CN103673972A - Boom deflection measuring method, device and system and crane - Google Patents
Boom deflection measuring method, device and system and crane Download PDFInfo
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Abstract
The invention discloses a boom deflection measuring method, a boom deflection measuring device, a boom deflection measuring system and a crane. The boom deflection measuring method comprises the steps of receiving measurement data of a root measurement point at a basic arm root of a boom and an arm-end measurement point of any one arm section located on the boom and boom gesture data for confirming the theoretical position of the boom; calculating the actual position of the arm-end measurement point in a coordinate plane according to the measurement data of the root measurement point and the arm-end measurement point and calculating the theoretical position of the boom in the coordinate plane according to the measurement data of the root measurement point and the boom gesture data; confirming the deflection of the boom in the coordinate plane according to the actual position of the arm-end measurement point and the theoretical position of the boom. By adopting the boom deflection measuring method, the boom deflection measuring device and the boom deflection measuring system, dynamic and continuous boom deflection measurement can be achieved, and the accuracy is high.
Description
Technical field
The present invention relates to engineering machinery, particularly, relate to a kind of jib deflection metrology method, a kind of jib deflection metrology equipment, a kind of jib deflection metrology system and a kind of crane.
Background technology
Along with crane to maximizing, heavy-duty development, as the arm of important steel construction piece, also towards the future development that arm joint number increases, length is elongated, but thing followed arm deflection deformation problem also becomes all the more outstanding.The deformation of jib amount of deflection comprises amount of deflection (lower amount of deflection) in luffing range of cantilever support plane and the amount of deflection (being side sway degree) in jib plane of rotation.The lower amount of deflection of jib and side sway degree directly affect the safe application performances such as the load-bearing capacity, shock resistance of crane, for example, when serious, also can cause folding arm, casualty accident etc. occurs, and it is also the key factor that must consider in rubber tyre gantry crane design and use procedure.Therefore, measure how accurately, easily jib amount of deflection significant to guaranteeing rubber tyre gantry crane design performance and lifting safety.
In prior art, there is the measuring method of some jib amounts of deflection, for example: 1) naked eyes are estimated or steel ruler measurement: at suspension hook place, hang steel wire, by steel ruler, measure steel wire apart from the horizontal range of the centre of gyration, and the contrast of the work range when there is no amount of deflection, thereby amount of deflection under jib obtained; 2) legacy equipment such as spirit-leveling instrument, collimator, transit is measured, and adopts artificial reading mode to obtain amount of deflection and side sway degree under jib; 3) beam detection method is measured: at jib two ends, install respectively and transmit and receive light beam equipment, be generally laser and target, by the alternate position spike of launching and accept light beam, calculate amount of deflection and side sway degree under jib; 4) measurement of processing based on image: jib gauge point is taken in real time by least two cameras, adopt image processing method to splice and filter tracking picture, and obtain splicing the three-dimensional coordinate of each gauge point in rear image, and then calculate jib degree of disturbing.
For example, but these methods exist a lot of problems: naked eyes estimations is only applicable to the distinguishable situation about going out of jib deformation naked eyes, and cannot obtain accurately amount of deflection and side sway degree under jib, and steel wire hang measure be subject to pneumatic affect very large; Legacy equipment is measured and is often subject to the restriction that put in place, and the mode error of artificial reading is larger, and measurement result precision is lower, be that above-mentioned two kinds of methods all have certain limitation, and when measurement point is a lot, tester's labour intensity is large, error is larger, is not also suitable for kinetic measurement; And the installation more complicated of beam detection mode, and if laser beam is blocked, can not normal transmission to target or reflex on detector, can not guarantee measuring accuracy; Adopt the mode of image recognition to have relatively high expectations to hardware configuration and the installation site of testing apparatus (camera), and data acquisition is pored over and precision depends on image processing algorithm, the difficulty of software development is larger.Therefore in prior art, lack a kind of can be accurately and measure easily method, equipment and the system of jib amount of deflection.
Summary of the invention
For the above-mentioned problems in the prior art, the invention provides a kind of jib deflection metrology method, the method comprises: receive the root measurement point of the basic arm root be positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib; According to the measurement data of described root measurement point and described arm end measurement point, calculate the physical location of described arm end measurement point in coordinate plane, and calculate the theoretical position of described jib in this coordinate plane according to the measurement data of described root measurement point and described jib attitude data; And determine the amount of deflection of jib in described coordinate plane according to the theoretical position of the physical location of described arm end measurement point and described jib.
The present invention also provides a kind of jib deflection metrology equipment, this equipment comprises: receiver, for receive the root measurement point of the basic arm root that is positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib; Controller, for calculating the physical location of described arm end measurement point in coordinate plane according to the measurement data of described root measurement point and described arm end measurement point, and calculate the theoretical position of described jib in this coordinate plane according to the measurement data of described root measurement point and described jib attitude data; And determine the amount of deflection of jib in described coordinate plane according to the theoretical position of the physical location of described arm end measurement point and described jib.
