WO2013007044A1 - Method, device, and system for detecting vibration of arm rest of engineering machinery and engineering machinery - Google Patents
Method, device, and system for detecting vibration of arm rest of engineering machinery and engineering machinery Download PDFInfo
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- WO2013007044A1 WO2013007044A1 PCT/CN2011/078052 CN2011078052W WO2013007044A1 WO 2013007044 A1 WO2013007044 A1 WO 2013007044A1 CN 2011078052 W CN2011078052 W CN 2011078052W WO 2013007044 A1 WO2013007044 A1 WO 2013007044A1
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- boom
- angle
- rotation
- horizontal plane
- plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
Definitions
- the invention relates to the field of vibration parameter measurement technology, and more particularly to a method, device, system and engineering machine for detecting vibration of a boom of a construction machine.
- BACKGROUND OF THE INVENTION In related research work on construction machinery having a boom, it is often necessary to study the vibration of the boom, that is, the stability of the boom.
- the vibration of the boom of the concrete pump truck as an example, for the detection of the vibration parameters of the boom (mainly including the vibration displacement and the vibration frequency), the prior art detection methods mainly include manual measurement, using a wire sensor or an acceleration sensor or infrared. Methods such as ranging sensors.
- the manual measurement method generally hangs a rope as a mark at the end of the measured boom, and manually records the change of the distance between the rope and the ground to detect the vibration of the end of the boom; using the cable sensor and infrared ranging
- the sensor measures the vibration of the boom similarly.
- the sensor mounted on the end of the boom senses the distance between the end of the boom and the ground, and then obtains the actual displacement of the end of the boom, thereby obtaining the vibration displacement and frequency of the boom;
- the acceleration sensor is used to sense the vibration acceleration force at the end of the boom, and finally obtains the vibration displacement and frequency of the end of the boom according to the acceleration force.
- the manual measurement method in the above detection method is time-consuming and laborious, consumes a large labor cost, has a large workload, is difficult to collect data, and has low accuracy, and cannot perform real-time monitoring of the vibration parameters of the boom, which is not conducive to analysis.
- Other methods using the wire sensor, infrared sensor, and acceleration sensor can only detect the vibration displacement of the end of the boom, and cannot record and analyze the influence of the boom attitude on the vibration of the boom. Specifically, for example, when an acceleration sensor is used, if a single-axis acceleration sensor is used, only vibration in one direction can be detected, and the position of the measured point is not easily determined, which is disadvantageous for recording and analyzing the posture of the boom to vibrate the boom. Impact.
- the technical problem to be solved by the present invention is to provide a method, device, system and engineering machine for detecting vibration parameters of a boom.
- the method, device and system can provide vibration of a boom of a construction machine in different postures. Detection.
- a method for detecting vibration of a boom of a construction machine comprising: reading a rotation angle and a vertical plane in a horizontal plane of the boom at a plurality of times The angle of rotation, wherein the angle of rotation in the horizontal plane is the angle between the projection of the boom on the XOY plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system; the angle of rotation in the vertical plane is the boom and the three-dimensional coordinates Department of XOY
- the angle between the coordinates of the three-dimensional coordinate system is one end of the boom, the XOY plane of the three-dimensional coordinate system is located in the horizontal plane, and the XOZ plane is located in the vertical plane; according to the length of the boom, the horizontal plane read at each moment
- the inner rotation angle and the rotation angle in the vertical plane calculate the three-dimensional coordinates of the end of the boom at each moment; according to the calculated three-dimensional coordinates of each moment,
- the angle of rotation in the horizontal plane of the boom is sensed by an encoder disposed on the work machine; the angle of rotation in the vertical plane is sensed by a tilt sensor disposed on the boom.
- the method before reading the rotation angle in the horizontal plane and the rotation angle in the vertical plane, the method further comprises: setting a reference point of the rotation angle in the horizontal plane; and setting a reference point of the rotation angle in the vertical plane.
- the step of obtaining the three-dimensional coordinates as a function of time according to the calculated three-dimensional coordinates of each moment includes: respectively preparing a time-coordinate curve of each of the three-dimensional coordinates of the end of the boom.
- the method further comprises: calculating a corresponding time-vibration displacement curve according to each time-coordinate curve And time-vibration frequency curves.
- the boom is multi-section, the rotation angles in the horizontal plane between the booms are the same, and the encoder is disposed on the turntable of the construction machine to sense the rotation angle in the horizontal plane of the first boom connected to the turntable .
- a device for detecting vibration of a boom of a construction machine comprising: receiving means for reading a rotation angle and a vertical plane in a horizontal plane of the boom at a plurality of times The angle of rotation inside, wherein the angle of rotation in the horizontal plane is the angle between the projection of the boom on the XOY plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system; the angle of rotation in the vertical plane is the boom and three-dimensional The angle between the XOY faces of the coordinate system; the coordinate origin of the three-dimensional coordinate system is one end of the boom, the XOY plane of the three-dimensional coordinate system is in the horizontal plane, and the XOZ plane is located in the vertical plane; the computing device is used for the arm The length of the frame, the angle of rotation in the horizontal plane read at each moment, and the angle of rotation in the vertical plane calculate the three-dimensional coordinates of the end of the boom at each moment; the acquisition device is used for
- the apparatus further includes: a first setting device, configured to set a reference point of a rotation angle in the horizontal plane according to the installation position of the encoder before reading the rotation angle in the horizontal plane and the rotation angle in the vertical plane
- the second setting device is configured to set a reference point of the rotation angle in the vertical plane according to the installation position of the inclination sensor.
- a system for detecting vibration of a boom of a construction machine the system comprising any of the above-described devices for detecting vibration of a boom of a construction machine.
- a construction machine comprising the above-described system for detecting vibration of a boom of a construction machine.
- the present invention has the following beneficial effects:
- the method for detecting the vibration of the boom of the construction machine of the present invention obtains the angle of rotation in the horizontal plane of the boom and the angle of rotation in the vertical plane, and those skilled in the art can understand that for one arm According to its length, the angle of rotation in the horizontal plane and the angle of rotation in the vertical plane, the three-dimensional coordinates of the end of the boom can be calculated, and the three-dimensional coordinates can be obtained according to the three-dimensional coordinates of the end of the boom at each moment. happening.
- the method and the corresponding detecting device and the detecting system can obtain the three-dimensional coordinates of the ends of the arm at a plurality of times in each section (including a section), the spatial position of the detected end points at each moment can be recorded to obtain The posture of the boom at various moments; through the change of the three-dimensional coordinates with time, the vibration displacement of the end points in different directions at different moments can be directly detected, so that it is convenient to detect the boom in different directions in the three-dimensional direction.
- This method is more intelligent and automated, avoiding the manual recording of the coordinates of the end of the boom, and the detection results are more accurate.
- the present invention has other objects, features and advantages.
- FIG. 1 is a schematic diagram of a method of detecting vibration of a boom of a construction machine according to a first embodiment of the present invention
- FIG. 2 is a diagram of a method for detecting vibration of a boom of a construction machine according to a second embodiment of the present invention.
- FIG. 3 is a schematic diagram of a method for detecting vibration of a boom of a construction machine according to a second embodiment of the present invention;
- FIG. 4 is a diagram of a positional relationship between a three-dimensional coordinate system and a detected boom;
- FIG. 1 is a schematic diagram of a method of detecting vibration of a boom of a construction machine according to a first embodiment of the present invention
- FIG. 2 is a diagram of a method for detecting vibration of a boom of a construction machine according to a second embodiment of the present invention.
