用时的检测数据也需要与训练样本相当的时间长度，很难在数分钟内获得实时的结果。Relatively speaking, at this stage, a large number of scholars are trying to predict fatigue life based on neural networks. However, the fatigue life prediction method based on neural networks is still immature. The actual usability of the model and the accuracy and reliability of the results may not meet the basic safety requirements of monitoring booms. Sampling samples usually requires a lot of time and a large number of engineering machinery samples. Data acquisition is tantamount to placing the boom of construction machinery in a test site for a bench test. The operating conditions during the test and the actual operating conditions are difficult to be regarded as consistent. The load loading method and estimated damage size There are unacceptable deviations. At the same time, the detection data when used also requires a length of time equivalent to the training sample, and it is difficult to obtain real-time results within a few minutes.
本发明实施例臂架实际有效的载荷和应力分析是监测工程机械的臂架健康状态和评估其剩余寿命的基础，载荷和应力的分析需要尽 量避免与臂架作业实际情况脱离联系，以免健康状态监测失效和剩余寿命评估偏差过大。本发明实施例可显著提升疲劳寿命的预估精度，相传统方法，精度提升30％。The actual effective load and stress analysis of the boom of the embodiment of the present invention is the basis for monitoring the health status of the boom of the engineering machinery and evaluating its remaining life. The analysis of the load and stress needs to be as thorough as possible. It is necessary to avoid being disconnected from the actual conditions of the boom operation, so as to avoid failure of health status monitoring and excessive deviation in remaining life assessment. Embodiments of the present invention can significantly improve the accuracy of fatigue life estimation, and compared with traditional methods, the accuracy is increased by 30%.
在一些应用场景中，如图13，参照实施例1中对应力时间历程数据的处理，对等效映射模型计算的单臂应力时间历程进行载荷谱处理，该数据处理可以是实施例1中的非严格的查询匹配，获得单臂多级典型载荷谱(可按载荷大小、循环次数确定多个分级)，并按载荷分级，结合S-N曲线和da/dN曲线，进行损伤估计，或也可以直接使用S-N曲线和da/dN曲线，对单臂应力时间历程，计算单臂累积损伤值和剩余寿命，即等效的臂架损伤和剩余寿命的预估。In some application scenarios, as shown in Figure 13, refer to the processing of stress time history data in Embodiment 1, and perform load spectrum processing on the single arm stress time history calculated by the equivalent mapping model. This data processing can be the same as in Embodiment 1. Non-strict query matching is used to obtain multi-level typical load spectrum of a single arm (multiple levels can be determined according to load size and number of cycles), and according to the load level, the S-N curve and the da/dN curve are combined to estimate the damage, or you can also directly Using the S-N curve and da/dN curve, calculate the cumulative damage value and remaining life of the single arm based on the stress time history of the single arm, which is an estimate of the equivalent boom damage and remaining life.
本发明提供了一种将臂架随机姿态等效到单臂典型姿态的等效转换模型，实现任意姿态臂架损伤与剩余寿命的快速计算；本发明创新提出了一种臂架复杂载荷的简化计算方法，通过将臂架简化为离散的几段，并对单臂端部进行定量延生，实现臂架复杂载荷到简单载荷的快速等效计算，臂架复杂的结构特征的快速简化等效。本发明避免使用理想或假定的工况，利用独特的结构映射以及模型分析实车在线的应力情况，对臂架结构在任意姿态下的应力进行计算，同时获取任意姿态下的载荷谱信息，从而为实现对臂架***实时损伤、寿命的准确预估提供数据基础。The invention provides an equivalent conversion model that equates the random attitude of the arm to the typical attitude of a single arm, realizing rapid calculation of damage and remaining life of the arm in any attitude; the invention innovatively proposes a simplification of the complex load of the arm The calculation method, by simplifying the boom into several discrete sections and quantitatively extending the end of the single arm, can achieve fast equivalent calculations from complex loads to simple loads on the boom, and quickly simplify the equivalent of complex structural features of the boom. This invention avoids the use of ideal or assumed working conditions, uses unique structural mapping and models to analyze the stress situation of the real vehicle online, calculates the stress of the arm structure in any posture, and obtains the load spectrum information in any posture, thereby It provides a data basis for accurate prediction of real-time damage and life of the boom system.