Correspondingly, the present invention also provides a kind of jib deflection metrology system, this system comprises: a plurality of GPS measurement mechanisms, be arranged on the arm joint end of arbitrary arm joint and the basic arm of jib of jib, for measure the root measurement point of the basic arm root that is positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib; And according to jib deflection metrology equipment provided by the present invention, wherein said GPS measurement mechanism communicates with one another by wireless station, and at least one the GPS measurement mechanism in described a plurality of GPS measurement mechanism and described jib deflection metrology equipment connection, the measurement data of the measurement data of described root measurement point, described arm end measurement point and described jib attitude data are sent to the receiver of described jib deflection metrology equipment.
And, the present invention also provides a kind of jib deflection metrology system, this system comprises: a plurality of GPS measurement mechanisms, be arranged on the arm joint end of arbitrary arm joint and the basic arm of jib of jib, for measuring the root measurement point of the basic arm root that is positioned at jib and being positioned at the measurement data of arm end measurement point of arbitrary arm joint of jib; Jib angular transducer, for measuring the jib attitude data of the theoretical position of determining jib; And according to jib deflection metrology equipment provided by the present invention, wherein said GPS measurement mechanism communicates with one another by wireless station, and at least one the GPS measurement mechanism in described a plurality of GPS measurement mechanism and described jib angular transducer respectively with described jib deflection metrology equipment connection, the measurement data of the measurement data of described root measurement point, described arm end measurement point and described jib attitude data are sent to the receiver of described jib deflection metrology equipment.
In addition, the present invention also provides a kind of crane, and this crane comprises according to jib deflection metrology system provided by the present invention.
Adopt jib deflection metrology method provided by the invention, equipment, system and crane, can calculate arm end measurement point in the physical location of coordinate plane by being positioned at the root measurement point of basic arm root of jib and the measurement data of arm end measurement point that is positioned at the arbitrary arm joint of jib, and utilize the measurement data of described root measurement point and for determining that the jib attitude data of the theoretical position of jib calculates the theoretical position of jib in described coordinate plane, according to the theoretical position of the physical location of arm end measurement point and jib, calculate jib amount of deflection of (for example luffing range of cantilever support plane and plane of rotation) in described coordinate plane afterwards, can realize thus to jib amount of deflection dynamically, continuous coverage, and the jib amount of deflection precision calculating is high.
Other features and advantages of the present invention partly in detail are described the embodiment subsequently.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for instructions, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is according to the schematic diagram of the example jib deflection metrology equipment of one embodiment of the present invention;
Fig. 2 A shows the schematic diagram of the jib attitude before the deformation of jib generation amount of deflection in jib plane of rotation;
Fig. 2 B shows the schematic diagram of the jib attitude after the deformation of jib generation amount of deflection in jib plane of rotation;
Fig. 3 is according to the schematic diagram of jib amount of deflection in the calculating luffing range of cantilever support plane of one embodiment of the present invention;
Fig. 4 is according to the schematic diagram of jib amount of deflection in the calculating jib plane of rotation of one embodiment of the present invention.
Fig. 5 shows the schematic diagram of the jib attitude before the deformation of jib generation amount of deflection in luffing range of cantilever support plane;
Fig. 6 shows the schematic diagram of the jib attitude after the deformation of jib generation amount of deflection in luffing range of cantilever support plane
Fig. 7 is according to the example flow diagram of the jib deflection metrology method of one embodiment of the present invention; And
Fig. 8 is according to the schematic diagram of the example jib deflection metrology system of one embodiment of the present invention.
Description of reference numerals
10 receiver 20 controllers
100 jib deflection metrology equipment 200 jibs
400 chassis 300a-300d GPS measurement mechanisms
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
Below by take there is jib crane as example illustrates thought of the present invention, but it should be understood that, jib deflection metrology method of the present invention, equipment, system can for example, for any engineering machinery (, fire truck etc.) with jib, and the present invention does not limit this.
Fig. 1 is according to the schematic diagram of the example jib deflection metrology equipment of one embodiment of the present invention.As shown in Figure 1, this jib deflection metrology equipment 100 can comprise: receiver 10, for receive the root measurement point of the basic arm root that is positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib; Controller 20, for calculating the physical location of described arm end measurement point in coordinate plane according to the measurement data of described root measurement point and described arm end measurement point, and calculate the theoretical position of described jib in this coordinate plane according to the measurement data of described root measurement point and described jib attitude data; And determine the amount of deflection of jib in described coordinate plane according to the theoretical position of the physical location of described arm end measurement point and described jib.
