CN-121980536-A - Sliding block abrasion monitoring method and device, aerial working equipment and readable storage medium

CN121980536ACN 121980536 ACN121980536 ACN 121980536ACN-121980536-A

Abstract

The application discloses a sliding block abrasion monitoring method and device, overhead working equipment and a readable storage medium, and relates to the technical field of engineering machinery. The method comprises the steps of collecting multi-source sensor data when the boom system runs, determining at least one high-order kinematic characteristic parameter representing the spatial attitude of the boom system based on the multi-source sensor data, determining the current abrasion state of the sliding block to be detected according to the high-order kinematic characteristic parameter, and predicting the residual service life of the sliding block to be detected based on the current abrasion state and the historical change trend of the sliding block to be detected. The characteristic parameters reflecting the state of the sliding block can be obtained without disassembling equipment or adding special detection devices, the current abrasion degree is accurately judged, the residual service life is reliably predicted based on the historical data trend, the defects that the traditional periodic disassembly and inspection efficiency is low, the cost is high, the anti-interference performance of an indirect diagnosis method is poor, quantitative evaluation and prediction cannot be performed are overcome, and predictive maintenance of the boom system of the aerial working equipment is realized.

Inventors

LIU YUNING
HE JIPENG
HUANG MINGXU
WANG YIFAN

Assignees

湖南中联重科智能高空作业机械有限公司

Dates

Publication Date: 20260505
Application Date: 20251229

Claims (10)

1. A method for monitoring the wear of a slide, characterized in that it is applied to a boom system of an aerial working device, said boom system being provided with at least one slide to be detected for supporting and guiding a telescopic movement, said method comprising: acquiring multi-source sensor data when the boom system operates; determining at least one high-order kinematic feature parameter characterizing a spatial pose of the boom system based on the multi-source sensor data; determining the current wear state of the sliding block to be detected according to the high-order kinematic characteristic parameters, wherein a preset association relation exists between the high-order kinematic characteristic parameters and the wear state of the sliding block to be detected; and predicting the residual service life of the sliding block to be detected based on the current wear state and the historical change trend of the sliding block to be detected.
2. The method of claim 1, wherein the determining at least one high-order kinematic feature parameter characterizing a spatial pose of the boom system based on the multi-source sensor data comprises: Preprocessing the multi-source sensor data; Generating a plurality of kinematic intermediate quantities through kinematic solution based on the preprocessed data, wherein the kinematic intermediate quantities are respectively used for representing space poses of different structural parts in the arm support system, and the different structural parts comprise telescopic joint arms, different joint arms hinged with each other and a chassis for bearing the arm support system; and extracting statistical features and/or time domain features from the plurality of kinematic intermediate quantities to form at least one high-order kinematic feature parameter.
3. The slider wear monitoring method of claim 2 wherein the kinematic intermediate quantity comprises: The telescopic arm attitude vector is used for representing the spatial orientation of the telescopic joint arm and reflecting the straightness error of the telescopic joint arm caused by the abrasion of the sliding block; the main arm and fly arm included angle matrix is used for representing the relative rotation relation between the different mutually hinged joint arms and reflecting the abnormal change rate of the relative rotation angle between the different mutually hinged joint arms caused by the abrasion of the sliding block; the chassis attitude deviation matrix is used for representing the actual inclined state of the chassis and reflecting the attitude drift amount of the chassis caused by the abrasion of the sliding blocks.
4. The method according to claim 1, wherein determining the current wear state of the slider to be detected according to the high-order kinematic feature parameter comprises: inputting the high-order kinematic characteristic parameters into a wear state identification model, wherein the wear state identification model is used for representing a nonlinear mapping relation between the high-order kinematic characteristic parameters and the wear state of the sliding block; and acquiring the current wear state of the sliding block to be detected, which is output by the wear state identification model, wherein the current wear state comprises a current wear quantized value and/or a current wear grade.
5. The method of claim 4, further comprising a training step of the wear state identification model, the training step comprising: Acquiring a historical training sample set, wherein the historical training sample set comprises a plurality of groups of sample data, and each group of sample data comprises a high-order kinematic characteristic parameter and a corresponding actual wear state label of a sliding block, which are obtained in advance; And training a machine learning model by taking the pre-obtained high-order kinematic characteristic parameters as input and taking the actual abrasion state label of the sliding block as expected output to obtain the abrasion state identification model.
6. The method according to claim 1, wherein predicting the remaining life of the slider to be detected based on the current wear state and the historical trend of the slider to be detected, comprises: acquiring a wear state time sequence of the sliding block to be detected, wherein the wear state time sequence comprises a historical wear state and the current wear state; trend extraction is carried out on the abrasion state time sequence by adopting a sliding window method, and the real-time abrasion rate of the sliding block to be detected is obtained by fitting; Correcting the real-time wear rate based on a preset historical wear rate reference model to obtain a predicted wear rate, wherein the historical wear rate reference model is constructed based on a plurality of groups of long-term operation data of boom system sliding blocks with the same working conditions and the same structural type and comprises reference wear rates corresponding to different wear stages; And determining the residual service life of the sliding block to be detected according to the current wear state, the predicted wear rate and a preset wear failure threshold value.
7. The slider wear monitoring method according to any one of claims 1 to 6, further comprising: and generating maintenance early warning information or equipment control instructions acting on the aerial working equipment according to the current wear state and/or the residual service life.
8. A slide wear monitoring device, characterized by being applied to the cantilever crane system of high altitude construction equipment, the cantilever crane system is equipped with at least one slide that waits to detect that is used for supporting and direction concertina movement, slide wear monitoring device includes: The data acquisition module is used for acquiring multi-source sensor data when the boom system operates; the characteristic determining module is used for determining at least one high-order kinematic characteristic parameter representing the spatial attitude of the boom system based on the multi-source sensor data; The abrasion determining module is used for determining the current abrasion state of the sliding block to be detected according to the high-order kinematic characteristic parameters; And the life prediction module is used for predicting the residual service life of the sliding block to be detected based on the current wear state and the historical change trend of the sliding block to be detected.
9. An aerial working device, comprising: The arm support system is provided with at least one sliding block to be detected for supporting and guiding the telescopic movement; The slider wear monitoring device of claim 8.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the slider wear monitoring method according to any one of claims 1 to 7.