- FIG. 3 is a schematic diagram of a method for detecting vibration of a boom of a construction machine according to a second embodiment of the present invention;
- FIG. 5 is a schematic view showing the configuration of a device for detecting vibration of a boom of a construction machine according to a fourth embodiment of the present invention.
- the detected construction machine is a boom of a concrete pump truck
- the method for detecting the vibration of the boom of the concrete pump truck includes: Step S102: Reading at multiple times Taking the rotation angle in the horizontal plane of the boom and the rotation angle in the vertical plane of the boom; then performing step S104: according to the length of the boom, the rotation angle of the horizontal plane read at each moment, and the vertical plane
- the inner rotation angle calculates the three-dimensional coordinates of the end of the boom at each time; and then executes step S106: according to the calculated three-dimensional coordinates at each moment, the three-dimensional coordinates are changed with time.
- the rotation angle ⁇ in the horizontal plane is the angle between the projection of the boom on the pupil plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system;
- the rotation angle in the vertical plane is the boom of the boom and the three-dimensional coordinate system.
- the angle between the faces; the origin of the coordinate of the three-dimensional coordinate system is one end of the boom 0, the face of the three-dimensional coordinate system is in the horizontal plane, and the face of the face is in the vertical plane; the end of the boom can be obtained by using this method
- the three-dimensional coordinates at multiple moments can record the spatial position of the detected endpoints at various moments, and then the attitude of the boom at each moment can be obtained; and the three-dimensional coordinates of the ends of the boom can be directly detected by time changes.
- the vibration displacement of the end point in different directions at each moment thereby conveniently detecting the vibration of the boom in three dimensions in different postures.
- this method is more intelligent and automated, avoiding the manual recording of the coordinates of the end of the boom, and the detection results are more accurate.
- the angle of rotation in the horizontal plane of the boom can be sensed by an encoder provided on the construction machine, which encoder can be arranged, for example, on a motor or reducer that controls the boom to rotate in a horizontal plane; vertical of the boom
- the in-plane rotation angle can be sensed by a tilt sensor disposed on the boom.
- the present invention will be specifically described by taking a concrete pump truck having a four-section boom as an example.
- the rotation angles in the horizontal plane of each boom boom are both ⁇ . .
- the rotation angles in the straight plane are 6i, ⁇ 2 , ⁇ 3 , ⁇ 4 , and the lengths of the booms are dl, d2, d3, and d4, and the ends of the booms are A, B, and C, respectively.
- D the rotation angles of the respective booms on the concrete pump truck are the same in the horizontal plane, that is, the respective booms are relatively rotated in the same vertical plane.
- the encoder is arranged on a speed reducer on the motor that drives the boom to rotate in a horizontal plane.
- each of the booms can also have mutual rotation on the horizontal plane, so that the rotation angles of the boom arms in the horizontal plane are different.
- the three-dimensional coordinate system takes one end of the boom as the origin 0, and includes the X-axis, the ⁇ -axis and the ⁇ -axis perpendicular to each other, the ⁇ surface is in the horizontal plane, and the ⁇ surface is in the vertical direction. Straight inside.
- the rotation angle ⁇ in the horizontal plane of each section boom is an angle between the projection of each section boom on the pupil plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system; the vertical plane of each section boom
- the rotation angles 6i, ⁇ 2 , ⁇ 3 , and ⁇ 4 are the angles between the boom frames of the respective sections and the pupil plane of the three-dimensional coordinate system.
- the three-dimensional coordinates of D, the three-dimensional coordinates of the ends of the booms, B, C, and D are (XA, YA, Z A ) ( XB, YB, Z B ) ( XC, YC, Z C ) ( X D , Y D , Z D ).
- the step S202 and the step S204 are the same as the step S102 and the step S104 in the first embodiment, and before the step S202, the method further includes: Step S201: The rotation angle ⁇ in the fixed horizontal plane. The reference point is set, and the rotation angle in the vertical plane and the reference point of ⁇ 2 , ⁇ 3 , and ⁇ 4 are set.
- the boom when the encoder is used to detect the rotation angle of the boom in the horizontal plane, the boom is fixed at a suitable rotational position that is considered to be specified, and the number of pulses from the encoder is cleared, that is, the horizontal plane is set.
- Rotation angle ⁇ Benchmark point.
- the inclination sensor When the inclination sensor is used to detect the rotation angle of the boom in the vertical plane, the boom is fixed at a position on a prescribed suitable vertical plane, and the electrical signal from the inclination sensor is defined as an electrical signal of zero degree, ie The reference point of the rotation angle ⁇ in the horizontal plane is set.
- the method further includes: Step S206: respectively preparing the end portions A of the boom booms, The time-coordinate curve of each of the three-dimensional coordinates of B, C, and D over time, that is, three coordinates for the end of each boom (for example, three of the end A)
- the coordinates X A , Y A , Z A ) respectively create a time-coordinate curve (not shown). With these time-coordinate curves, you can more intuitively understand the positional changes at the ends of each boom.
- Step S208 Calculate a corresponding time-vibration displacement curve and a time-vibration frequency curve (or other curve related to the vibration condition) according to each time-coordinate curve. It can be understood that since the end of each boom has three coordinates as described above, three time-vibration displacement curves and three time-vibration frequency curves can be correspondingly made for the end of each boom. In this embodiment, since there are 4 booms, a total of 12 time-vibration displacement curves and 12 time-vibration frequency curves can be made.
- the rotation angles in the horizontal plane between the boom arms are the same, both are ⁇ , in which case the encoder is disposed on the turntable of the construction machine, feeling It is sufficient to measure the angle of rotation in the horizontal plane of the first boom connected to the turntable.
- the present invention also provides an apparatus for detecting vibration of a boom of a construction machine.
- the apparatus according to the third embodiment of the present invention includes a receiving device 101, a computing device 102, and an obtaining device 103.
- the receiving device 101 is configured to read a rotation angle in a horizontal plane of the boom and a rotation angle in a vertical plane of the boom boom at a plurality of times.
- the rotation angle in the horizontal plane is the angle between the projection of the boom on the plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system;
- the rotation angle in the vertical plane is the surface of the boom and the three-dimensional coordinate system
- the angle between the coordinates of the three-dimensional coordinate system is one end of the boom 0, the plane of the three-dimensional coordinate system is in the horizontal plane, and the pupil plane is in the vertical plane.
- the computing device 102 is configured to calculate the three-dimensional coordinates of the ends of the boom at various times according to the length of the boom, the angle of rotation in the horizontal plane read at each moment, and the angle of rotation in the vertical plane.
- the obtaining device 103 is configured to obtain a situation in which the three-dimensional coordinates change with time according to the calculated three-dimensional coordinates at respective times.
- the apparatus according to the fourth embodiment of the present invention as shown in FIG. 5 further includes a first setting device 104 and a second setting device 105.
- the first setting device 104 is configured to set a reference point of a rotation angle in the horizontal plane before reading the rotation angle in the horizontal plane and the rotation angle in the vertical plane; the second setting device 105 is configured to set the vertical The reference point of the rotation angle inside the face.
- the present invention also provides a system for detecting vibration of a boom of a construction machine, the system comprising any of the above-described devices for detecting vibration of a boom of a construction machine.
- the system may further comprise an encoder disposed on the work machine and a tilt sensor disposed on the boom.
