WO2023029706A1 - Method for establishing tower body damage state feature point mapping model of tower crane and method for quickly determining damage - Google Patents
Method for establishing tower body damage state feature point mapping model of tower crane and method for quickly determining damage Download PDFInfo
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- the invention relates to a method for establishing a damage state feature point mapping model of a tower crane body and a method for rapidly judging damage, and belongs to the technical field of intelligent monitoring of construction machinery.
- tower cranes are widely used in construction and other industries. Because they work in high-risk places with heavy loads and high impact characteristics all the year round, under the influence of their own gravity and the complex external environment, they are very prone to damage, resulting in huge economic losses and casualties.
- the tower body is one of the most prone to damage parts in the tower crane.
- the tower body In order to ensure the safe operation of the tower crane, there is an urgent need for a fast, effective and accurate identification method to monitor the operating status of the tower crane body.
- the invention discloses a method for establishing a damage state feature point mapping model of the tower body of the tower crane.
- the present invention realizes the fast and accurate recognition of the state of the tower crane body based on the distribution cloud image of a single feature point in the model: specifically, the spatial displacement of the top of the tower crane body is used, and the parameterized model fitting and feature extraction are applied to the The high-dimensional feature vector of the tower crane body in the circumference is mapped to the two-dimensional plane point cloud model, and the corresponding relationship between the single point feature and the damage state is established.
- the invention also discloses a method for quickly judging tower body damage by using the above model.
- a method for establishing a damage state feature point mapping model of a tower crane body characterized in that it includes:
- Xi represents the x-coordinate point set of the spatial position of the top of the tower crane body collected by the swivel arm in the i-th state
- Y i represents the y-coordinate point set of the top space position of the tower crane body collected by the slewing arm in the i-th state
- a i,j and d i,j represent the top of the tower crane body in the i-th state
- the amplitude of the jth sine function obtained by fitting the spatial position point set in the x and y directions, b i,j and e i,j represent the spatial position point set of the top of the tower crane body in the x and y direction in the i state
- the frequency of the jth sine function obtained by fitting, c i,j and f i,j represent the jth sine function obtained by fitting the point set of the top of the tower body in the x and y directions in the i state the phase of
- the first three groups of feature vector sets (a i,0 ,a i,1 , a i,2 ), (b i,0 ,b i,1 ,b i,2 ), (ci ,0 ,ci ,1 ,ci ,2 ) establish a plane set m i for the three vertices of the triangle,
- the first three groups of eigenvector sets (d i,0 ,d i,1 ,d i,2 ), (e i,0 ,e i,1 ,e i,2 ), (f i,0 ,f i,1 ,f i,2 ) establish plane set n i for the three vertices of the triangle;
- the obtained m 0 and n 0 are the tower crane tower body
- the plane constructed by the eigenvector set in the intact state is used as the reference plane;
- the method for quickly judging tower body damage by using the above model is characterized in that, comprising,
- step 3 calculate the included angle value between the characteristic mapping plane and the reference plane of one state in the direction of x' axis and y' axis and To determine the damage status of the tower crane tower:
- the angle thresholds ⁇ 1 and ⁇ 2 between the characteristic mapping plane and the reference plane in the direction of the x′ axis and y′ axis in the direction of the I state, where the threshold values ⁇ 1 and ⁇ 2 are mainly based on the value of the tower crane when it leaves the factory .
- the status and main technical parameters are not the technical contents to be protected by the present invention.
- the present invention constructs the combined state of different damaged parts of the tower crane body, and collects the spatial position coordinate values of the tops of multiple tower bodies in the x-axis and y-axis directions of the rotating arm in each state of the tower crane body, and adopts N
- the sum function is fitted to obtain N sets of eigenvectors of the amplitude, frequency and phase of the fitted sinusoidal function.
- the first three groups of eigenvectors with the smallest fitting error are respectively taken as the vertices of the triangle to construct the eigenplane, and the plane constructed under the intact state of the tower crane is used as the reference plane to calculate the angles between other types of damage states and the reference plane, and each angle
- the value is used as the basis for judging the damage state, which can quickly and accurately identify the operating state of the tower crane.
- the invention realizes the simplification of the feature dimension of the state data of the tower crane body, establishes the corresponding relationship between the damage state and a single characteristic value, and provides reliable parameter indicators for the state monitoring of the tower body of the tower crane.
- Fig. 1 is the flow chart of the establishment method of tower crane tower body damage state feature point mapping model of the present invention
- Fig. 2 is a flow chart of a method for quickly judging damage by using the method in Fig. 1;
- Fig. 3 is a description table of the damage position combination state of the tower crane tower body of the present invention.
- Figures 4(a), 4(b), 4(c), and 4(d) are respectively the characteristic plane relationship diagrams of the four damage states and the intact state described in the embodiment of the present invention.
- Fig. 5 is a plane point cloud diagram of single-point feature mapping according to the present invention, in which the safe area is determined by the preset abscissa value ⁇ 1 and ordinate value ⁇ 2 .
- the following embodiments take the QTZ40 tower crane as an example, and quickly and accurately identify the tower crane body of the same type of tower crane by calculating the angle relationship between the feature mapping plane and the reference plane of the intact state feature mapping in each damaged state of the tower crane body of the same model damage status.