Specifically, receiver 10 can receive the root measurement point of the basic arm root that is positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib, for example by connected for any suitable measurement mechanism of measuring above-mentioned data (for example, GPS measurement mechanism, position-measurement device etc.), also can directly from outside, receive (such as passing through manually input etc.); Controller 20, can calculate the physical location of described arm end measurement point in coordinate plane according to the measurement data of described root measurement point and described arm end measurement point, and calculate the theoretical position of described jib in this coordinate plane according to the measurement data of described root measurement point and described jib attitude data; And determine the amount of deflection of jib in described coordinate plane according to the theoretical position of the physical location of described arm end measurement point and described jib.
According to one embodiment of the present invention, the measurement data of described root measurement point is the three-dimensional coordinate of this root measurement point, the measurement data of described arm end measurement point is the three-dimensional coordinate of this arm end measurement point, and described jib attitude data comprises the three-dimensional coordinate of the basic arm measurement point at least one basic arm that is positioned at jib.
Specifically, Fig. 2 A shows the schematic diagram of the jib attitude before the deformation of jib generation amount of deflection in jib plane of rotation.Fig. 2 B shows the schematic diagram of the jib attitude after the deformation of jib generation amount of deflection in jib plane of rotation.For thought of the present invention is described, the crane arm support with three joint arms joints of take is example, as shown in Figure 2A and 2B, the jib 200 of crane is fixedly connected with chassis 400, and wherein jib 200 can comprise i.e. the first arm joint of basic arm 200a(), the second arm joint 200b, the 3rd arm joint 200c.Measurement to jib amount of deflection, those skilled in the art can select on jib according to following condition and suitable measurement point is set, and install and measure equipment in measurement point, to reflect jib attitude:
(1) the jib state that can reduce before the deformation of jib generation amount of deflection by the jib measurement point arranging;
(2) spatial position change of jib measurement point can represent the spatial position change of this measurement point on jib, can reflect lower amount of deflection and side sway degree.
Meet on jib, meet any position of above-mentioned condition can be as jib measurement point, for instance, for the example three joint jibs (jib with three joint arm joints) shown in Fig. 2 A and 2B, can measurement point be in position set according to above-mentioned condition, the present invention does not limit this.In order to obtain more accurate measurement data, measurement point can be arranged on to A, B, C place, wherein, as shown in Fig. 2 A-2B, A measurement point is positioned at the basic arm root of jib, is called root measurement point; B measurement point is on the basic arm between crane basic arm root hinge and amplitude oil cylinder-jib hinge, and the line between A measurement point and B measurement point, on the center line of crane basic arm, or is parallel to the axis of jib, is called basic arm measurement point.And, supporting role due to amplitude oil cylinder, generally the amount of deflection deformation of this section of jib (being that basic arm root hinge is to the jib section between amplitude oil cylinder-jib hinge) can be ignored, think amount of deflection deformation does not occur, the jib state that therefore can reduce before the deformation of jib generation amount of deflection; C measurement point is positioned at the end of the 3rd arm joint, is called arm end measurement point, represents the spatial position change of this measurement point on jib, can reflect lower amount of deflection and side sway degree.Therefore, A, B, C measurement point meet above-mentioned condition.Should be understood that, above-mentioned example measurement point A, B, C are explanation non-limiting examples of the present invention, for B measurement point, it can be any position of basic arm between the basic arm being located between A measurement point and crane basic arm root hinge and amplitude oil cylinder-jib hinge, be positioned at basic arm measurement point on basic arm can also arrange according to actual conditions a plurality of, as long as meet above-mentioned condition.For n joint jib, can there be a plurality of arm end measurement points (C point), lay respectively at the end (such as having D, E, F to order etc., not shown) of this arm joint that need to measure its jib attitude, the present invention does not limit this.As mentioned above, can install and measure device in the measurement point of selecting, to detect the measurement data of described arm end measurement point.
Because GPS measurement mechanism has hi-Fix (error can be less than 1mm), can realize dynamic continuous coverage, therefore according to one embodiment of the present invention, on the arm joint end that can save at arbitrary arm of jib and the basic arm of jib, a plurality of GPS measurement mechanism 300a-300d are installed, for accurately measuring above-mentioned data.For instance, for the joint of three shown in Fig. 2 A-2B jib, GPS measurement mechanism 300a can be arranged on to measurement point A place, GPS measurement mechanism 300b-c is arranged on respectively to the three-dimensional coordinate that measurement point B, C sentence each point of detection, for example, three shown in Fig. 2 A-2B of still take joint jib is example, the three-dimensional coordinate of the three-dimensional coordinate of the three-dimensional coordinate corresponding A measurement point of described root measurement point, the corresponding C measurement point of the three-dimensional coordinate of described arm end measurement point, the three-dimensional coordinate of the corresponding B measurement point of described jib attitude data.