- the encoder is used to sense the rotation in the horizontal plane of each boom Rotate the angle and output a signal corresponding thereto;
- the tilt sensor is used to sense the angle of rotation in the vertical plane of the boom and output a signal corresponding thereto.
- the device for detecting the vibration of the boom of the construction machine is respectively connected with the encoder and the tilt sensor, and receives signals output by the encoder and the tilt sensor according to the length of each boom, the rotation angle in the horizontal plane, and the rotation angle in the vertical plane.
- the three-dimensional coordinates of the ends of the booms are calculated, and the vibration parameters of the booms are determined according to the calculated changes of the three-dimensional coordinates.
- the above-mentioned device and system can calculate the three-dimensional coordinates of the end portions of the respective booms at a plurality of times, the spatial position of the detected end points at each moment can be recorded, and the posture of the boom at each moment can be obtained;
- the three-dimensional coordinates of the end of the frame change with time, and the vibration displacement of the end point in different directions at different times can be directly detected, that is, the vibration of the arm frame in the three-dimensional direction under different postures can be conveniently detected.
- the method, device and system are more intelligent and automated, avoiding the manual recording of the coordinates of the end of the boom and the detection results are more accurate.
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Abstract
Disclosed is a method for detecting the vibration of an arm rest of engineering machinery. The method comprises: reading a rotation angle of an arm rest in a horizontal plane and a rotation angle of the arm rest in a vertical plane at multiple points of time (S102); calculating three-dimensional coordinates of an end portion of the arm rest at each point of time according to the length of the arm rest and the rotation angle in the horizontal plane and the rotation angle in the vertical plane read at each point of time (S104); obtaining, according to the three-dimensional coordinates at each point of time obtained through calculation, a condition of the three-dimensional coordinates changing with time (S106). The method conveniently detects the vibration of an arm rest in different gestures in three-dimensional directions, is more intelligent and automatic, avoids the work of manually recording the coordinates of the end portion of the arm rest, and obtains a more accurate detection result. Also disclosed are a device and a system for detecting the vibration of an arm rest of engineering machinery by using the foregoing method and engineering machinery comprising the system.
Description
检测工程机械的臂架振动的方法、 装置、 ***及工程机械 技术领域 本发明涉及一种振动参数测量技术领域， 尤其涉及一种检测工程机械的臂架振动 的方法、 装置、 ***及工程机械。 背景技术 在具有臂架的工程机械的相关的研究工作中， 往往需要研究臂架的振动情况， 即 臂架的稳定性。 以混凝土泵车的臂架的振动为例， 对于臂架的振动参数 （主要包括振 动位移和振动频率） 的检测， 现有技术中的检测方法主要有人工测量、 采用拉线传感 器或加速度传感器或红外测距传感器等方法。 其中， 人工测量的方法一般是在所测臂 架的端部悬挂一条作为标志的绳子， 通过人工测量记录绳子与地面距离的变化， 检测 出臂架端点的振动情况；使用拉线传感器和红外测距传感器测量臂架振动的方法类似， 都是通过安装在臂架端部的传感器感测臂架端部与地面的距离， 进而得到臂架末端的 实际位移， 从而得到臂架的振动位移和频率； 加速度传感器用于感测臂架末端的振动 加速力， 根据该加速力最终得到臂架端部的振动位移和频率。 上述的检测方法中的人工测量的方法费时费力， 耗费的人力成本大， 工作量大， 采集数据困难， 且精确度低， 无法做到对臂架振动参数的实时监测， 不利于分析。 而 其他的使用拉线传感器、 红外传感器和加速度传感器等的方法也仅能检测到臂架端部 振动位移的情况， 无法记录和分析臂架姿态对臂架振动的影响。 具体地， 例如使用加 速度传感器时， 如使用单轴加速度传感器， 则只能检测到一个方向上的振动情况， 且 不易确定所测点的位置， 从而不利于记录和分析臂架姿态对臂架振动的影响。 发明内容 本发明所要解决的技术问题是提供一种检测臂架振动参数的方法、 装置、 ***及 工程机械， 该方法、 装置及***能够提供对工程机械的臂架在不同姿态下的振动情况 的检测。 为解决上述技术问题， 根据本发明的一个方面， 提供了一种检测工程机械的臂架 振动的方法， 该方法包括： 在多个时刻读取臂架的水平面内的旋转角度和竖直面内的 旋转角度， 其中， 水平面内的旋转角度为臂架在三维坐标系的 XOY面上的投影与三 维坐标系的 X轴之间的夹角； 竖直面内的旋转角度为臂架与三维坐标系的 XOY面之
间的夹角； 三维坐标系的坐标原点为臂架的一个端部， 三维坐标系的 XOY面位于水 平面内， XOZ面位于竖直面内； 根据臂架的长度、 各个时刻所读取的水平面内的旋转 角度和竖直面内的旋转角度计算出臂架的端部在各个时刻的三维坐标； 根据计算得到 的各个时刻的三维坐标， 得到三维坐标随时间变化的情况。 进一步地， 臂架的水平面内的旋转角度由设置在工程机械上的编码器感测； 竖直 面内的旋转角度由设置在臂架上的倾角传感器感测。 进一步地， 在读取水平面内的旋转角度和竖直面内的旋转角度之前， 该方法还包 括： 设定水平面内的旋转角度的基准点； 设定竖直面内的旋转角度的基准点。 进一步地， 根据计算得到的各个时刻的三维坐标， 得到三维坐标随时间变化的情 况的步骤包括：分别制作出臂架的端部的三维坐标中的每一个随时间变化的时间 -坐标 曲线。 进一步地， 在分别制作出臂架的端部的三维坐标中的每一个随时间变化的时间- 坐标曲线后， 该方法还包括： 根据每条时间-坐标曲线计算出相应的时间 -振动位移曲 线和时间-振动频率曲线。 进一步地， 臂架为多节， 各节臂架之间的水平面内的旋转角度相同， 编码器设置 在工程机械的转台上， 感测与转台连接的第一节臂架的水平面内的旋转角度。 根据本发明的另一个方面， 还提供了一种检测工程机械的臂架振动的装置， 该装 置包括： 接收设备， 用于在多个时刻读取臂架的水平面内的旋转角度和竖直面内的旋 转角度， 其中， 水平面内的旋转角度为臂架在三维坐标系的 XOY面上的投影与三维 坐标系的 X轴之间的夹角； 竖直面内的旋转角度为臂架与三维坐标系的 XOY面之间 的夹角； 三维坐标系的坐标原点为臂架的一个端部， 三维坐标系的 XOY面位于水平 面内， XOZ 面位于竖直面内； 计算设备， 用于根据臂架的长度、 各个时刻所读取的 水平面内的旋转角度和竖直面内的旋转角度计算出臂架的端部在各个时刻的三维坐 标； 获取设备， 用于根据计算得到的各个时刻的三维坐标， 得到三维坐标随时间变化 的情况。 进一步地， 该装置还包括： 第一设定设备， 用于在读取水平面内的旋转角度和竖 直面内的旋转角度之前， 根据编码器的安装位置设定水平面内的旋转角度的基准点； 第二设定设备， 用于根据倾角传感器的安装位置设定竖直面内的旋转角度的基准点。
根据本发明的又一个方面， 还提供了一种检测工程机械的臂架振动的***， 该系 统包括上述的任何一种检测工程机械的臂架振动的装置。 根据本发明的又一个方面， 还提供了一种工程机械， 该工程机械包括上述的检测 工程机械的臂架振动的***。 本发明具有以下有益效果： 本发明的检测工程机械的臂架振动的方法获得臂架的水平面内的旋转角度以及竖 直面内的旋转角度， 本领域技术人员可以理解， 对于一节臂架来说， 根据其长度、 水 平面内的旋转角度和竖直面内的旋转角度， 可以计算出该节臂架端部的三维坐标， 并 可以根据臂架端部各个时刻的三维坐标得到三维坐标变化的情况。 由于使用此方法和 相应的检测装置以及检测***能够获得各节 （包括一节的情况） 臂架端部在多个时刻 的三维坐标， 从而可以记录所检测端点在各个时刻的空间位置， 以得到臂架在各个时 刻的姿态； 再通过三维坐标随时间的变化， 可以直接检测到端点在各个时刻在不同方 向上的振动位移， 所以实现了方便地检测臂架在不同姿态下分别在三维方向上的振动 情况。 另外， 此方法更加智能化、 自动化， 避免了人工记录臂架端部坐标的工作， 并 且检测结果更精确。 除了上面所描述的目的、特征和优点之外， 本发明还有其它的目的、特征和优点。 下面将参照图， 对本发明作进一步详细的说明。 附图说明 附图用来提供对本发明的进一步理解， 构成本申请的一部分， 本发明的示意性实 施例及其说明用于解释本发明， 并不构成对本发明的不当限定。 在附图中： 图 1是根据本发明的第一实施例的检测工程机械的臂架振动的方法的示意图； 图 2是根据本发明的第二实施例的检测工程机械的臂架振动的方法中所建立的三 维坐标系与被检测的臂架之间位置关系的示意图； 图 3是根据本发明的第二实施例的检测工程机械的臂架振动的方法的示意图； 图 4 是根据本发明的第三实施例的检测工程机械的臂架振动的装置的组成示意 图；
图 5 是根据本发明的第四实施例的检测工程机械的臂架振动的装置的组成示意 图。 具体实施方式 以下结合附图对本发明的实施例进行详细说明， 但是本发明可以由权利要求限定 和覆盖的多种不同方式实施。 如图 1所示， 在根据本发明的第一实施例中， 被检测的工程机械为混凝土泵车的 臂架， 检测混凝土泵车的臂架振动的方法包括： 步骤 S102: 在多个时刻读取臂架的水平面内的旋转角度， 和该节臂架的竖直面内 的旋转角度； 之后执行的步骤 S104: 根据臂架的长度、 各个时刻所读取的水平面的旋转角度、 竖直面内的旋转角度计算出臂架的端部在各个时刻的三维坐标； 之后执行的步骤 S106: 根据计算得到的各个时刻三维坐标， 得到三维坐标随时间 变化的情况。 其中， 水平面内的旋转角度 θο为臂架在三维坐标系的 ΧΟΥ面上的投影与三维坐 标系的 X轴之间的夹角； 竖直面内的旋转角度 为臂架与三维坐标系的 ΧΟΥ面之间 的夹角； 三维坐标系的坐标原点为臂架的一个端部 0， 三维坐标系的 ΧΟΥ面位于水 平面内， ΧΟΖ面位于竖直面内； 由于使用此方法能够获得臂架端部在多个时刻的三维坐标， 从而可以记录所检测 端点在各个时刻的空间位置， 进而可以得到臂架在各个时刻的姿态； 再通过臂架端部 的三维坐标随时间的变化，可以直接检测到端点在各个时刻在不同方向上的振动位移， 从而实现了方便地检测臂架在不同姿态下分别在三维方向上的振动情况。 另外， 此方 法更加智能化、 自动化， 避免了人工记录臂架端部坐标的工作， 并且检测结果更精确。 优选地， 臂架的水平面内的旋转角度可以由设置在工程机械上的编码器感测， 该 编码器可以例如设置在控制臂架在水平面内旋转的电机或减速器上； 臂架的竖直面内 的旋转角度可以由设置在臂架上的倾角传感器来感测。 如图 2所示， 在第二实施例中将以具有四节臂架的混凝土泵车为例对本发明进行 具体说明， 在本实施例中， 各节臂架的水平面内的旋转角度均为 θ。， 而各节臂架的竖