- a method for establishing a damage state feature point mapping model of a tower crane body comprising:
- Xi represents the x-coordinate point set of the top space position of the tower crane body collected by the slewing arm in different states of the i-th tower body
- Y i represents the y-coordinate point set of the top spatial position of the tower crane body collected by the slewing arm in a different state of the i-th tower body
- a i,j and d i,j represent the top of the tower crane body in the i-th state
- the amplitude of the jth sine function obtained by fitting the spatial position point set in the x and y directions, b i,j and e i,j represent the spatial position point set of the top of the tower crane body in the x and y direction in the i state
- the frequency of the jth sine function obtained by fitting, c i,j and f i,j represent the jth sine function obtained by fitting the point set of the top of the tower body in the x and y directions in the i-th damage state the phase of the function;
- the first three groups of feature vector sets (a i,0 ,a i,1 , a i,2 ), (b i,0 ,b i,1 ,b i,2 ), (ci ,0 ,ci ,1 ,ci ,2 ) establish a plane set m i for the three vertices of the triangle,
- the first three groups of eigenvector sets (d i,0 ,d i,1 ,d i,2 ), (e i,0 ,e i,1 ,e i,2 ), (f i,0 ,f i,1 ,f i,2 ) establish plane set n i for the three vertices of the triangle;
- the obtained m 0 and n 0 represent the tower crane body intact
- the advantage of this design is that the high-dimensional data is mapped to the low-dimensional plane single-point features, and the degree of damage to the tower body can be seen objectively through the obtained model.
- the horizontal axis represents the angle value between the plane and the reference plane constructed by the feature of the data set whose coordinates of the top of the tower crane body are in the x-axis direction
- the vertical axis represents the spatial position coordinates of the top of the tower crane body in the y
- the 30 points represent the single-point features obtained by the feature point mapping model of the present invention in the data set of the damage combination state of the tower crane body marked 1-30 in Fig. 3 .
- Utilize the method for rapidly discriminating tower body damage as described in embodiment 1, comprise,
- step 3 calculate the included angle value between the characteristic mapping plane and the reference plane of one state in the direction of x' axis and y' axis and To determine the damage status of the tower crane tower:
- the angle thresholds ⁇ 1 and ⁇ 2 between the characteristic mapping plane and the reference plane in the direction of the x′ axis and y′ axis in the direction of the I state, where the threshold values ⁇ 1 and ⁇ 2 are mainly based on the value of the tower crane when it leaves the factory .
- the status and main technical parameters are not the technical contents to be protected by the present invention.
- the lower side of the dotted line box is defined as a safe area, that is, if the feature points fall within this range, the tower body of the tower crane is considered to be in good condition, otherwise it is considered to be damaged.
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Abstract
A method for establishing a tower body damage state feature point mapping model of a tower crane and a method for quickly determining damage, comprising: constructing a tower crane structure in a combined state of different damage positions of a tower body, and acquiring a spatial position data set of the top end of the tower body when a rotating arm of the tower crane in each damage state rotates for one lap under the working condition of a constant load; performing N times of sum function fitting on spatial position data, and extracting feature vector sets such as an amplitude, a frequency, and a phase of a sine function obtained by fitting; and constructing a feature plane set by taking the feature vector sets of the first three functions of a sine function having the minimum fitting error in an x-axis direction and a y-axis direction in each damage state as vertexes of a triangle, taking a feature plane in a perfect state as a reference plane to calculate an included angle between the other plane and the reference plane in two coordinate axis directions, and constructing a point cloud image of each state in a two-dimensional plane by using an included angle value, so as to serve as a damage state determination basis.
Description
本发明涉及一种塔机塔身损伤状态特征点映射模型的建立方法与快速判别损伤的方法，属于建筑机械智能监控的技术领域。The invention relates to a method for establishing a damage state feature point mapping model of a tower crane body and a method for rapidly judging damage, and belongs to the technical field of intelligent monitoring of construction machinery.
塔机作为一种现代化起重设备在建筑等行业得到广泛的应用。因其常年工作在重载、冲击特性较大的高危场所，在自身重力以及外界复杂环境的影响下，极易发生损伤，带来巨大的经济损失和人员伤亡。As a modern lifting equipment, tower cranes are widely used in construction and other industries. Because they work in high-risk places with heavy loads and high impact characteristics all the year round, under the influence of their own gravity and the complex external environment, they are very prone to damage, resulting in huge economic losses and casualties.
塔身作为主要的承载结构件，是塔机中最容易出现损伤的部位之一。为保障塔机安全运行，故急需一种快速、有效、准确的识别方法来监测塔机塔身的运行状态。As the main load-bearing structural part, the tower body is one of the most prone to damage parts in the tower crane. In order to ensure the safe operation of the tower crane, there is an urgent need for a fast, effective and accurate identification method to monitor the operating status of the tower crane body.
发明内容Contents of the invention
针对现有技术的不足，本发明公开了一种塔机塔身损伤状态特征点映射模型的建立方法。本发明依据模型中单个特征点分布云图，实现对塔机塔身状态的快速、准确识别：具体地说是应用塔机塔身顶端的空间位移量，通过参数化模型拟合与特征提取，将塔机塔身在圆周方面的高维特征向量映射到二维平面点云模型，建立单点特征与损伤状态的对应关系。Aiming at the deficiencies of the prior art, the invention discloses a method for establishing a damage state feature point mapping model of the tower body of the tower crane. The present invention realizes the fast and accurate recognition of the state of the tower crane body based on the distribution cloud image of a single feature point in the model: specifically, the spatial displacement of the top of the tower crane body is used, and the parameterized model fitting and feature extraction are applied to the The high-dimensional feature vector of the tower crane body in the circumference is mapped to the two-dimensional plane point cloud model, and the corresponding relationship between the single point feature and the damage state is established.
本发明还公开利用上述模型快速判别塔身损伤的方法。The invention also discloses a method for quickly judging tower body damage by using the above model.