实施例3Example 3
本发明实施例与实施例1和2属于同一发明构思，本发明实施例提供了臂架动应力实时求解***，在使用方面，该***可以包括：The embodiments of the present invention belong to the same inventive concept as Embodiments 1 and 2. The embodiments of the present invention provide a real-time solution system for boom dynamic stress. In terms of use, the system may include:
采集模块，用于确定指定作业时间范围内工程机械的臂架上各分段的臂架姿态数据，以及所述工程机械的相应运行参数；The acquisition module is used to determine the boom attitude data of each segment on the boom of the construction machinery within the specified operating time range, as well as the corresponding operating parameters of the construction machinery;
确定模块，用于基于所述臂架姿态数据和所述相应运行参数，确定所述指定作业时间范围内的典型姿态工况；A determination module, configured to determine typical attitude working conditions within the specified operating time range based on the boom attitude data and the corresponding operating parameters;
分配模块，用于分配与所述典型姿态工况对应的动载系数，并获取所述工程机械的实时运行参数；An allocation module, used to allocate the dynamic load coefficient corresponding to the typical attitude working condition, and obtain the real-time operating parameters of the construction machinery;
转换模块，用于基于所述动载系数和所述实时运行参数，确定所述臂架上各分段的等效动应力。A conversion module configured to determine the equivalent dynamic stress of each segment on the boom based on the dynamic load coefficient and the real-time operating parameters.
在本发明公开的一种有利的实施例中，在实现方面，该***可以还包括信号监测模块、信号采集模块、信号传输模块、信号存储与预处理模块、信号分析与控制模块。该信号监测模块、信号采集模块、信号传输模块可以被配置于工程机械。In an advantageous embodiment disclosed in the present invention, in terms of implementation, the system may further include a signal monitoring module, a signal acquisition module, a signal transmission module, a signal storage and preprocessing module, and a signal analysis and control module. The signal monitoring module, signal acquisition module, and signal transmission module can be configured in engineering machinery.
信号监测模块主要为臂架角度传感器、监测主泵压力、排量的传感器；The signal monitoring module is mainly a boom angle sensor and a sensor that monitors the pressure and displacement of the main pump;
信号采集模块用于记录工程机械服役过程中角度、压力、排量(档位信息推算)的实时变化；The signal acquisition module is used to record real-time changes in angle, pressure, and displacement (gear information calculation) during the service of construction machinery;
信号传输模块主要用于将臂架服役过程中的数据实时传输到云服务器平台，并将云服务器平台的数据传输到信号分析与控制模块，The signal transmission module is mainly used to transmit the data of the boom in service to the cloud server platform in real time, and to transmit the data of the cloud server platform to the signal analysis and control module.
信号分析与控制模块对传递的数据进行实时分析，并传输分析结果至工程机械的控制***，以使得在工程机械的控制***中显示分析结果。 The signal analysis and control module performs real-time analysis on the transmitted data and transmits the analysis results to the control system of the construction machinery so that the analysis results are displayed in the control system of the construction machinery.
本发明实施例还提供了臂架的控制***，可应用于工程机械和服务器、或可应用于工程机械，该臂架的控制***可以包括：Embodiments of the present invention also provide a control system for the boom, which can be applied to engineering machinery and servers, or can be applied to engineering machinery. The control system of the boom may include:
确定模块，用于确定工程机械的臂架上各分段节臂的应力时间历程数据；The determination module is used to determine the stress time history data of each segmented arm on the boom of the construction machinery;
计算模块，用于基于所述应力时间历程数据，计算各分段节臂的累积损伤值；A calculation module used to calculate the cumulative damage value of each segmented arm based on the stress time history data;
判断(或比较)模块，用于确定任意一段节臂的累积损伤值达到报警阈值；The judgment (or comparison) module is used to determine that the cumulative damage value of any section of the arm reaches the alarm threshold;
预警模块，用于介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助或限制所述工程机械作业执行。An early warning module is used to intervene in the health warning control mode of the boom and assist or limit the execution of the construction machinery operations according to the health warning control mode.