直面内的旋转角度依次为 6i、 θ2、 θ3、 θ4, 各节臂架的长度依次为 dl、 d2、 d3、 d4， 并且各节臂架的端部依次为 A、 B、 C、 D。 从图 2中可以看出， 在本实施例中， 混凝土泵车上的各节臂架的水平面内的旋转 角度相同， 也就是， 各节臂架之间只在同一个竖直平面内相对旋转， 编码器设置在驱 动臂架在水平面内旋转的电机上的减速器上。 从而编码器所感测到的第一节臂架的水 平面内的旋转角度 θ。也同时是其他各节臂架的水平面内的旋转角度。 当然， 本实施例 选取了最简单的情况， 在实践中， 各节臂架之间也可以具有水平面上的相互旋转， 从 而使各节臂架在水平面内的旋转角度不同。 如图 2所示， 在本实施例中， 该三维坐标系以臂架的一个端部为原点 0， 包括相 互垂直的 X轴、 Υ轴和 Ζ轴， ΧΟΥ面位于水平面内， ΧΟΖ面位于竖直面内。 其中， 各节臂架的水平面内的旋转角度 θο为各节臂架在三维坐标系的 ΧΟΥ面上的投影与三 维坐标系的 X轴之间的夹角； 各节臂架的竖直面内的旋转角度 6i、 θ2、 θ3、 θ4为各节 臂架与三维坐标系的 ΧΟΥ平面之间的夹角。 在此三维坐标系中， 很容易根据各节臂 架的长度以及各节臂架的水平面内的旋转角度和竖直面内的旋转角度而计算出各节臂 架的端部 、 B、 C、 D的三维坐标， 各节臂架的端部 、 B、 C、 D的三维坐标分别为 ( XA,YA,ZA) ( XB,YB,ZB ) ( XC,YC,ZC ) ( XD,YD,ZD)。 如图 3所示， 在根据本发明的第二实施例中， 步骤 S202和步骤 S204分别与第一 实施例中的步骤 S102和步骤 S104相同， 并且在步骤 S202之前， 还包括： 步骤 S201：设定水平面内的旋转角度 θ。的基准点，并设定竖直面内的旋转角度 、 θ2、 θ3、 θ4的基准点。 其中， 当使用编码器检测臂架在水平面内的旋转角度时， 将臂架固定在认为规定 的合适的旋转位置上， 并将来自编码器的脉冲数清零， 即设定好了水平面内的旋转角 度 θ。的基准点。 当使用倾角传感器检测臂架在竖直面内的旋转角度时， 将臂架固定在 规定的合适的竖直面上的位置上，并将来自倾角传感器的电信号定义为零度的电信号， 即设定好了水平面内的旋转角度 θο的基准点。 优选地， 在步骤 204， 即计算出各节臂架的端部 A、 B、 C、 D在各个时刻的三维 坐标之后， 还包括： 步骤 S206: 分别制作出各节臂架的端部 A、 B、 C、 D的三维坐标中的每一个随时 间变化的时间 -坐标曲线，也就是对于每节臂架的端部的三个坐标（例如端部 A的三个
坐标 XA、 YA、 ZA) 分别制作出时间-坐标曲线 （图中未示出）。 有了这些时间-坐标曲 线， 能更直观地了解各个臂架端部的位置变化情况。 更优选地， 在步骤 S206后， 还包括： 步骤 S208:根据每条时间-坐标曲线计算出相应的时间-振动位移曲线和时间 -振动 频率曲线（或者其他与振动情况相关的曲线）。 可以理解， 由于如上文所述， 每节臂架 的端部有三个坐标，所以对于每节臂架的端部都可以相应做出 3条时间-振动位移曲线 和 3条时间-振动频率曲线。 在本实施例中， 因为共有 4节臂架， 所以共可以做出 12 条时间-振动位移曲线和 12条时间-振动频率曲线。 另外， 如上文所述， 优选地， 在本实施例中， 各节臂架之间的水平面内的旋转角 度相同， 均为 θο， 在此情况中， 编码器设置在工程机械的转台上， 感测与转台连接的 第一节臂架的水平面内的旋转角度即可。 本发明还提供了一种检测工程机械的臂架振动的装置。 如图 4所示， 根据本发明 的第三实施例的该装置包括接收设备 101、 计算设备 102和获取设备 103。 具体地， 接收设备 101用于在多个时刻读取臂架的水平面内的旋转角度和该节臂 架的竖直面内的旋转角度。 其中， 水平面内的旋转角度为臂架在三维坐标系的 ΧΟΥ 面上的投影与三维坐标系的 X轴之间的夹角； 竖直面内的旋转角度为臂架与三维坐标 系的 ΧΟΥ面之间的夹角； 三维坐标系的坐标原点为臂架的一个端部 0， 三维坐标系 的 ΧΟΥ面位于水平面内， ΧΟΖ面位于竖直面内。 计算设备 102用于根据臂架的长度、 各个时刻所读取的水平面内的旋转角度和竖 直面内的旋转角度计算出臂架的端部在各个时刻的三维坐标。 获取设备 103用于根据计算得到的各个时刻的三维坐标， 得到三维坐标随时间变 化的情况。 优选地， 如图 5所示根据本发明的第四实施例的该装置还包括第一设定设备 104 和第二设定设备 105。 该第一设定设备 104用于在读取水平面内的旋转角度和竖直面 内的旋转角度之前， 设定水平面内的旋转角度的基准点； 该第二设定设备 105用于设 定竖直面内的旋转角度的基准点。 本发明还提供了一种检测工程机械的臂架振动的***， 该***包括上述的任何一 种检测工程机械的臂架振动的装置。 优选地， 该***还可以包括设置在工程机械上的 编码器和设置在臂架上的倾角传感器。 其中编码器用于感测各节臂架的水平面内的旋
转角度， 并输出与其对应的信号； 倾角传感器用于感测臂架的竖直面内的旋转角度， 并输出与其对应的信号。 该检测工程机械的臂架振动的装置与编码器和倾角传感器分 别连接， 接收编码器和倾角传感器输出的信号， 根据各节臂架的长度、 水平面内的旋 转角度和竖直面内的旋转角度计算出各节臂架的端部的三维坐标， 并根据计算得到的 三维坐标的变化情况， 确定各节臂架的振动参数。 由于使用上述装置及***能够计算获得各节臂架端部在多个时刻的三维坐标， 从 而可以记录所检测端点在各个时刻的空间位置，进而可以得到臂架在各个时刻的姿态; 再通过臂架端部的三维坐标随时间的变化， 可以直接检测到端点在各个时刻在不同方 向上的振动位移， 即实现了方便地检测臂架在不同姿态下分别在三维方向上的振动情 况。 另外， 此方法、 装置和***更加智能化、 自动化， 避免了人工记录臂架端部坐标 的工作， 并且检测结果更精确。 以上所述仅为本发明的优选实施例而已， 并不用于限制本发明， 对于本领域的技 术人员来说， 本发明可以有各种更改和变化。 凡在本发明的精神和原则之内， 所作的 任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。
BACKGROUND OF THE INVENTION 1. Field of the Invention The invention relates to the field of vibration parameter measurement technology, and more particularly to a method, device, system and engineering machine for detecting vibration of a boom of a construction machine. BACKGROUND OF THE INVENTION In related research work on construction machinery having a boom, it is often necessary to study the vibration of the boom, that is, the stability of the boom. Taking the vibration of the boom of the concrete pump truck as an example, for the detection of the vibration parameters of the boom (mainly including the vibration displacement and the vibration frequency), the prior art detection methods mainly include manual measurement, using a wire sensor or an acceleration sensor or infrared. Methods such as ranging sensors. Among them, the manual measurement method generally hangs a rope as a mark at the end of the measured boom, and manually records the change of the distance between the rope and the ground to detect the vibration of the end of the boom; using the cable sensor and infrared ranging The sensor measures the vibration of the boom similarly. The sensor mounted on the end of the boom senses the distance between the end of the boom and the ground, and then obtains the actual displacement of the end of the boom, thereby obtaining the vibration displacement and frequency of the boom; The acceleration sensor is used to sense the vibration acceleration force at the end of the boom, and finally obtains the vibration displacement and frequency of the end of the boom according to the acceleration force. The manual measurement method in the above detection method is time-consuming and laborious, consumes a large labor cost, has a large workload, is difficult to collect data, and has low accuracy, and cannot perform real-time monitoring of the vibration parameters of the boom, which is not conducive to analysis. Other methods using the wire sensor, infrared sensor, and acceleration sensor can only detect the vibration displacement of the end of the boom, and cannot record and analyze the influence of the boom attitude on the vibration of the boom. Specifically, for example, when an acceleration sensor is used, if a single-axis acceleration sensor is used, only vibration in one direction can be detected, and the position of the measured point is not easily determined, which is disadvantageous for recording and analyzing the posture of the boom to vibrate the boom. Impact. SUMMARY OF THE INVENTION The technical problem to be solved by the present invention is to provide a method, device, system and engineering machine for detecting vibration parameters of a boom. The method, device and system can provide vibration of a boom of a construction machine in different postures. Detection. In order to solve the above technical problem, according to an aspect of the present invention, a method for detecting vibration of a boom of a construction machine is provided, the method comprising: reading a rotation angle and a vertical plane in a horizontal plane of the boom at a plurality of times The angle of rotation, wherein the angle of rotation in the horizontal plane is the angle between the projection of the boom on the XOY plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system; the angle of rotation in the vertical plane is the boom and the three-dimensional coordinates Department of XOY The angle between the coordinates of the three-dimensional coordinate system is one end of the boom, the XOY plane of the three-dimensional coordinate system is located in the horizontal plane, and the XOZ plane is located in the vertical plane; according to the length of the boom, the horizontal plane read at each moment The inner rotation angle and the rotation angle in the vertical plane calculate the three-dimensional coordinates of the end of the boom at each moment; according to the calculated three-dimensional coordinates of each moment, the three-dimensional coordinates change with time. Further, the angle of rotation in the horizontal plane of the boom