本发明详细的技术方案如下：Detailed technical scheme of the present invention is as follows:
一种塔机塔身损伤状态特征点映射模型的建立方法，其特征在于，包括：A method for establishing a damage state feature point mapping model of a tower crane body, characterized in that it includes:
1)采集不同状态下的塔机塔身状态数据集1) Collect data sets of tower crane status in different states
1-1)搭建塔身完好状态下的塔机结构、搭建塔身主肢具有单一位置损伤时的塔身结构、搭建塔身主肢具有多个位置损伤时的塔身结构，通过此搭建可以模拟塔身完好、塔身单主肢损伤以及同层或不同层多主肢损伤对应I+1种不同状态下的塔机结构；1-1) Build the tower crane structure when the tower body is in good condition, build the tower body structure when the main limb of the tower body is damaged in a single position, and build the tower body structure when the main limb of the tower body is damaged in multiple positions. Simulate the tower crane structure under I+1 different states when the tower body is intact, the single main limb of the tower body is damaged, and the multiple main limbs are damaged on the same floor or different floors;
1-2)建立相对坐标系：以塔机塔身顶端回转支承回转平面与塔身中心线的交点为坐标原点o，坐标轴x的正方向为沿着起重臂远离塔身方向，z轴正方向是沿着垂直于地面的塔身中心线方向向上，y方向垂直于起重臂轴线方向且和x轴和z轴符合右手螺旋法则，相对塔身而言，承受的弯矩、压力、载荷在相对坐标系内；1-2) Establish a relative coordinate system: take the intersection point of the slewing bearing slewing plane at the top of the tower body of the tower crane and the center line of the tower body as the coordinate origin o, the positive direction of the coordinate axis x is along the direction away from the tower body along the boom, and the z-axis The positive direction is upward along the centerline of the tower body perpendicular to the ground, the y direction is perpendicular to the axis of the boom and conforms to the right-handed spiral rule with the x-axis and z-axis, relative to the tower body, the bending moment, pressure, The load is in the relative coordinate system;
1-3)获取塔身在完好和各损伤状态数据集：1-3) Obtain the data set of the tower body in good condition and each damage state:
针对塔身完好和不同主肢损伤的状态，分别使塔机回转臂在恒定载荷工况下绕塔身回转一周，每旋转ω°采集一个相对坐标系的塔机塔身顶端空间位置点集(x
i,w，y
i,w)，其中I+1为塔身主肢具有的完好和损伤状态种类数，当i＝0时代表塔身完好状态，i＝1...I时分别代表塔身I种不同的损伤状态；其中W为回转臂回转一周时采集数据的次数，w＝1,2...W，
Aiming at the intact tower body and different main limb damage states, the slewing arm of the tower crane is rotated around the tower body once under a constant load condition, and a point set of spatial position points at the top of the tower crane body in the relative coordinate system is collected for each rotation ω° ( x i,w ，y i,w ), where I+1 is the number of intact and damaged states of the main limbs of the tower body, when i=0 represents the intact state of the tower body, and when i=1...I represent 1 different damage states of the tower body; where W is the number of data collected when the slewing arm turns around for one week, w=1, 2...W,
获取I+1种状态下的数据样本集(X,Y)，既包括塔身完好状态和不同主肢损伤的状态：Obtain the data sample set (X, Y) in I+1 states, including the intact state of the tower body and the state of different main limb damage:
在所述公式(1)中，X
i代表第i种状态下，回转臂回转一周所采集到的塔机塔身顶端空间位置x坐标点集；
In the formula (1), Xi represents the x-coordinate point set of the spatial position of the top of the tower crane body collected by the swivel arm in the i-th state;
在所述公式(2)中，Y
i代表第i种状态下，回转臂回转一周所采集到的塔机塔身顶端空间位置y坐标点集；
In the formula (2), Y i represents the y-coordinate point set of the top space position of the tower crane body collected by the slewing arm in the i-th state;
2)提取不同损伤状态下的特征向量集2) Extract feature vector sets under different damage states
2-1)对步骤1)中的所述塔机塔身顶端空间位置点集进行归一化处理；2-1) normalize the set of spatial position points at the top of the tower crane body in step 1);
2-2)进行正弦N次和函数拟合，得到塔机塔身顶端空间位置点的特征向量集，如公式(3)和(4)所示：2-2) Carry out sine N times and function fitting, obtain the feature vector set of the spatial position point of tower crane tower body, as shown in formula (3) and (4):
其中，j＝0,1,2,3,...N,N表示拟合得到的正弦函数的个数，a
i,j和d
i,j表示第i种状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的幅值，b
i,j和e
i,j表示第i种状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的频率，c
i,j和f
i,j表示第i种状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的相位；
Among them, j=0,1,2,3,...N,N represents the number of sine functions obtained by fitting, a i,j and d i,j represent the top of the tower crane body in the i-th state The amplitude of the jth sine function obtained by fitting the spatial position point set in the x and y directions, b i,j and e i,j represent the spatial position point set of the top of the tower crane body in the x and y direction in the i state The frequency of the jth sine function obtained by fitting, c i,j and f i,j represent the jth sine function obtained by fitting the point set of the top of the tower body in the x and y directions in the i state the phase of
分别以a
i,j，d
i,j，b
i,j，e
i,j，c
i,j，f
i,j作为塔机塔身顶端空间位置点的特征向量集；
Respectively take a i,j , d i,j , b i,j , e i,j , c i,j , f i,j as the feature vector set of the spatial position points at the top of the tower crane body;
3)构建损伤状态特征映射平面模型3) Construction of damage state feature map plane model