具体的，基于所述应力时间历程数据，计算各分段节臂的累积损伤值，包括：Specifically, based on the stress time history data, the cumulative damage value of each segmented arm is calculated, including:
确定所述臂架上各段臂节内指定区域的焊缝类型；Determine the weld type in the designated area within each boom section on the boom;
确定与所述焊缝类型对应的损伤等效曲线；Determine the damage equivalent curve corresponding to the weld type;
通过所述损伤等效曲线和所述应力时间历程数据，确定所述臂架上各分段节臂的累积损伤值。Through the damage equivalent curve and the stress time history data, the cumulative damage value of each segmented arm on the boom is determined.
具体的，基于所述应力时间历程数据，计算各分段节臂的累积损伤值，包括：Specifically, based on the stress time history data, the cumulative damage value of each segmented arm is calculated, including:
确定所述臂架上各段臂节内指定区域的焊缝类型；Determine the weld type in the designated area within each boom section on the boom;
确定与所述焊缝类型对应的损伤等效曲线；Determine the damage equivalent curve corresponding to the weld type;
转换所述应力时间历程数据为多级载荷数据；Converting the stress time history data into multi-level load data;
通过所述损伤等效曲线和所述多级载荷数据，确定所述臂架上各分段节臂的累积损伤值。Through the damage equivalent curve and the multi-level load data, the cumulative damage value of each segmented arm on the boom is determined.
具体的，确定任意一段节臂的累积损伤值达到报警阈值，包括以下至少一项：Specifically, it is determined that the cumulative damage value of any section of the arm reaches the alarm threshold, including at least one of the following:
确定任意一段节臂的累积损伤值达到第一级报警阈值；Determine that the cumulative damage value of any section of the arm reaches the first level alarm threshold;
确定任意一段节臂的累积损伤值达到第二级报警阈值，其中，Determine that the cumulative damage value of any section of the arm reaches the second level alarm threshold, where,
任意一级报警阈值是配置的损伤值且由指定段节臂、所述指定段节臂的材料和焊接类型决定，相对于所述指定段节臂，所述第二级报警阈值大于所述第一级报警阈值。Any first-level alarm threshold is a configured damage value and is determined by the specified segment arm, the material and welding type of the specified segment arm. Relative to the specified segment arm, the second-level alarm threshold is greater than the third-level alarm threshold. Level 1 alarm threshold.
具体的，介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助所述工程机械作业执行，包括：Specifically, intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operations in accordance with the health warning control mode includes:
获取输入的臂架运动组合操作指令或作业信息；Obtain the input boom movement combination operation instructions or job information;
转换输入的臂架运动组合操作指令或作业信息为配置的臂架运动组合操作指令集；Convert the input boom movement combination operation instructions or job information into the configured boom movement combination operation instruction set;
按照所述臂架运动组合操作指令集中选择的指令执行所述臂架的运动，其中，所述臂架上任意一段节臂的累积损伤值达到所述第一级报警阈值。The movement of the boom is executed according to instructions selected from the boom movement combined operation instruction set, wherein the cumulative damage value of any section of the boom on the boom reaches the first-level alarm threshold.
具体的，介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式限制所述工程机械作业执行，包括：Specifically, intervening in the health warning control mode of the boom and restricting the execution of the construction machinery operations according to the health warning control mode includes:
等待当前的臂架运动组合操作指令执行完成；Wait for the completion of the current boom movement combination operation command;
停止所述臂架的运动，并获取输入的臂架运动组合操作指令或作业信息； Stop the movement of the boom and obtain the input boom movement combination operation instructions or operation information;
转换输入的臂架运动组合操作指令或作业信息为强制的臂架运动组合操作指令；Convert the input boom movement combination operation instructions or job information into mandatory boom movement combination operation instructions;
按照强制的臂架运动组合操作指令执行所述臂架的运动，或继续停止所述臂架的运动。Execute the movement of the boom according to the forced boom movement combination operation instruction, or continue to stop the movement of the boom.