Description

Sliding block abrasion monitoring method and device, aerial working equipment and readable storage medium Technical Field The application relates to the technical field of engineering machinery, in particular to a method and a device for monitoring slider abrasion, overhead working equipment and a readable storage medium. Background In the field of high-end equipment manufacturing and intelligent operation and maintenance, the high-altitude operation machinery is used as key construction equipment, and the reliability and the safety of the high-altitude operation machinery are directly related to engineering efficiency and personnel safety. The boom system is used as a core actuating mechanism of the equipment, and the stability and the precision of the telescopic movement of the boom system are highly dependent on the perfect state of guide components such as a sliding block and the like. At present, the field is generally faced with a prominent bottleneck that the abrasion process of the sliding block is difficult to directly observe because the sliding block is positioned in an inner closed structure of the arm support and is in a severe working condition of high load, strong vibration and multiple dust for a long time. The prior art mainly relies on periodic shutdown and disassembly detection or indirect diagnosis based on a single physical signal, such as vibration, noise and the like, wherein the former has low efficiency and high cost, the latter is easy to be interfered by complex working conditions and has high false alarm rate, and quantitative evaluation of the abrasion degree and accurate prediction of the residual life cannot be realized. The operation and maintenance of the equipment are in the two difficulties of insufficient prevention or excessive maintenance for a long time, so that the improvement of the full life cycle management level of the equipment is restricted, and the equipment is also a main technical obstacle for the industry to change into intelligent and predictive maintenance. Therefore, developing a technology capable of accurately and non-invasively monitoring the abrasion state of the arm support sliding block and predicting the residual service life of the arm support sliding block in real time in a complex field environment has become a common key technical problem to be solved urgently in the field of aerial working machinery. Disclosure of Invention The embodiment of the application aims to provide a sliding block abrasion monitoring method, a sliding block abrasion monitoring device, high-altitude operation equipment and a readable storage medium, which are used for solving the technical problems of real-time and accurate monitoring of the abrasion degree of a sliding block of a cantilever crane of a high-altitude operation platform and prediction of the residual service life of the sliding block under the conditions of continuous machine and no disassembly. In order to achieve the above object, a first aspect of the present application provides a method for monitoring slider wear, applied to a boom system of an overhead working equipment, the boom system being provided with at least one slider to be detected for supporting and guiding telescopic movement, the method for monitoring slider wear comprising: Acquiring multi-source sensor data when the boom system operates; determining at least one high-order kinematic feature parameter characterizing a spatial pose of the boom system based on the multi-source sensor data; Determining the current abrasion state of the sliding block to be detected according to the high-order kinematic characteristic parameters, wherein a preset association relation exists between the high-order kinematic characteristic parameters and the abrasion state of the sliding block to be detected; based on the current wear state and the historical change trend of the sliding block to be detected, the residual service life of the sliding block to be detected is predicted. In an embodiment of the present application, determining at least one high-order kinematic feature parameter characterizing a spatial pose of a boom system based on multi-source sensor data includes: Preprocessing multi-source sensor data; Based on the preprocessed data, generating a plurality of kinematic intermediate quantities through kinematic calculation, wherein the kinematic intermediate quantities are respectively used for representing the spatial pose of different structural parts in the arm support system, and the different structural parts comprise telescopic joint arms, different joint arms hinged with each other and a chassis for bearing the arm support system; statistical and/or temporal features are extracted from the plurality of kinematic intermediate quantities to construct at least one higher order kinematic feature parameter. In an embodiment of the present application, the kinematic intermediate amount includes: the telescopic arm attitude vector is used for re