is sensed by an encoder disposed on the work machine; the angle of rotation in the vertical plane is sensed by a tilt sensor disposed on the boom. Further, before reading the rotation angle in the horizontal plane and the rotation angle in the vertical plane, the method further comprises: setting a reference point of the rotation angle in the horizontal plane; and setting a reference point of the rotation angle in the vertical plane. Further, the step of obtaining the three-dimensional coordinates as a function of time according to the calculated three-dimensional coordinates of each moment includes: respectively preparing a time-coordinate curve of each of the three-dimensional coordinates of the end of the boom. Further, after separately preparing the time-coordinate curve of each of the three-dimensional coordinates of the end of the boom, the method further comprises: calculating a corresponding time-vibration displacement curve according to each time-coordinate curve And time-vibration frequency curves. Further, the boom is multi-section, the rotation angles in the horizontal plane between the booms are the same, and the encoder is disposed on the turntable of the construction machine to sense the rotation angle in the horizontal plane of the first boom connected to the turntable . According to another aspect of the present invention, there is also provided a device for detecting vibration of a boom of a construction machine, the device comprising: receiving means for reading a rotation angle and a vertical plane in a horizontal plane of the boom at a plurality of times The angle of rotation inside, wherein the angle of rotation in the horizontal plane is the angle between the projection of the boom on the XOY plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system; the angle of rotation in the vertical plane is the boom and three-dimensional The angle between the XOY faces of the coordinate system; the coordinate origin of the three-dimensional coordinate system is one end of the boom, the XOY plane of the three-dimensional coordinate system is in the horizontal plane, and the XOZ plane is located in the vertical plane; the computing device is used for the arm The length of the frame, the angle of rotation in the horizontal plane read at each moment, and the angle of rotation in the vertical plane calculate the three-dimensional coordinates of the end of the boom at each moment; the acquisition device is used for three-dimensional calculation according to each moment Coordinates, get the situation that the three-dimensional coordinates change with time. Further, the apparatus further includes: a first setting device, configured to set a reference point of a rotation angle in the horizontal plane according to the installation position of the encoder before reading the rotation angle in the horizontal plane and the rotation angle in the vertical plane The second setting device is configured to set a reference point of the rotation angle in the vertical plane according to the installation position of the inclination sensor. According to still another aspect of the present invention, there is also provided a system for detecting vibration of a boom of a construction machine, the system comprising any of the above-described devices for detecting vibration of a boom of a construction machine. According to still another aspect of the present invention, there is also provided a construction machine comprising the above-described system for detecting vibration of a boom of a construction machine. The present invention has the following beneficial effects: The method for detecting the vibration of the boom of the construction machine of the present invention obtains the angle of rotation in the horizontal plane of the boom and the angle of rotation in the vertical plane, and those skilled in the art can understand that for one arm According to its length, the angle of rotation in the horizontal plane and the angle of rotation in the vertical plane, the three-dimensional coordinates of the end of the boom can be calculated, and the three-dimensional coordinates can be obtained according to the three-dimensional coordinates of the end of the boom at each moment. Happening. Since the method and the corresponding detecting device and the detecting system can obtain the three-dimensional coordinates of the ends of the arm at a plurality of times in each section (including a section), the spatial position of the detected end points at each moment can be recorded to obtain The posture of the boom at various moments; through the change of the three-dimensional coordinates with time, the vibration displacement of the end points in different directions at different moments can be directly detected, so that it is convenient to detect the boom in different directions in the three-dimensional direction. The vibration situation. In addition, this method is more intelligent and automated, avoiding the manual recording of the coordinates of the end of the boom, and the detection results are more accurate. In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The invention will now be described in further detail with reference to the drawings. The drawings are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawings: FIG. 1 is a schematic diagram of a method of detecting vibration of a boom of a construction machine according to a first embodiment of the present invention; FIG. 2 is a diagram of a method for detecting vibration of a boom of a construction machine according to a second embodiment of the present invention. FIG. 3 is a schematic diagram of a method for detecting vibration of a boom of a construction machine according to a second embodiment of the present invention; FIG. 4 is a diagram of a positional relationship between a three-dimensional coordinate system and a detected boom; FIG. A schematic diagram of a composition of a device for detecting vibration of a boom of a construction machine according to a third embodiment; Fig. 5 is a schematic view showing the configuration of a device for detecting vibration of a boom of a construction machine according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention are described in detail below with reference to the accompanying drawings. As shown in FIG. 1, in the first embodiment according to the present invention, the detected construction machine is a boom of a concrete pump truck, and the method for detecting the vibration of the boom of the concrete pump truck includes: Step S102: Reading at multiple times Taking the rotation angle in the horizontal