Because measurement point A is positioned at the basic arm root of jib, so this can be put to (or basic point) as a reference point, the corresponding GPS measurement mechanism 300a being arranged on herein can do GPS base station and be connected with this jib deflection metrology equipment 100.And GPS measurement mechanism 300b, the 300c of measurement point B, the installation of C place are as GPS movement station, and the three-dimensional coordinate of measuring by carrier phase difference principle is sent to GPS measurement mechanism 300a, GPS measurement mechanism 300a can send to this equipment by the three-dimensional coordinate of each measurement point of measuring afterwards, between wherein said GPS measurement mechanism 300a-300c, can communicate with one another to send the measurement data of root measurement point, measurement data and the jib attitude data of arm end measurement point by wireless station.
Should be understood that, GPS measurement mechanism is measured the principle of three-dimensional coordinate and the transmission of data, belongs to general knowledge known in this field, in order not obscure protection scope of the present invention, at this, omits detailed description.
According to one embodiment of the present invention, the receiver 10 of jib deflection metrology equipment 100, after receiving the measurement data and jib attitude data of above-mentioned root measurement point and arm end measurement point, sends to controller 20 by described data.Afterwards, controller 20 can calculate physical location and the described jib theoretical position this coordinate plane in of described arm end measurement point in coordinate plane according to following methods; And determine the amount of deflection of jib in described coordinate plane preferably according to the theoretical position of the physical location of described arm end measurement point and described jib, described coordinate plane comprises jib plane of rotation and luffing range of cantilever support plane, can determine amount of deflection (lower amount of deflection) in luffing range of cantilever support plane and/or the amount of deflection (being side sway degree) in jib plane of rotation.
Specifically, Fig. 3 is according to the schematic diagram of jib amount of deflection in the calculating luffing range of cantilever support plane of one embodiment of the present invention; Fig. 4 is according to the schematic diagram of jib amount of deflection in the calculating jib plane of rotation of one embodiment of the present invention.
Wherein, calculating the physical location of arm end measurement point in coordinate plane comprises:
According to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described arm end measurement point, obtain described root measurement point and the two-dimensional coordinate of described arm end measurement point in jib plane of rotation and luffing range of cantilever support plane, to determine the physical location of this arm end measurement point in jib plane of rotation and luffing range of cantilever support plane by described two-dimensional coordinate;
Calculating the theoretical position of jib in coordinate plane comprises:
According to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described at least one basic arm measurement point, determine the straight-line equation that described root measurement point and described at least one basic arm measurement point form in jib plane of rotation and luffing range of cantilever support plane, to determine the theoretical position of jib in jib plane of rotation and luffing range of cantilever support plane by this straight-line equation.
Wherein, according to the theoretical position of the physical location of described arm end measurement point and described jib, determine that the amount of deflection of jib in described coordinate plane comprises: by calculating described arm end measurement point, to the distance of described straight line, determine the amount of deflection of jib in described coordinate plane.
With reference to figure 3-4, above-mentioned computing method are elaborated.Because A measurement point is positioned at basic arm root, can A point be therefore initial point (reference point), set up rectangular coordinate system in space, the three-dimensional coordinate of B measurement point (rectangular space coordinate) is (x
b, y
b, z
b), owing to thinking that as mentioned above amount of deflection deformation does not occur for A, B place, therefore, its three-dimensional coordinate is fixed.And C point represents jib amount of deflection deformation quantity, the three-dimensional coordinate therefore measuring, for the C point position coordinates after amount of deflection deformation occurs, is (x
c, y
c, z
c).
(1) calculate the amount of deflection (lower amount of deflection) in luffing range of cantilever support plane
In order to calculate the jib amount of deflection in luffing range of cantilever support plane, in above-mentioned rectangular coordinate system in space, in luffing plane, set up the rectangular coordinate system x ' Ay ' that A is ordered, as shown in Figure 3, according to the rectangular space coordinate of measuring can computation and measurement point B, C apart from the horizontal range (R) of reference point A and highly (H) be respectively:
H
B＝z
B
H
c=z
cformula (1)
, in luffing plane, the coordinate of measurement point B and C is respectively (R
b, H
b), (R
c, H
c).
Owing to crossing reference point A, can represent the jib state (as mentioned above) before amount of deflection deformation with the jib section between measurement point B, the straight-line equation therefore calculating while there is not amount of deflection deformation in luffing range of cantilever support plane is (theoretical position):
H
Bx′-R
By′＝0
Formula (2)
, after amount of deflection deformation, measurement point C(is physical location) apart from the distance of straight line AB, be
Be that amount of deflection in luffing range of cantilever support plane is d
lower amount of deflection.
(2) jib plane of rotation (side sway degree)
As shown in Figure 4, measurement point B and C are projected as B ', C ' in jib plane of rotation, and coordinate is respectively (x
b, y
b), (x
c, y
c).In jib plane of rotation, the straight-line equation (being theoretical position) before arm deformation is:
Y
bx-x
by=0 formula (4)
Therefore, can calculate subpoint C ' (being physical location) apart from the distance of straight line AB ' is
Be that amount of deflection in jib plane of rotation is d
side sway degree.