3-1)选取拟合误差量最小的N次和函数对应的前3组(j＝0,1,2)特征向量集构建特征映射平面：3-1) Select the first 3 groups (j=0, 1, 2) of feature vector sets corresponding to the N times with the smallest fitting error and the function to construct the feature mapping plane:
建立三维坐标系OXYZ，在所述三维坐标系OXYZ中，以i种状态下塔机塔身顶端在x方向的空间位置量的前3组特征向量集(a
i,0,a
i,1,a
i,2)、(b
i,0,b
i,1,b
i,2)、 (c
i,0,c
i,1,c
i,2)为三角形三个顶点建立平面集m
i，以i种状态下塔机塔身顶端在y方向的位移量的前3组特征向量集(d
i,0,d
i,1,d
i,2)、(e
i,0,e
i,1,e
i,2)、(f
i,0,f
i,1,f
i,2)为三角形三个顶点建立平面集n
i；
Establish a three-dimensional coordinate system OXYZ, in the three-dimensional coordinate system OXYZ, the first three groups of feature vector sets (a i,0 ,a i,1 , a i,2 ), (b i,0 ,b i,1 ,b i,2 ), (ci ,0 ,ci ,1 ,ci ,2 ) establish a plane set m i for the three vertices of the triangle, The first three groups of eigenvector sets (d i,0 ,d i,1 ,d i,2 ), (e i,0 ,e i,1 ,e i,2 ), (f i,0 ,f i,1 ,f i,2 ) establish plane set n i for the three vertices of the triangle;
m
i(i＝0,2,...I)表示I+1种状态的塔机塔身在x方向的空间位置数据特征集构建的I+1个平面集，n
i(i＝0,2,...I)表示I+1种状态的塔机塔身在y方向的空间位置数据特征集构建的I+1个平面集；其中，所得的m
0和n
0为塔机塔身完好状态下的特征向量集构建的平面，并将其作为参考平面；
m i (i=0,2,...I) represent the I+1 plane sets constructed by the spatial position data feature set of the tower body of the tower crane in the x direction in I+1 states, n i (i=0, 2,...I) represent the I+1 plane sets constructed by the spatial position data feature set of the tower crane body in the y direction in I+1 states; wherein, the obtained m 0 and n 0 are the tower crane tower body The plane constructed by the eigenvector set in the intact state is used as the reference plane;
3-2)分别求平面集m
i和n
i中的每个平面的法向量集：
3-2) Find the normal vector set of each plane in the plane sets mi and ni respectively:
令
make
其中：
分别是沿着三维坐标系OXYZ的x轴y轴和z轴方向的单位法向量；A
i＝(A
i,1,A
i,2,A
i,3)；A
i,1＝b
i,0-a
i,0；A
i,2＝b
i,1-a
i,1；A
i,3＝b
i,2-a
i,2；B
i＝(B
i,1,B
i,2,B
i,3)；B
i,1＝b
i,0-c
i,0；B
i,2＝b
i,1-c
i,1；B
i,3＝b
i,2-c
i,2；P
i＝(P
i,1,P
i,2,P
i,3)；P
i,1＝A
i,2B
i,3-A
i,3B
i,2；P
i,2＝A
i,3B
i,1-A
i,1B
i,3；P
i,3＝A
i,1B
i,2-A
i,2B
i,1；P
i表示平面集中m
i平面对应的法向量集；
in: are respectively the unit normal vectors along the x-axis, y-axis and z-axis directions of the three-dimensional coordinate system OXYZ; A i =(A i,1 ,A i,2 ,A i,3 ); A i,1 =bi , 0 -a i,0 ; A i,2 ＝b i,1 -a i,1 ; A i,3 ＝b i,2 -a i,2 ; B i ＝(B i,1 ,B i,2 ,B i,3 ); B i,1 ＝b i,0 -c i,0 ; B i,2 ＝b i,1 -c i,1 ; B i,3 ＝b i,2 -c i, 2 ; P i =(P i,1 ,P i,2 ,P i,3 ); P i,1 =A i,2 B i,3 -A i,3 B i,2 ; P i,2 = A i,3 B i,1 -A i,1 B i ,3 ; P i,3 ＝A i,1 B i ,2 -A i,2 B i,1 ; The set of normal vectors;
令
make
其中：C
i＝(C
i,1,C
i,2,C
i,3)；C
i,1＝e
i,0-d
i,0；C
i,2＝e
i,1-d
i,1；C
i,3＝e
i,2-d
i,2；D
i＝(D
i,1,D
i,2,D
i,3)；D
i,1＝e
i,0-f
i,0；D
i,2＝e
i,1-f
i,1；D
i,3＝e
i,2-f
i,2；Q
i＝(Q
i,1,Q
i,2,Q
i,3)；Q
i,1＝C
i,2D
i,3-C
i,3D
i,2；Q
i,2＝C
i,3D
i,1-C
i,1D
i,3；Q
i,3＝C
i,1D
i,2-C
i,2D
i,1；Q
i表示平面集中n
i平面对应的法向量集；
Among them: C i ＝(C i,1 ,C i,2 ,C i,3 ); C i,1 ＝e i,0 -d i,0 ; C i,2 ＝e i,1 -d i, 1 ; C i,3 =e i,2 -d i,2 ; D i =(D i,1 ,D i,2 ,D i,3 ); D i,1 =e i,0 -f i, 0 ; D i,2 ＝e i,1 -f i,1 ; D i,3 ＝e i,2 -f i,2 ; Q i ＝(Q i,1 ,Q i,2 ,Q i,3 ); Q i,1 =C i,2 D i,3 -C i,3 D i,2 ; Q i,2 =C i,3 D i ,1 -C i,1 D i,3 ; Q i ,3 ＝C i,1 D i,2 -C i,2 D i,1 ; Q i represents the normal vector set corresponding to n i plane in the plane set;
3-3)分别计算平面集m
i(i＝1,2,...I)中每个平面与参考平面m
0的夹角以及平面集n
i(i＝1,2,...I)中每个平面与参考平面n
0的夹角：
3-3) Calculate the angle between each plane in the plane set m i (i=1,2,...I) and the reference plane m 0 and the plane set n i (i=1,2,...I) respectively The angle between each plane in ) and the reference plane n 0 :
其中，
表示平面集m
i(i＝1,2,...I)中每个平面与参考平面m
0的夹角；
表示平面集n
i(i＝1,2,...I)中每个平面与参考平面n
0的夹角；
in, Indicates the angle between each plane in the plane set m i (i=1,2,...I) and the reference plane m 0 ; Represents the angle between each plane in the plane set n i (i=1,2,...I) and the reference plane n 0 ;
3-4)建立平面坐标系o′x′y′，过坐标原点且沿着水平方向做一条直线作为x′轴，取向右为正方向，过坐标原点且垂直于x′轴做一条直线作为y′轴，取向上为正方向，分别以夹角
为x′轴坐标值，以
为y′轴坐标值，建立I种损伤状态的特征在二维平面内的映射点云图，形成塔身损伤状态特征点映射模型， 将高维数据映射到低维平面单点特征，该设计的优点还在于可以通过得到的模型客观的看出塔身损伤的程度。
3-4) Establish a plane coordinate system o'x'y', pass through the origin of the coordinates and make a straight line along the horizontal direction as the x' axis, orient to the right as the positive direction, pass through the origin of the coordinates and make a straight line perpendicular to the x' axis as The y′ axis is positive in orientation, and the included angle is is the coordinate value of the x' axis, with is the coordinate value of the y′ axis, and establishes the mapping point cloud map of the characteristics of one kind of damage state in the two-dimensional plane, forming the characteristic point mapping model of the damage state of the tower body, and mapping the high-dimensional data to the low-dimensional plane single-point feature. Another advantage is that the damage degree of the tower body can be seen objectively through the obtained model.