实施例4Example 4
本发明实施例与实施例1至3均属于同一发明构思，本发明实施例提供了电子设备，该电子设备可以包括：至少一个处理器；存储器，与所述至少一个处理器连接；其中，所述存储器存储有能被所述至少一个处理器执行的指令，所述至少一个处理器通过执行所述存储器存储的指令实现前述实施例1中的方法。电子设备可以包括控制器MCU、片上***SoC和/或具备计算和控制能力的集成电路等。The embodiments of the present invention and Embodiments 1 to 3 all belong to the same inventive concept. The embodiments of the present invention provide an electronic device. The electronic device may include: at least one processor; a memory connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the method in the aforementioned Embodiment 1 by executing the instructions stored in the memory. Electronic devices may include controller MCUs, system-on-chips SoCs, and/or integrated circuits with computing and control capabilities, etc.
本发明实施例还提供了服务器，该服务器与工程机械通信连接，该服务器具有前述的电子设备。Embodiments of the present invention also provide a server, which is communicatively connected to the construction machinery, and which has the aforementioned electronic device.
本发明实施例还提供了工程机械，工程机械可以包括挖掘机、起重机、伸缩臂/长臂破碎机、泵车等具备臂架的机械/装备。该工程机械与前述的服务器通信连接，在一种示例中，工程机械被配置有前述的服务器或被配置有前述的电子设备；在另一种示例中，工程机械被配置有工控机，该工控机具有前述的电子设备；在此处两种示例中，若该电子设备具备可用的计算资源，则该电子设备可自行完成前述实施例中的计算和查询，若该电子设备不具备可用的计算资源，则该电子设备可通过配置的接口/程序请求前述实施例中的服务器，通过服务器完成前述实施例中的计算和查询，且还通过该配置的接口/程序接收服务器返回的等效动应力、疲劳损伤和/或剩余寿命的数据。Embodiments of the present invention also provide engineering machinery, which may include excavators, cranes, telescopic arm/long arm crushers, pump trucks and other machinery/equipment equipped with booms. The engineering machinery is communicatively connected to the aforementioned server. In one example, the engineering machinery is configured with the aforementioned server or the aforementioned electronic device; in another example, the engineering machinery is configured with an industrial computer, and the industrial computer The machine has the aforementioned electronic device; in the two examples here, if the electronic device has available computing resources, the electronic device can complete the calculations and queries in the aforementioned embodiments by itself. If the electronic device does not have available computing resources, resources, the electronic device can request the server in the aforementioned embodiment through the configured interface/program, complete the calculations and queries in the aforementioned embodiment through the server, and also receive the equivalent dynamic force returned by the server through the configured interface/program. , fatigue damage and/or remaining life data.
以上结合附图详细描述了本发明实施例的可选实施方式，但是，本发明实施例并不限于上述实施方式中的具体细节，在本发明实施例的技术构思范围内，可以对本发明实施例的技术方案进行多种简单变型，这些简单变型均属于本发明实施例的保护范围。The optional implementations of the embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above-mentioned implementations. Within the scope of the technical concept of the embodiments of the present invention, the embodiments of the present invention can be modified. The technical solution is subjected to various simple modifications, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本发明实施例对各种可能的组合方式不再另行说明。In addition, it should be noted that the specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner as long as there is no contradiction. In order to avoid unnecessary repetition, various possible combinations will not be further described in the embodiments of the present invention.
本领域技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得单片机、芯片或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质可以是非瞬时的，存储介质可以包括：U盘、硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、闪存(Flash memory)、磁碟或者光盘等各种可以存储程序代码的介质。Those skilled in the art can understand that all or part of the steps in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium and includes several instructions to cause the microcontroller, chip or processor to (processor) executes all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media can be non-transient, and the storage media can include: U disk, hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), flash memory (Flash memory), Various media such as magnetic disks or optical disks that can store program code.