According to one embodiment of the present invention, controller 20 can be determined amount of deflection (lower amount of deflection) in luffing range of cantilever support plane and/or the amount of deflection (being side sway degree) in jib plane of rotation according to above-mentioned computing method.And, amount of deflection in amount of deflection in definite luffing range of cantilever support plane and/or jib plane of rotation can be exported to other equipment (such as by connecting line, CAN bus, network etc.), for example output to display device and show in real time, or other need equipment or the terminal of deflection value.Adopt this embodiment in real time, accurately to calculate jib amount of deflection by the three-dimensional coordinate of measurement point (comprising root measurement point, arm end measurement point and basic arm measurement point), and Measuring Time is short, can realize successive dynamic measuring, error can be less than 1mm.
According to another embodiment of the invention, controller 20 can also by calculate owing to may horizontal variable quantity and the vertical change amount of amount of deflection (be horizontal range and the variable quantity highly that luffing range of cantilever support plane in, C order in luffing range of cantilever support plane in the course of work of crane, horizontal range and the height difference by computation and measurement, put before and after the deformation of C three-dimensional coordinate generation amount of deflection obtain) output (such as arriving display device etc.), for manipulating crane more intuitively.
Should be understood that, jib Calculation Method of Deflection provided by the present invention is exemplary but not limitation method, thereby those skilled in the art can be calculated physical location and theoretical position and be obtained the amount of deflection of jib in luffing range of cantilever support plane and jib plane of rotation by any other suitable method, and the present invention does not limit this.
For instance, according to another embodiment of the invention, controller 20 can also adopt angle-data to calculate described physical location and theoretical position.In this embodiment, receiver 10 can receive the measurement data of root measurement point and arm end measurement point, the measurement data of described root measurement point is that the three-dimensional coordinate of this root measurement point, described measurement data can be three-dimensional coordinate and the jib attitude data of this arm end measurement point, described jib attitude data can comprise jib argument α, the basic arm root that wherein said jib argument α is jib and the angle between ground, it can be received from the jib angular transducer (not shown) configuring on crane.
Preferably, described coordinate plane can be luffing range of cantilever support plane, the physical location of described calculating arm end measurement point in coordinate plane comprises: according to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described arm end measurement point, obtain described root measurement point and the two-dimensional coordinate of described arm end measurement point in luffing range of cantilever support plane, to determine the physical location of this arm end measurement point in luffing range of cantilever support plane by described two-dimensional coordinate;
The theoretical position of described calculating jib in coordinate plane comprises: according to the three-dimensional coordinate of described root measurement point and described jib argument α, determine the straight-line equation that described root measurement point and described jib argument α form in luffing range of cantilever support plane, to determine the theoretical position of jib in luffing range of cantilever support plane by this straight-line equation.
Wherein, according to the theoretical position of the physical location of described arm end measurement point and described jib, determine that the amount of deflection of jib in described coordinate plane comprises: by calculating described arm end measurement point, to the distance of described straight line, determine the amount of deflection of jib in described coordinate plane.
Fig. 5 shows the schematic diagram of the jib attitude before the deformation of jib generation amount of deflection in luffing range of cantilever support plane.Fig. 6 shows the schematic diagram of the jib attitude after the deformation of jib generation amount of deflection in luffing range of cantilever support plane.The straight-line equation that can form in luffing range of cantilever support plane according to jib argument α and A measurement point as shown in Figure 5, is determined the theoretical position of jib in luffing range of cantilever support plane.Physical location still can be determined by A measurement point and the two-dimensional coordinate of C measurement point in luffing range of cantilever support plane, can to the distance of described straight line, determine the amount of deflection d of jib in luffing range of cantilever support plane by calculating C measurement point afterwards
lower amount of deflection.
Preferably, for the variable quantity of horizontal range that in luffing range of cantilever support plane, C is ordered and height, except horizontal range and the height difference that can put before and after the deformation of C three-dimensional coordinate generation amount of deflection by computation and measurement obtains, can also be by the brachium data L receiving
1calculate, for example:
As mentioned above, according to the A measuring, the three-dimensional coordinate that C is ordered, can calculate at luffing range of cantilever support plane inner arm end C apart from the horizontal range of basic arm root A and highly be respectively:
H=z
c-z
aformula (6)
And by trigonometric function relation, calculate and occur before amount of deflection deformation at luffing range of cantilever support plane inner arm end C apart from the horizontal range of basic arm root A and be highly respectively:
R′＝L
1·cosα
H '=L
1sin α formula (7)
Afterwards, by comparing R, H and R ', H ', can obtain horizontal range and variable quantity highly that in luffing range of cantilever support plane, C is ordered and be respectively:
F
level=R-R '
F
highly=H-H ' formula (8)
Should be understood that, above-mentioned numerous embodiments can independently be used also and can be combined with array configuration, and those skilled in the art can select suitable computing method and controller are set to calculate more accurately, easily jib amount of deflection according to actual conditions.