plane of the boom and the rotation angle in the vertical plane of the boom; then performing step S104: according to the length of the boom, the rotation angle of the horizontal plane read at each moment, and the vertical plane The inner rotation angle calculates the three-dimensional coordinates of the end of the boom at each time; and then executes step S106: according to the calculated three-dimensional coordinates at each moment, the three-dimensional coordinates are changed with time. Wherein, the rotation angle θο in the horizontal plane is the angle between the projection of the boom on the pupil plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system; the rotation angle in the vertical plane is the boom of the boom and the three-dimensional coordinate system. The angle between the faces; the origin of the coordinate of the three-dimensional coordinate system is one end of the boom 0, the face of the three-dimensional coordinate system is in the horizontal plane, and the face of the face is in the vertical plane; the end of the boom can be obtained by using this method The three-dimensional coordinates at multiple moments can record the spatial position of the detected endpoints at various moments, and then the attitude of the boom at each moment can be obtained; and the three-dimensional coordinates of the ends of the boom can be directly detected by time changes. The vibration displacement of the end point in different directions at each moment, thereby conveniently detecting the vibration of the boom in three dimensions in different postures. In addition, this method is more intelligent and automated, avoiding the manual recording of the coordinates of the end of the boom, and the detection results are more accurate. Preferably, the angle of rotation in the horizontal plane of the boom can be sensed by an encoder provided on the construction machine, which encoder can be arranged, for example, on a motor or reducer that controls the boom to rotate in a horizontal plane; vertical of the boom The in-plane rotation angle can be sensed by a tilt sensor disposed on the boom. As shown in FIG. 2, in the second embodiment, the present invention will be specifically described by taking a concrete pump truck having a four-section boom as an example. In this embodiment, the rotation angles in the horizontal plane of each boom boom are both θ. . And the verticals of the booms The rotation angles in the straight plane are 6i, θ 2 , θ 3 , θ 4 , and the lengths of the booms are dl, d2, d3, and d4, and the ends of the booms are A, B, and C, respectively. D. As can be seen from Fig. 2, in the present embodiment, the rotation angles of the respective booms on the concrete pump truck are the same in the horizontal plane, that is, the respective booms are relatively rotated in the same vertical plane. The encoder is arranged on a speed reducer on the motor that drives the boom to rotate in a horizontal plane. Thereby the angle of rotation θ in the horizontal plane of the first boom is sensed by the encoder. It is also the angle of rotation in the horizontal plane of the other booms. Of course, this embodiment selects the simplest case. In practice, each of the booms can also have mutual rotation on the horizontal plane, so that the rotation angles of the boom arms in the horizontal plane are different. As shown in FIG. 2, in the embodiment, the three-dimensional coordinate system takes one end of the boom as the origin 0, and includes the X-axis, the Υ-axis and the Ζ-axis perpendicular to each other, the ΧΟΥ surface is in the horizontal plane, and the ΧΟΖ surface is in the vertical direction. Straight inside. Wherein, the rotation angle θο in the horizontal plane of each section boom is an angle between the projection of each section boom on the pupil plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system; the vertical plane of each section boom The rotation angles 6i, θ 2 , θ 3 , and θ 4 are the angles between the boom frames of the respective sections and the pupil plane of the three-dimensional coordinate system. In this three-dimensional coordinate system, it is easy to calculate the end of each boom, B, C, according to the length of each boom and the angle of rotation in the horizontal plane of each boom and the angle of rotation in the vertical plane. The three-dimensional coordinates of D, the three-dimensional coordinates of the ends of the booms, B, C, and D are (XA, YA, Z A ) ( XB, YB, Z B ) ( XC, YC, Z C ) ( X D , Y D , Z D ). As shown in FIG. 3, in the second embodiment of the present invention, the step S202 and the step S204 are the same as the step S102 and the step S104 in the first embodiment, and before the step S202, the method further includes: Step S201: The rotation angle θ in the fixed horizontal plane. The reference point is set, and the rotation angle in the vertical plane and the reference point of θ 2 , θ 3 , and θ 4 are set. Wherein, when the encoder is used to detect the rotation angle of the boom in the horizontal plane, the boom is fixed at a suitable rotational position that is considered to be specified, and the number of pulses from the encoder is cleared, that is, the horizontal plane is set. Rotation angle θ. Benchmark point. When the inclination sensor is used to detect the rotation angle of the boom in the vertical plane, the boom is fixed at a position on a prescribed suitable vertical plane, and the electrical signal from the inclination sensor is defined as an electrical signal of zero degree, ie The reference point of the rotation angle θο in the horizontal plane is set. Preferably, in step 204, after calculating the three-dimensional coordinates of the end portions A, B, C, and D of each of the booms at each moment, the method further includes: Step S206: respectively preparing the end portions A of the boom booms, The time-coordinate curve of each of the three-dimensional coordinates of B, C, and D over time, that is, three coordinates for the end of each boom (for example, three of the end A) The coordinates X A , Y A , Z A ) respectively create a time-coordinate curve (not shown). With these time-coordinate curves, you can more intuitively understand the positional changes at the ends of each boom. More preferably, after step S206, the method further includes: Step S208: Calculate a corresponding time-vibration displacement curve and a time-vibration frequency curve (or other curve related to the vibration condition) according to each time-coordinate curve. It can be understood that since the end of each boom has three coordinates as described above, three