此外，本发明实施例的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明实施例的思想，其同样应当视为本发明实施例所公开的内容。 In addition, any combination of different implementation modes of the embodiments of the present invention can also be performed. As long as they do not violate the ideas of the embodiments of the present invention, they should also be regarded as the content disclosed in the embodiments of the present invention.

Claims (10)

  1. 一种臂架的控制方法，其特征在于，该控制方法包括：A method for controlling a boom, characterized in that the control method includes:
    确定工程机械的臂架上各分段节臂的应力时间历程数据；Determine the stress time history data of each segmented arm on the boom of the construction machinery;
    基于所述应力时间历程数据，计算各分段节臂的累积损伤值；Based on the stress time history data, calculate the cumulative damage value of each segmented arm;
    确定任意一段节臂的累积损伤值达到报警阈值；Determine that the cumulative damage value of any section of the arm reaches the alarm threshold;
    介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助或限制所述工程机械作业执行。Intervene in the health warning control mode of the boom, and assist or limit the execution of the construction machinery operations according to the health warning control mode.
  2. 根据权利要求1所述的臂架的控制方法，其特征在于，所述基于所述应力时间历程数据，计算各分段节臂的累积损伤值，包括：The method of controlling a boom according to claim 1, wherein calculating the cumulative damage value of each segmented arm based on the stress time history data includes:
    确定所述臂架上各段臂节内指定区域的焊缝类型；Determine the weld type in the designated area within each boom section on the boom;
    确定与所述焊缝类型对应的损伤等效曲线；Determine the damage equivalent curve corresponding to the weld type;
    通过所述损伤等效曲线和所述应力时间历程数据，确定所述臂架上各分段节臂的累积损伤值。Through the damage equivalent curve and the stress time history data, the cumulative damage value of each segmented arm on the boom is determined.
  3. 根据权利要求1所述的臂架的控制方法，其特征在于，所述基于所述应力时间历程数据，计算各分段节臂的累积损伤值，包括：The method of controlling a boom according to claim 1, wherein calculating the cumulative damage value of each segmented arm based on the stress time history data includes:
    确定所述臂架上各段臂节内指定区域的焊缝类型；Determine the weld type in the designated area within each boom section on the boom;
    确定与所述焊缝类型对应的损伤等效曲线；Determine the damage equivalent curve corresponding to the weld type;
    转换所述应力时间历程数据为多级载荷数据；Converting the stress time history data into multi-level load data;
    通过所述损伤等效曲线和所述多级载荷数据，确定所述臂架上各分段节臂的累积损伤值。Through the damage equivalent curve and the multi-level load data, the cumulative damage value of each segmented arm on the boom is determined.
  4. 根据权利要求1所述的臂架的控制方法，其特征在于，所述确定任意一段节臂的累积损伤值达到报警阈值，包括以下至少一项：The method of controlling a boom according to claim 1, wherein determining that the cumulative damage value of any section of the boom reaches an alarm threshold includes at least one of the following:
    确定任意一段节臂的累积损伤值达到第一级报警阈值；Determine that the cumulative damage value of any section of the arm reaches the first level alarm threshold;
    确定任意一段节臂的累积损伤值达到第二级报警阈值，其中，Determine that the cumulative damage value of any section of the arm reaches the second level alarm threshold, where,
    任意一级报警阈值是配置的损伤值且由指定段节臂、所述指定段节臂的材料和焊接类型决定，相对于所述指定段节臂，所述第二级报警阈值大于所述第一级报警阈值。Any first-level alarm threshold is a configured damage value and is determined by the specified segment arm, the material and welding type of the specified segment arm. Relative to the specified segment arm, the second-level alarm threshold is greater than the third-level alarm threshold. Level 1 alarm threshold.