Correspondingly, Fig. 7 is that as shown in Figure 7, the method can comprise the steps: according to the example flow diagram of the jib deflection metrology method of one embodiment of the present invention
In step 1001, receive the root measurement point of the basic arm root be positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib;
In step 1002, according to the measurement data of described root measurement point and described arm end measurement point, calculate the physical location of described arm end measurement point in coordinate plane, and calculate the theoretical position of described jib in this coordinate plane according to the measurement data of described root measurement point and described jib attitude data; And
In step 1003, according to the theoretical position of the physical location of described arm end measurement point and described jib, determine the amount of deflection of jib in described coordinate plane.
According to one embodiment of the present invention, the measurement data of described root measurement point is the three-dimensional coordinate of this root measurement point, the measurement data of described arm end measurement point is the three-dimensional coordinate of this arm end measurement point, and described jib attitude data comprises the three-dimensional coordinate of the basic arm measurement point at least one basic arm that is positioned at jib.
Wherein, described coordinate plane comprises luffing range of cantilever support plane and jib plane of rotation, the physical location of described calculating arm end measurement point in coordinate plane comprises: according to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described arm end measurement point, obtain described root measurement point and the two-dimensional coordinate of described arm end measurement point in jib plane of rotation and luffing range of cantilever support plane, to determine the physical location of this arm end measurement point in jib plane of rotation and luffing range of cantilever support plane by described two-dimensional coordinate;
The theoretical position of described calculating jib in coordinate plane comprises: according to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described at least one basic arm measurement point, determine the straight-line equation that described root measurement point and described at least one basic arm measurement point form in jib plane of rotation and luffing range of cantilever support plane, to determine the theoretical position of jib in jib plane of rotation and luffing range of cantilever support plane by this straight-line equation.
According to another embodiment of the invention, the measurement data of described root measurement point is the three-dimensional coordinate of this root measurement point, the measurement data of described arm end measurement point is the three-dimensional coordinate of this arm end measurement point, described jib attitude data comprises jib argument α, the basic arm root that wherein said jib argument α is jib and the angle between ground.
Wherein, described coordinate plane comprises luffing range of cantilever support plane, the physical location of described calculating arm end measurement point in coordinate plane comprises: according to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described arm end measurement point, obtain described root measurement point and the two-dimensional coordinate of described arm end measurement point in luffing range of cantilever support plane, to determine the physical location of this arm end measurement point in luffing range of cantilever support plane by described two-dimensional coordinate;
The theoretical position of described calculating jib in coordinate plane comprises: according to the three-dimensional coordinate of described root measurement point and described jib argument α, determine the straight-line equation that described root measurement point and described jib argument α form in luffing range of cantilever support plane, to determine the theoretical position of jib in luffing range of cantilever support plane by this straight-line equation.
Wherein, according to the theoretical position of the physical location of described arm end measurement point and described jib, determine that the amount of deflection of jib in described coordinate plane comprises: by calculating described arm end measurement point, to the distance of described straight line, determine the amount of deflection of jib in described coordinate plane.
In said method step, for the embodiment of the setting of the measurement data of arm end measurement point, jib attitude data etc., selection, computing method etc. as mentioned above, do not repeat them here.
Fig. 8 is that as shown in Figure 8, this system comprises according to the schematic diagram of the example jib deflection metrology system of one embodiment of the present invention:
A plurality of GPS measurement mechanism 300a-300d, be arranged on the arm joint end and jib basic arm of arbitrary arm joint of jib, for measure the root measurement point of the basic arm root that is positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib; And
According to jib deflection metrology equipment 100 provided by the present invention, wherein said GPS measurement mechanism 300a-300d communicates with one another by wireless station, and at least one the GPS measurement mechanism 300a-300d in described a plurality of GPS measurement mechanism is connected with this jib deflection metrology equipment 100, the measurement data of the measurement data of described root measurement point, described arm end measurement point and described jib attitude data are sent to the receiver 10 of this jib deflection metrology equipment 100, to calculate jib amount of deflection.
Corresponding to above-mentioned employing angle-data, calculate the embodiment of jib amount of deflection, described jib attitude data comprises the basic arm root of jib and the angle between ground, be jib argument α, therefore, said system can also comprise jib angular transducer except comprising a plurality of GPS measurement mechanisms, for the data that take measurement of an angle.Be that the present invention also provides another kind of jib deflection metrology system, this system comprises: a plurality of GPS measurement mechanisms, be arranged on the arm joint end of arbitrary arm joint and the basic arm of jib of jib, for measuring the root measurement point of the basic arm root that is positioned at jib and being positioned at the measurement data of arm end measurement point of arbitrary arm joint of jib; Jib angular transducer, for measuring the jib attitude data of the theoretical position of determining jib; And according to jib deflection metrology equipment provided by the present invention, wherein said GPS measurement mechanism communicates with one another by wireless station, and at least one the GPS measurement mechanism in described a plurality of GPS measurement mechanism and described jib angular transducer respectively with described jib deflection metrology equipment connection, the measurement data of the measurement data of described root measurement point, described arm end measurement point and described jib attitude data are sent to the receiver of described jib deflection metrology equipment.