利用上述模型快速判别塔身损伤的方法，其特征在于，包括，The method for quickly judging tower body damage by using the above model is characterized in that, comprising,
依据步骤3)计算I种状态在x′轴和y′轴方向上的特征映射平面与参考平面的夹角值
和
来判定塔机塔身损伤状态：
According to step 3) calculate the included angle value between the characteristic mapping plane and the reference plane of one state in the direction of x' axis and y' axis and To determine the damage status of the tower crane tower:
预设I种状态在x′轴和y′轴方向上的特征映射平面与参考平面的夹角阈值θ
1和θ
2，其中阈值θ
1，θ
2的取值大小主要依据塔机出厂时的状态和主要技术全参数，此处并不是本发明所要保护的技术内容；
Preset the angle thresholds θ 1 and θ 2 between the characteristic mapping plane and the reference plane in the direction of the x′ axis and y′ axis in the direction of the I state, where the threshold values θ 1 and θ 2 are mainly based on the value of the tower crane when it leaves the factory . The status and main technical parameters are not the technical contents to be protected by the present invention;
当满足
且
时，则判断塔身为完好状态；
when satisfied and , it is judged that the tower body is in good condition;
当
或
时，则判断塔身为主肢损伤状态。
when or , then judge the damage state of the main limb of the tower body.
本发明的技术优势在于：The technical advantage of the present invention is:
本发明通过构建塔机塔身的不同损伤部位组合状态，并采集回转臂在塔机塔身各状态下旋转一周的多个塔身顶端在x轴和y轴方向的空间位置坐标值，采用N次和函数进行拟合，求得拟合所得的正弦函数的幅值、频率以及相位N组特征向量。分别取拟合误差最小的前3组特征向量为三角形顶点构建特征平面，并以塔机完好状态下构建的平面作为参考平面，计算其他类型损伤状态与该参考平面的夹角，以各夹角数值作为损伤状态评判依据，能快速准确地识别塔机塔身的运行状态。本发明实现了塔机塔身状态数据特征维度约简，建立了损伤状态与单个特征值之间的对应关系，为塔机塔身状态监测提供了可靠的参数指标。The present invention constructs the combined state of different damaged parts of the tower crane body, and collects the spatial position coordinate values of the tops of multiple tower bodies in the x-axis and y-axis directions of the rotating arm in each state of the tower crane body, and adopts N The sum function is fitted to obtain N sets of eigenvectors of the amplitude, frequency and phase of the fitted sinusoidal function. The first three groups of eigenvectors with the smallest fitting error are respectively taken as the vertices of the triangle to construct the eigenplane, and the plane constructed under the intact state of the tower crane is used as the reference plane to calculate the angles between other types of damage states and the reference plane, and each angle The value is used as the basis for judging the damage state, which can quickly and accurately identify the operating state of the tower crane. The invention realizes the simplification of the feature dimension of the state data of the tower crane body, establishes the corresponding relationship between the damage state and a single characteristic value, and provides reliable parameter indicators for the state monitoring of the tower body of the tower crane.
图1为本发明塔机塔身损伤状态特征点映射模型的建立方法的流程图；Fig. 1 is the flow chart of the establishment method of tower crane tower body damage state feature point mapping model of the present invention;
图2是利用图1的方法进行快速判别损伤的方法流程图；Fig. 2 is a flow chart of a method for quickly judging damage by using the method in Fig. 1;
图3为本发明所述塔机塔身损伤位置组合状态描述表；Fig. 3 is a description table of the damage position combination state of the tower crane tower body of the present invention;
图4(a)、4(b)、4(c)、4(d)分别是本发明实施例所述其中4种损伤状态与完好状态的特征平面关系图；Figures 4(a), 4(b), 4(c), and 4(d) are respectively the characteristic plane relationship diagrams of the four damage states and the intact state described in the embodiment of the present invention;
图5为本发明所述单点特征映射平面点云图，其中安全区域是由预设的横坐标取值θ
1，纵坐标取值θ
2来决定的。
Fig. 5 is a plane point cloud diagram of single-point feature mapping according to the present invention, in which the safe area is determined by the preset abscissa value θ 1 and ordinate value θ 2 .
下面结合附图和具体实施方式对本发明进行详细说明，但不限于此。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but is not limited thereto.
如图1所示。As shown in Figure 1.
以下实施例以QTZ40塔机为例，通过计算同一型号塔机塔身各损伤状态下的特征映射平面与完好状态特征映射参考平面之间的夹角的关系，快速准确识别该型号塔机塔身的损伤状况。The following embodiments take the QTZ40 tower crane as an example, and quickly and accurately identify the tower crane body of the same type of tower crane by calculating the angle relationship between the feature mapping plane and the reference plane of the intact state feature mapping in each damaged state of the tower crane body of the same model damage status.