  5. 根据权利要求4所述的臂架的控制方法，其特征在于，所述介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助所述工程机械作业执行，包括：The control method of the boom according to claim 4, wherein the step of intervening in the health warning control mode of the boom and assisting the execution of the construction machinery operation according to the health warning control mode includes:
    获取输入的臂架运动组合操作指令或作业信息；Obtain the input boom movement combination operation instructions or job information;
    转换输入的臂架运动组合操作指令或作业信息为配置的臂架运动组合操作指令集；Convert the input boom movement combination operation instructions or job information into the configured boom movement combination operation instruction set;
    按照所述臂架运动组合操作指令集中选择的指令执行所述臂架的运动，其中，所述臂架上任意一段节臂的累积损伤值达到所述第一级报警阈值。The movement of the boom is executed according to instructions selected from the boom movement combined operation instruction set, wherein the cumulative damage value of any section of the boom on the boom reaches the first-level alarm threshold.
  6. 根据权利要求4所述的臂架的控制方法，其特征在于，所述介 入所述臂架的健康预警控制模式，并按照所述健康预警控制模式限制所述工程机械作业执行，包括：The control method of the boom according to claim 4, characterized in that the intermediary Enter the health warning control mode of the boom, and restrict the execution of the construction machinery operations according to the health warning control mode, including:
    等待当前的臂架运动组合操作指令执行完成；Wait for the completion of the current boom movement combination operation command;
    停止所述臂架的运动，并获取输入的臂架运动组合操作指令或作业信息；Stop the movement of the boom and obtain the input boom movement combination operation instructions or operation information;
    转换输入的臂架运动组合操作指令或作业信息为强制的臂架运动组合操作指令；Convert the input boom movement combination operation instructions or job information into mandatory boom movement combination operation instructions;
    按照强制的臂架运动组合操作指令执行所述臂架的运动，或继续停止所述臂架的运动。Execute the movement of the boom according to the forced boom movement combination operation instruction, or continue to stop the movement of the boom.
  7. 一种臂架的控制***，其特征在于，该臂架的控制***包括：A boom control system, characterized in that the boom control system includes:
    确定模块，用于确定工程机械的臂架上各分段节臂的应力时间历程数据；The determination module is used to determine the stress time history data of each segmented arm on the boom of the construction machinery;
    计算模块，用于基于所述应力时间历程数据，计算各分段节臂的累积损伤值；A calculation module used to calculate the cumulative damage value of each segmented arm based on the stress time history data;
    判断模块，用于确定任意一段节臂的累积损伤值达到报警阈值；The judgment module is used to determine that the cumulative damage value of any section of the arm reaches the alarm threshold;
    预警模块，用于介入所述臂架的健康预警控制模式，并按照所述健康预警控制模式辅助或限制所述工程机械作业执行。An early warning module is used to intervene in the health warning control mode of the boom and assist or limit the execution of the construction machinery operations according to the health warning control mode.
  8. 一种电子设备，其特征在于，该电子设备包括：An electronic device, characterized in that the electronic device includes:
    至少一个处理器；at least one processor;
    存储器，与所述至少一个处理器连接；A memory connected to the at least one processor;
    其中，所述存储器存储有能被所述至少一个处理器执行的指令，所述至少一个处理器通过执行所述存储器存储的指令实现权利要求1至6中任意一项权利要求所述的方法。Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the method described in any one of claims 1 to 6 by executing the instructions stored in the memory.
  9. 一种工程机械，该工程机械具有权利要求8所述的电子设备。A construction machine having the electronic device according to claim 8.
  10. 一种计算机可读存储介质，存储有计算机指令，当所述计算机指令在计算机上运行时，使得计算机执行权利要求1至6中任意一项权利要求所述的方法。 A computer-readable storage medium stores computer instructions, which when the computer instructions are run on a computer, cause the computer to execute the method described in any one of claims 1 to 6.
PCT/CN2023/083071 2022-05-26 2023-03-22 Boom control method, control system, and construction machine WO2023226566A1 (en)

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