Should be understood that, above-mentioned numerous embodiments can independently be used also and can be combined with array configuration, those skilled in the art can carry out suitable selection and setting according to actual conditions, such as above-mentioned jib deflection metrology system (such as fund or crane type etc.) configuration said elements as required, or adopt jib deflection metrology method provided by the present invention to carry out the calculating of jib amount of deflection.
Correspondingly, the present invention also provides a kind of crane, and this crane comprises according to jib deflection metrology system provided by the present invention.
Adopt jib deflection metrology method provided by the invention, equipment, system and crane, can calculate arm end measurement point in the physical location of coordinate plane by being positioned at the root measurement point of basic arm root of jib and the measurement data of arm end measurement point that is positioned at the arbitrary arm joint of jib, and utilize the measurement data of described root measurement point and for determining that the jib attitude data of the theoretical position of jib calculates the theoretical position of jib in described coordinate plane, according to the theoretical position of the physical location of arm end measurement point and jib, calculate jib amount of deflection of (for example luffing range of cantilever support plane and plane of rotation) in described coordinate plane afterwards, can realize thus to jib amount of deflection dynamically, continuous coverage, and the jib amount of deflection precision calculating is high.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each concrete technical characterictic described in above-mentioned embodiment, in reconcilable situation, can combine by any suitable mode, for fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, between various embodiment of the present invention, also can carry out combination in any, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (15)
1. a jib deflection metrology method, is characterized in that, the method comprises:
Reception be positioned at jib basic arm root root measurement point and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib;
According to the measurement data of described root measurement point and described arm end measurement point, calculate the physical location of described arm end measurement point in coordinate plane, and calculate the theoretical position of described jib in this coordinate plane according to the measurement data of described root measurement point and described jib attitude data; And
According to the theoretical position of the physical location of described arm end measurement point and described jib, determine the amount of deflection of jib in described coordinate plane.
2. method according to claim 1, it is characterized in that, the measurement data of described root measurement point is the three-dimensional coordinate of this root measurement point, the measurement data of described arm end measurement point is the three-dimensional coordinate of this arm end measurement point, and described jib attitude data comprises the three-dimensional coordinate of the basic arm measurement point at least one basic arm that is positioned at jib.
3. method according to claim 2, is characterized in that, described coordinate plane comprises luffing range of cantilever support plane and jib plane of rotation, and the physical location of described calculating arm end measurement point in coordinate plane comprises:
According to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described arm end measurement point, obtain described root measurement point and the two-dimensional coordinate of described arm end measurement point in jib plane of rotation and luffing range of cantilever support plane, to determine the physical location of this arm end measurement point in jib plane of rotation and luffing range of cantilever support plane by described two-dimensional coordinate;
The theoretical position of described calculating jib in coordinate plane comprises:
According to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described at least one basic arm measurement point, determine the straight-line equation that described root measurement point and described at least one basic arm measurement point form in jib plane of rotation and luffing range of cantilever support plane, to determine the theoretical position of jib in jib plane of rotation and luffing range of cantilever support plane by this straight-line equation.
4. method according to claim 1, it is characterized in that, the measurement data of described root measurement point is the three-dimensional coordinate of this root measurement point, the measurement data of described arm end measurement point is the three-dimensional coordinate of this arm end measurement point, described jib attitude data comprises jib argument α, the basic arm root that wherein said jib argument α is jib and the angle between ground.
5. method according to claim 4, is characterized in that, described coordinate plane comprises luffing range of cantilever support plane, and the physical location of described calculating arm end measurement point in coordinate plane comprises:
According to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described arm end measurement point, obtain described root measurement point and the two-dimensional coordinate of described arm end measurement point in luffing range of cantilever support plane, to determine the physical location of this arm end measurement point in luffing range of cantilever support plane by described two-dimensional coordinate;
The theoretical position of described calculating jib in coordinate plane comprises:
According to the three-dimensional coordinate of described root measurement point and described jib argument α, determine the straight-line equation that described root measurement point and described jib argument α form in luffing range of cantilever support plane, to determine the theoretical position of jib in luffing range of cantilever support plane by this straight-line equation.
6. according to the method described in claim 3 or 5, it is characterized in that, according to the theoretical position of the physical location of described arm end measurement point and described jib, determine that the amount of deflection of jib in described coordinate plane comprises:
By calculating described arm end measurement point, to the distance of described straight line, determine the amount of deflection of jib in described coordinate plane.