time-vibration displacement curves and three time-vibration frequency curves can be correspondingly made for the end of each boom. In this embodiment, since there are 4 booms, a total of 12 time-vibration displacement curves and 12 time-vibration frequency curves can be made. In addition, as described above, preferably, in the present embodiment, the rotation angles in the horizontal plane between the boom arms are the same, both are θο, in which case the encoder is disposed on the turntable of the construction machine, feeling It is sufficient to measure the angle of rotation in the horizontal plane of the first boom connected to the turntable. The present invention also provides an apparatus for detecting vibration of a boom of a construction machine. As shown in FIG. 4, the apparatus according to the third embodiment of the present invention includes a receiving device 101, a computing device 102, and an obtaining device 103. Specifically, the receiving device 101 is configured to read a rotation angle in a horizontal plane of the boom and a rotation angle in a vertical plane of the boom boom at a plurality of times. Wherein, the rotation angle in the horizontal plane is the angle between the projection of the boom on the plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system; the rotation angle in the vertical plane is the surface of the boom and the three-dimensional coordinate system The angle between the coordinates of the three-dimensional coordinate system is one end of the boom 0, the plane of the three-dimensional coordinate system is in the horizontal plane, and the pupil plane is in the vertical plane. The computing device 102 is configured to calculate the three-dimensional coordinates of the ends of the boom at various times according to the length of the boom, the angle of rotation in the horizontal plane read at each moment, and the angle of rotation in the vertical plane. The obtaining device 103 is configured to obtain a situation in which the three-dimensional coordinates change with time according to the calculated three-dimensional coordinates at respective times. Preferably, the apparatus according to the fourth embodiment of the present invention as shown in FIG. 5 further includes a first setting device 104 and a second setting device 105. The first setting device 104 is configured to set a reference point of a rotation angle in the horizontal plane before reading the rotation angle in the horizontal plane and the rotation angle in the vertical plane; the second setting device 105 is configured to set the vertical The reference point of the rotation angle inside the face. The present invention also provides a system for detecting vibration of a boom of a construction machine, the system comprising any of the above-described devices for detecting vibration of a boom of a construction machine. Preferably, the system may further comprise an encoder disposed on the work machine and a tilt sensor disposed on the boom. Where the encoder is used to sense the rotation in the horizontal plane of each boom Rotate the angle and output a signal corresponding thereto; the tilt sensor is used to sense the angle of rotation in the vertical plane of the boom and output a signal corresponding thereto. The device for detecting the vibration of the boom of the construction machine is respectively connected with the encoder and the tilt sensor, and receives signals output by the encoder and the tilt sensor according to the length of each boom, the rotation angle in the horizontal plane, and the rotation angle in the vertical plane. The three-dimensional coordinates of the ends of the booms are calculated, and the vibration parameters of the booms are determined according to the calculated changes of the three-dimensional coordinates. Since the above-mentioned device and system can calculate the three-dimensional coordinates of the end portions of the respective booms at a plurality of times, the spatial position of the detected end points at each moment can be recorded, and the posture of the boom at each moment can be obtained; The three-dimensional coordinates of the end of the frame change with time, and the vibration displacement of the end point in different directions at different times can be directly detected, that is, the vibration of the arm frame in the three-dimensional direction under different postures can be conveniently detected. In addition, the method, device and system are more intelligent and automated, avoiding the manual recording of the coordinates of the end of the boom and the detection results are more accurate. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.
Claims
1. 一种检测工程机械的臂架振动的方法， 其特征在于， 包括： A method for detecting vibration of a boom of a construction machine, comprising:
在多个时刻读取所述臂架的水平面内的旋转角度 （θο) 和竖直面内的旋转 角度 (θ! >, 其中， Reading the rotation angle (θο) in the horizontal plane of the boom and the rotation angle in the vertical plane (θ! >, where,
所述水平面内的旋转角度（θ。）为所述臂架在三维坐标系的 ΧΟΥ面上的投 影与所述三维坐标系的 X轴之间的夹角； The angle of rotation (θ.) in the horizontal plane is the angle between the projection of the boom on the pupil plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system;
所述竖直面内的旋转角度（Θ 为所述臂架与所述三维坐标系的 ΧΟΥ面之 间的夹角； The angle of rotation in the vertical plane (Θ is the angle between the boom and the face of the three-dimensional coordinate system;
所述三维坐标系的坐标原点为所述臂架的一个端部（0)， 所述三维坐标系 的 ΧΟΥ面位于水平面内， ΧΟΖ面位于竖直面内； The coordinate origin of the three-dimensional coordinate system is one end (0) of the boom, the pupil plane of the three-dimensional coordinate system is located in a horizontal plane, and the pupil plane is located in a vertical plane;
根据所述臂架的长度（dl )、各个所述时刻所读取的所述水平面内的旋转角 度 （θ。）和所述竖直面内的旋转角度 （Θ 计算出所述臂架的端部 （Α)在各个 所述时刻的三维坐标； Calculating the end of the boom according to the length (dl) of the boom, the angle of rotation (θ.) in the horizontal plane read at each of the moments, and the angle of rotation in the vertical plane The three-dimensional coordinates of the part (Α) at each of the moments;
根据计算得到的各个所述时刻的所述三维坐标， 得到所述三维坐标随时间 变化的情况。 According to the calculated three-dimensional coordinates of each of the moments, the three-dimensional coordinates are changed with time.
2. 根据权利要求 1所述的检测臂架振动参数的方法， 其特征在于， 2. The method of detecting vibration parameters of a boom according to claim 1, wherein
所述臂架的水平面内的旋转角度由设置在所述工程机械上的编码器感测； 所述竖直面内的旋转角度由设置在所述臂架上的倾角传感器感测。 The angle of rotation in the horizontal plane of the boom is sensed by an encoder disposed on the work machine; the angle of rotation within the vertical plane is sensed by a tilt sensor disposed on the boom.