实施例1、 Embodiment 1,
一种塔机塔身损伤状态特征点映射模型的建立方法，包括：A method for establishing a damage state feature point mapping model of a tower crane body, comprising:
1)采集不同状态下的塔机塔身状态数据集1) Collect data sets of tower crane status in different states
1-1)搭建塔身完好状态下的塔机结构、搭建塔身主肢具有单一位置损伤时的塔身结构、搭建塔身主肢具有多个位置损伤时的塔身结构；1-1) Build the tower crane structure when the tower body is in good condition, build the tower body structure when the main limb of the tower body is damaged in a single position, and build the tower body structure when the main limb of the tower body is damaged in multiple positions;
在附图3中，给出了塔机塔身损伤位置组合状态图，左侧所列“0-30”是状态标号，其中0代表塔身完好状态，1-30代表30中塔身损伤状态，图中“一、二、三、四、五”表示塔机塔身标准节的层数，横向数字“1-4”表示每层标准节上的主肢按照逆时针进行的编号，“√”表示所对应主肢发生了损伤。In the accompanying drawing 3, the combined state diagram of the damage position of the tower crane body is given, and the "0-30" listed on the left is the state label, in which 0 represents the intact state of the tower body, and 1-30 represents the damaged state of the tower body in 30 , "one, two, three, four, five" in the figure indicate the number of floors of the standard section of the tower crane body, and the horizontal number "1-4" indicates the counterclockwise numbering of the main limbs on the standard section of each floor, "√ ” indicates that the corresponding main limb has been damaged.
1-2)建立相对坐标系：以塔机塔身顶端回转支承回转平面与塔身中心线的交点为坐标原点o，坐标轴x的正方向为沿着起重臂远离塔身方向，z轴正方向是沿着垂直于地面的塔身中心线方向向上，y方向垂直于起重臂轴线方向且和x轴和z轴符合右手螺旋法则；1-2) Establish a relative coordinate system: take the intersection point of the slewing bearing slewing plane at the top of the tower body of the tower crane and the center line of the tower body as the coordinate origin o, the positive direction of the coordinate axis x is along the direction away from the tower body along the boom, and the z-axis The positive direction is upward along the centerline of the tower body perpendicular to the ground, the y direction is perpendicular to the axis of the boom and conforms to the right-handed spiral rule with the x-axis and z-axis;
1-3)获取塔身的各状态数据集：1-3) Obtain each state data set of the tower body:
针对塔身不同的状态，分别使塔机回转臂在恒定载荷工况下绕塔身回转一周，每旋转ω°采集一个相对坐标系的塔机塔身顶端空间位置点集(x
i,w,y
i,w)，其中I为塔身主肢具有的损伤状态种类数,本实施例I为30种，当i＝0时代表塔身完好状态，i＝1...I时分别代表塔身I种不同的损伤状态；其中W为回转臂回转一周时采集数据的次数，w＝1,2...W，
本实施例中ω为15°
According to the different states of the tower body, the slewing arm of the tower crane is rotated around the tower body under a constant load condition, and a set of spatial position points (x i,w , y i, w ), wherein I is the number of types of damage states that the main limbs of the tower body have. In this embodiment, I is 30 types. When i=0, it represents the intact state of the tower body. 1 different injury states; where W is the number of times the data is collected when the slewing arm turns around for one week, w=1, 2...W, In this embodiment, ω is 15°
获取I+1种状态下的数据样本集(X,Y)：Obtain the data sample set (X, Y) in I+1 states:
在所述公式(1)中，X
i代表第i种塔身不同状态下，回转臂回转一周所采集到的塔机塔身顶端空间位置x坐标点集；
In the formula (1), Xi represents the x-coordinate point set of the top space position of the tower crane body collected by the slewing arm in different states of the i-th tower body;
在所述公式(2)中，Y
i代表第i种塔身不同状态下，回转臂回转一周所采集到的塔机塔身顶端空间位置y坐标点集；
In the formula (2), Y i represents the y-coordinate point set of the top spatial position of the tower crane body collected by the slewing arm in a different state of the i-th tower body;
2)提取不同损伤状态下的特征向量集2) Extract feature vector sets under different damage states
2-1)对步骤1)中的所述塔机塔身顶端空间位置点集进行归一化处理；2-1) normalize the set of spatial position points at the top of the tower crane body in step 1);
2-2)进行正弦N次和函数拟合，得到塔机塔身顶端空间位置点的特征向量集，如公式(3)和(4)所示：2-2) Carry out sine N times sum function fitting, obtain the feature vector set of the spatial position point of tower crane tower body, as shown in formula (3) and (4):
其中，j＝0,1,2,3,...N,N表示拟合得到的正弦函数的个数，a
i,j和d
i,j表示第i种状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的幅值，b
i,j和e
i,j表示第i种状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的频率，c
i,j和f
i,j表示第i种损伤状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的相位；
Among them, j=0,1,2,3,...N,N represents the number of sine functions obtained by fitting, a i,j and d i,j represent the top of the tower crane body in the i-th state The amplitude of the jth sine function obtained by fitting the spatial position point set in the x and y directions, b i,j and e i,j represent the spatial position point set of the top of the tower crane body in the x and y direction in the i state The frequency of the jth sine function obtained by fitting, c i,j and f i,j represent the jth sine function obtained by fitting the point set of the top of the tower body in the x and y directions in the i-th damage state the phase of the function;