7. a jib deflection metrology equipment, is characterized in that, this equipment comprises:
Receiver, for receive the root measurement point of the basic arm root that is positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib;
Controller, for calculating the physical location of described arm end measurement point in coordinate plane according to the measurement data of described root measurement point and described arm end measurement point, and calculate the theoretical position of described jib in this coordinate plane according to the measurement data of described root measurement point and described jib attitude data; And determine the amount of deflection of jib in described coordinate plane according to the theoretical position of the physical location of described arm end measurement point and described jib.
8. equipment according to claim 7, it is characterized in that, the measurement data of described root measurement point is the three-dimensional coordinate of this root measurement point, the measurement data of described arm end measurement point is the three-dimensional coordinate of this arm end measurement point, and described jib attitude data comprises the three-dimensional coordinate of the basic arm measurement point at least one basic arm that is positioned at jib.
9. equipment according to claim 8, is characterized in that, described coordinate plane comprises jib plane of rotation and luffing range of cantilever support plane, and the physical location of described calculating arm end measurement point in coordinate plane comprises:
According to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described arm end measurement point, obtain described root measurement point and the two-dimensional coordinate of described arm end measurement point in jib plane of rotation and luffing range of cantilever support plane, to determine the physical location of this arm end measurement point in jib plane of rotation and luffing range of cantilever support plane by described two-dimensional coordinate;
The theoretical position of described calculating jib in coordinate plane comprises:
According to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described at least one basic arm measurement point, determine the straight-line equation that described root measurement point and described at least one basic arm measurement point form in jib plane of rotation and luffing range of cantilever support plane, to determine the theoretical position of jib in jib plane of rotation and luffing range of cantilever support plane by this straight-line equation.
10. equipment according to claim 7, it is characterized in that, the measurement data of described root measurement point is the three-dimensional coordinate of this root measurement point, the measurement data of described arm end measurement point is the three-dimensional coordinate of this arm end measurement point, described jib attitude data comprises jib argument α, the basic arm root that wherein said jib argument α is jib and the angle between ground.
11. equipment according to claim 10, is characterized in that, described coordinate plane comprises luffing range of cantilever support plane, and the physical location of described calculating arm end measurement point in coordinate plane comprises:
According to the three-dimensional coordinate of the three-dimensional coordinate of described root measurement point and described arm end measurement point, obtain described root measurement point and the two-dimensional coordinate of described arm end measurement point in luffing range of cantilever support plane, to determine the physical location of this arm end measurement point in luffing range of cantilever support plane by described two-dimensional coordinate;
The theoretical position of described calculating jib in coordinate plane comprises:
According to the three-dimensional coordinate of described root measurement point and described jib argument α, determine the straight-line equation that described root measurement point and described jib argument α form in luffing range of cantilever support plane, to determine the theoretical position of jib in luffing range of cantilever support plane by this straight-line equation.
12. according to the equipment described in claim 9 or 11, it is characterized in that, according to the theoretical position of the physical location of described arm end measurement point and described jib, determines that the amount of deflection of jib in described coordinate plane comprises:
By calculating described arm end measurement point, to the distance of described straight line, determine the amount of deflection of jib in described coordinate plane.
13. 1 kinds of jib deflection metrology system, is characterized in that, this system comprises:
A plurality of GPS measurement mechanisms, be arranged on the arm joint end of arbitrary arm joint and the basic arm of jib of jib, for measure the root measurement point of the basic arm root that is positioned at jib and be positioned at jib arbitrary arm joint arm end measurement point measurement data and for determining the jib attitude data of the theoretical position of jib; And
According to the jib deflection metrology equipment described in any one claim in claim 7-9, wherein said GPS measurement mechanism communicates with one another by wireless station, and at least one the GPS measurement mechanism in described a plurality of GPS measurement mechanism and described jib deflection metrology equipment connection, the measurement data of the measurement data of described root measurement point, described arm end measurement point and described jib attitude data are sent to the receiver of described jib deflection metrology equipment.
14. 1 kinds of jib deflection metrology system, is characterized in that, this system comprises:
A plurality of GPS measurement mechanisms, are arranged on the arm joint end of arbitrary arm joint and the basic arm of jib of jib, for measuring the root measurement point of the basic arm root that is positioned at jib and being positioned at the measurement data of arm end measurement point of arbitrary arm joint of jib;
Jib angular transducer, for measuring the jib attitude data of the theoretical position of determining jib; And
According to the jib deflection metrology equipment described in any one claim in claim 10-12, wherein said GPS measurement mechanism communicates with one another by wireless station, and at least one the GPS measurement mechanism in described a plurality of GPS measurement mechanism and described jib angular transducer respectively with described jib deflection metrology equipment connection, the measurement data of the measurement data of described root measurement point, described arm end measurement point and described jib attitude data are sent to the receiver of described jib deflection metrology equipment.
15. 1 kinds of cranes, is characterized in that, this crane comprises according to the jib deflection metrology system described in claim 13 or 14.
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