3. 根据权利要求 1所述的检测臂架振动参数的方法， 其特征在于， 在读取所述水 平面内的旋转角度 （θο) 和所述竖直面内的旋转角度 （Θ 之前， 还包括： 设定所述水平面内的旋转角度 （θο) 的基准点； 3. The method of detecting vibration parameters of a boom according to claim 1, wherein: before reading a rotation angle (θο) in the horizontal plane and a rotation angle in the vertical plane (Θ, : setting a reference point of the rotation angle (θο) in the horizontal plane;
设定所述竖直面内的旋转角度 （Θ 的基准点。 Set the rotation angle (the reference point of Θ in the vertical plane).
4. 根据权利要求 1所述的检测臂架振动参数的方法， 其特征在于， 根据计算得到 的各个所述时刻的所述三维坐标， 得到所述三维坐标随时间变化的情况的步骤 包括： 分别制作出臂架的端部 （Α) 的三维坐标中的每一个随时间变化的时间- 坐标曲线。
The method for detecting vibration parameters of a boom according to claim 1, wherein the step of obtaining the three-dimensional coordinates according to the calculated three-dimensional coordinates of each of the moments comprises: respectively Make a time-coordinate curve of each of the three-dimensional coordinates of the end (Α) of the boom.
5. 根据权利要求 4所述的检测臂架振动参数的方法， 其特征在于， 在分别制作出 所述臂架的端部 （A) 的三维坐标中的每一个随时间变化的时间-坐标曲线后， 还包括： 根据每条所述时间-坐标曲线计算出相应的时间 -振动位移曲线和时间- 振动频率曲线。 5. The method of detecting vibration parameters of a boom according to claim 4, wherein a time-coordinate curve of each of three-dimensional coordinates of the end portion (A) of the boom is changed over time. After that, the method further includes: calculating a corresponding time-vibration displacement curve and a time-vibration frequency curve according to each of the time-coordinate curves.
6. 根据权利要求 2所述的检测臂架振动参数的方法， 其特征在于， 所述臂架为多 节， 各节所述臂架之间的水平面内的旋转角度相同， 所述编码器设置在所述工 程机械的转台上， 感测与所述转台连接的第一节臂架的水平面内的旋转角度。 6. The method of detecting vibration parameters of a boom according to claim 2, wherein the boom is a plurality of sections, and the rotation angles in the horizontal plane between the booms are the same, and the encoder is set. On the turntable of the construction machine, the angle of rotation in the horizontal plane of the first pitch boom connected to the turntable is sensed.
7. 一种检测工程机械的臂架振动的装置， 其特征在于， 包括： 7. A device for detecting vibration of a boom of a construction machine, comprising:
接收设备 （101 )， 用于在多个时刻读取臂架的水平面内的旋转角度 （θο) 和竖直面内的旋转角度 其中， a receiving device (101) for reading a rotation angle (θο) in a horizontal plane of the boom and a rotation angle in the vertical plane at a plurality of times, wherein
所述水平面内的旋转角度（θ。）为所述臂架在三维坐标系的 ΧΟΥ面上的投 影与所述三维坐标系的 X轴之间的夹角； The angle of rotation (θ.) in the horizontal plane is the angle between the projection of the boom on the pupil plane of the three-dimensional coordinate system and the X-axis of the three-dimensional coordinate system;
所述竖直面内的旋转角度（Θ 为所述臂架与所述三维坐标系的 ΧΟΥ面之 间的夹角； The angle of rotation in the vertical plane (Θ is the angle between the boom and the face of the three-dimensional coordinate system;
所述三维坐标系的坐标原点为所述臂架的一个端部（0)， 所述三维坐标系 的 ΧΟΥ面位于水平面内， ΧΟΖ面位于竖直面内； The coordinate origin of the three-dimensional coordinate system is one end (0) of the boom, the pupil plane of the three-dimensional coordinate system is located in a horizontal plane, and the pupil plane is located in a vertical plane;
计算设备（102)， 用于根据所述臂架的长度（dl )、各个所述时刻所读取的 所述水平面内的旋转角度 （θο) 和所述竖直面内的旋转角度 （Θ 计算出所述 臂架的端部 （Α) 在各个所述时刻的三维坐标； a computing device (102) for calculating a rotation angle (θο) in the horizontal plane and a rotation angle in the vertical plane according to a length (dl) of the boom, each of the moments read The three-dimensional coordinates of the end of the boom (Α) at each of the moments;
获取设备 （103 )， 用于根据计算得到的各个所述时刻的所述三维坐标， 得 到所述三维坐标随时间变化的情况。 The obtaining device (103) is configured to obtain, according to the calculated three-dimensional coordinates of each of the moments, a change of the three-dimensional coordinates with time.
8. 根据权利要求 7所述的检测臂架振动参数的装置， 其特征在于， 还包括： 8. The apparatus for detecting vibration parameters of a boom according to claim 7, further comprising:
第一设定设备 （104)， 用于在读取所述水平面内的旋转角度 （θ。） 和所述 竖直面内的旋转角度 （Θ 之前， 根据所述编码器的安装位置设定所述水平面 内的旋转角度 （θο) 的基准点； a first setting device (104) for setting a rotation angle (θ.) in the horizontal plane and a rotation angle in the vertical plane (Θ, according to the installation position of the encoder a reference point of a rotation angle (θο) in the horizontal plane;
第二设定设备 （105 )， 用于根据所述倾角传感器的安装位置设定所述竖直 面内的旋转角度 （θ 的基准点。 The second setting device (105) is configured to set a rotation angle (the reference point of θ) in the vertical plane according to the installation position of the inclination sensor.
9. 一种检测工程机械的臂架振动的***， 其特征在于， 包括权利要求 7或 8所述 的检测工程机械的臂架振动的装置。
A system for detecting vibration of a boom of a construction machine, comprising the apparatus for detecting vibration of a boom of a construction machine according to claim 7 or 8.
0. —种工程机械， 其特征在于， 包括权利要求 9所述的检测工程机械的臂架振动 的***。
A construction machine comprising the system for detecting vibration of a boom of a construction machine according to claim 9.
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| CN201110197840.8 | 2011-07-14 | ||
| CN 201110197840 CN102331296B (en) | 2011-07-14 | 2011-07-14 | Method, device and system for detecting vibration of arm support of engineering machinery and engineering machinery |
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| PCT/CN2011/078052 WO2013007044A1 (en) | 2011-07-14 | 2011-08-05 | Method, device, and system for detecting vibration of arm rest of engineering machinery and engineering machinery |
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| CN103398668B (en) * | 2013-08-06 | 2016-08-10 | 中联重科股份有限公司 | Detection device and detection method for boom system |
| CN103592093B (en) * | 2013-11-19 | 2015-11-18 | 中联重科股份有限公司 | Fire fighting truck boom tail end vibration measurement device, method and system and fire fighting truck |
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| CN111855173B (en) * | 2020-07-10 | 2022-03-25 | 中国人民解放***箭军工程大学 | Hoisting mechanism amplitude variation performance testing device and method based on vibration sensor |
| CN112900878A (en) * | 2021-01-27 | 2021-06-04 | 徐州徐工施维英机械有限公司 | Concrete pump truck arm support control system and method and concrete pump truck |
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