分别以a
i,j，d
i,j，b
i,j，e
i,j，c
i,j，f
i,j作为塔机塔身顶端空间位置点的特征向量集；
Respectively take a i,j , d i,j , b i,j , e i,j , c i,j , f i,j as the feature vector set of the spatial position points at the top of the tower crane body;
3)构建损伤状态特征映射平面模型3) Construction of damage state feature map plane model
3-1)选取拟合误差量最小的N次和函数对应的前3组(j＝0,1,2)特征向量集构建特征映射平面：3-1) Select the first 3 groups (j=0, 1, 2) of feature vector sets corresponding to the N times with the smallest fitting error and the function to construct the feature mapping plane:
建立三维坐标系OXYZ，在所述三维坐标系OXYZ中，以i种状态下塔机塔身顶端在x方向的空间位置量的前3组特征向量集(a
i,0,a
i,1,a
i,2)、(b
i,0,b
i,1,b
i,2)、(c
i,0,c
i,1,c
i,2)为三角形三个顶点建立平面集m
i，以i种状态下塔机塔身顶端在y方向的位移量的前3组特征向量集(d
i,0,d
i,1,d
i,2)、(e
i,0,e
i,1,e
i,2)、(f
i,0,f
i,1,f
i,2)为三角形三个顶点建立平面集n
i；
Establish a three-dimensional coordinate system OXYZ, in the three-dimensional coordinate system OXYZ, the first three groups of feature vector sets (a i,0 ,a i,1 , a i,2 ), (b i,0 ,b i,1 ,b i,2 ), (ci ,0 ,ci ,1 ,ci ,2 ) establish a plane set m i for the three vertices of the triangle, The first three groups of eigenvector sets (d i,0 ,d i,1 ,d i,2 ), (e i,0 ,e i,1 ,e i,2 ), (f i,0 ,f i,1 ,f i,2 ) establish plane set n i for the three vertices of the triangle;
m
i(i＝0,2,...I)表示I+1种状态的塔机塔身在x方向的空间位置数据特征集构建的I+1个平面集，n
i(i＝0,2,...I)表示I+1种损伤状态的塔机塔身在y方向的空间位置数据特征集构建的I+1个平面集；所得的m
0和n
0为塔机塔身完 好状态下的特征向量集构建的平面，并将其作为参考平面；标号为1-30的损伤状态下的数据特征平面与参考平面的关系图如图4(a)、4(b)、4(c)、4(d)所示，其中simx(i＝0,1,2,...30)表示x方向的塔机塔身顶端位移量的特征平面，siny(i＝0,1,2,...30)表示y方向的塔机塔身顶端位移量的特征平面，s0mx和s0ny为参考平面。图4(a)、4(b)、4(c)、4(d)分别为i＝1,2,3,4的四种损伤状态与参考平面的关系图的示意图；
m i (i=0,2,...I) represent the I+1 plane sets constructed by the spatial position data feature set of the tower body of the tower crane in the x direction in I+1 states, n i (i=0, 2,...I) represent the I+1 plane sets constructed by the spatial position data feature set of the tower crane body in the y direction in the I+1 damage state; the obtained m 0 and n 0 represent the tower crane body intact The plane constructed by the eigenvector set in the damage state is used as the reference plane; the relationship between the data feature plane and the reference plane in the damage state labeled 1-30 is shown in Figure 4(a), 4(b), 4( c), 4(d), where simx (i=0,1,2,...30) represents the characteristic plane of the top displacement of the tower crane in the x direction, and siny (i=0,1,2 ,...30) represents the characteristic plane of the top displacement of the tower crane in the y direction, and s0mx and s0ny are the reference planes. Figures 4(a), 4(b), 4(c), and 4(d) are schematic diagrams of the relationship between the four damage states and the reference plane for i=1, 2, 3, and 4, respectively;
3-2)分别求平面集m
i和n
i中的每个平面的法向量集：
3-2) Find the normal vector set of each plane in the plane sets mi and ni respectively:
令
make
其中：
分别是沿着三维坐标系OXYZ的x轴y轴和z轴方向的单位法向量；A
i＝(A
i,1,A
i,2,A
i,3)；A
i,1＝b
i,0-a
i,0；A
i,2＝b
i,1-a
i,1；A
i,3＝b
i,2-a
i,2；B
i＝(B
i,1,B
i,2,B
i,3)；B
i,1＝b
i,0-c
i,0；B
i,2＝b
i,1-c
i,1；B
i,3＝b
i,2-c
i,2；P
i＝(P
i,1,P
i,2,P
i,3)；P
i,1＝A
i,2B
i,3-A
i,3B
i,2；P
i,2＝A
i,3B
i,1-A
i,1B
i,3；P
i,3＝A
i,1B
i,2-A
i,2B
i,1；P
i表示平面集中m
i平面对应的法向量集；
in: are respectively the unit normal vectors along the x-axis, y-axis and z-axis directions of the three-dimensional coordinate system OXYZ; A i =(A i,1 ,A i,2 ,A i,3 ); A i,1 =bi , 0 -a i,0 ; A i,2 ＝b i,1 -a i,1 ; A i,3 ＝b i,2 -a i,2 ; B i ＝(B i,1 ,B i,2 ,B i,3 ); B i,1 ＝b i,0 -c i,0 ; B i,2 ＝b i,1 -c i,1 ; B i,3 ＝b i,2 -c i, 2 ; P i =(P i,1 ,P i,2 ,P i,3 ); P i,1 =A i,2 B i,3 -A i,3 B i,2 ; P i,2 = A i,3 B i,1 -A i,1 B i ,3 ; P i,3 ＝A i,1 B i ,2 -A i,2 B i,1 ; The set of normal vectors;
令
make
其中：C
i＝(C
i,1,C
i,2,C
i,3)；C
i,1＝e
i,0-d
i,0；C
i,2＝e
i,1-d
i,1；C
i,3＝e
i,2-d
i,2；D
i＝(D
i,1,D
i,2,D
i,3)；D
i,1＝e
i,0-f
i,0；D
i,2＝e
i,1-f
i,1；D
i,3＝e
i,2-f
i,2；Q
i＝(Q
i,1,Q
i,2,Q
i,3)；Q
i,1＝C
i,2D
i,3-C
i,3D
i,2；Q
i,2＝C
i,3D
i,1-C
i,1D
i,3；Q
i,3＝C
i,1D
i,2-C
i,2D
i,1；Q
i表示平面集中n
i平面对应的法向量集；
Among them: C i ＝(C i,1 ,C i,2 ,C i,3 ); C i,1 ＝e i,0 -d i,0 ; C i,2 ＝e i,1 -d i, 1 ; C i,3 =e i,2 -d i,2 ; D i =(D i,1 ,D i,2 ,D i,3 ); D i,1 =e i,0 -f i, 0 ; D i,2 ＝e i,1 -f i,1 ; D i,3 ＝e i,2 -f i,2 ; Q i ＝(Q i,1 ,Q i,2 ,Q i,3 ); Q i,1 =C i,2 D i,3 -C i,3 D i,2 ; Q i,2 =C i,3 D i ,1 -C i,1 D i,3 ; Q i ,3 ＝C i,1 D i,2 -C i,2 D i,1 ; Q i represents the normal vector set corresponding to n i plane in the plane set;
3-3)分别计算平面集m
i(i＝1,2,...I)中每个平面与参考平面m
0的夹角以及平面集n
i(i＝1,2,...I)中每个平面与参考平面n
0的夹角：
3-3) Calculate the angle between each plane in the plane set m i (i=1,2,...I) and the reference plane m 0 and the plane set n i (i=1,2,...I) respectively The angle between each plane in ) and the reference plane n 0 :
其中，
表示平面集m
i(i＝1,2,...I)中每个平面与参考平面m
0的夹角；
表示平面集n
i(i＝1,2,...I)中每个平面与参考平面n
0的夹角；
in, Indicates the angle between each plane in the plane set m i (i=1,2,...I) and the reference plane m 0 ; Represents the angle between each plane in the plane set n i (i=1,2,...I) and the reference plane n 0 ;
3-4)建立平面坐标系o′x′y′，过坐标原点且沿着水平方向做一条直线作为x′轴，取向右为正方向，过坐标原点且垂直于x′轴做一条直线作为y′轴，取向上为正方向，分别以夹角
为x′轴坐标值，以
为y′轴坐标值，建立I种状态的特征在二维平面内的映射点云图，形成塔身损伤状态特征点映射模型。将 高维数据映射到低维平面单点特征，该设计的优点还在于可以通过得到的模型客观的看出塔身损伤的程度。如图5所示，横轴表示塔机塔身顶端空间位置坐标在x轴方向的数据集的特征构建的平面与参考平面的夹角值，纵轴表示塔机塔身顶端空间位置坐标在y轴方向的数据集的特征构建的平面与参考平面的夹角值。30个点表示塔机塔身在图3中1-30标号的损伤组合状态的数据集通过本发明所述特征点映射模型所得的单点特征。
3-4) Establish a plane coordinate system o'x'y', pass through the origin of the coordinates and make a straight line along the horizontal direction as the x' axis, orient to the right as the positive direction, pass through the origin of the coordinates and make a straight line perpendicular to the x' axis as The y′ axis is positive in orientation, and the included angle is is the coordinate value of the x' axis, with is the coordinate value of the y′ axis, and establishes the mapping point cloud diagram of the characteristics of one state in the two-dimensional plane to form the characteristic point mapping model of the damage state of the tower body. The advantage of this design is that the high-dimensional data is mapped to the low-dimensional plane single-point features, and the degree of damage to the tower body can be seen objectively through the obtained model. As shown in Figure 5, the horizontal axis represents the angle value between the plane and the reference plane constructed by the feature of the data set whose coordinates of the top of the tower crane body are in the x-axis direction, and the vertical axis represents the spatial position coordinates of the top of the tower crane body in the y The angle value between the plane constructed by the features of the data set in the axial direction and the reference plane. The 30 points represent the single-point features obtained by the feature point mapping model of the present invention in the data set of the damage combination state of the tower crane body marked 1-30 in Fig. 3 .
实施例2、 Embodiment 2,
利用如实施例1所述模型快速判别塔身损伤的方法，包括，Utilize the method for rapidly discriminating tower body damage as described in embodiment 1, comprise,
依据步骤3)计算I种状态在x′轴和y′轴方向上的特征映射平面与参考平面的夹角值
和
来判定塔机塔身损伤状态：
According to step 3) calculate the included angle value between the characteristic mapping plane and the reference plane of one state in the direction of x' axis and y' axis and To determine the damage status of the tower crane tower:
预设I种状态在x′轴和y′轴方向上的特征映射平面与参考平面的夹角阈值θ
1和θ
2，其中阈值θ
1，θ
2的取值大小主要依据塔机出厂时的状态和主要技术全参数，此处并不是本发明所要保护的技术内容；
Preset the angle thresholds θ 1 and θ 2 between the characteristic mapping plane and the reference plane in the direction of the x′ axis and y′ axis in the direction of the I state, where the threshold values θ 1 and θ 2 are mainly based on the value of the tower crane when it leaves the factory . The status and main technical parameters are not the technical contents to be protected by the present invention;
当满足
且
时，则判断塔身为完好状态；
when satisfied and , it is judged that the tower body is in good condition;
当
或
时，则判断塔身为主肢损伤状态。
when or , then judge the damage state of the main limb of the tower body.
如图5所示，其中虚线框下侧定义为安全区域，也即特征点落在该范围认为塔机塔身处于完好状态，否则认为发生了损伤。As shown in Figure 5, the lower side of the dotted line box is defined as a safe area, that is, if the feature points fall within this range, the tower body of the tower crane is considered to be in good condition, otherwise it is considered to be damaged.
计算标号1-30的损伤状态在x轴和y轴方向上的特征平面与参考平面的两个夹角值
和
来判定塔机塔身损伤状态。如图5所示，塔机塔身在各损伤状态下的平面与参考平面的夹角
各角度在特征映射平面内都分布在安全区域***，则判定塔机塔身在图3中标号为1-30的工况下都发生了损伤，此结果与实际情况相符。
Calculate the two included angles between the characteristic plane and the reference plane in the x-axis and y-axis directions of the damage state labeled 1-30 and To determine the damage status of the tower crane tower. As shown in Figure 5, the angle between the plane of the tower crane tower body in each damage state and the reference plane All angles are distributed on the periphery of the safe area in the feature mapping plane, so it is determined that the tower crane body has been damaged under the working conditions marked 1-30 in Figure 3, and this result is consistent with the actual situation.
Claims (2)
- 一种塔机塔身损伤状态特征点映射模型的建立方法，其特征在于，包括：A method for establishing a damage state feature point mapping model of a tower crane body, characterized in that it includes:1)采集不同状态下的塔机塔身状态数据集1) Collect data sets of tower crane status in different states1-1)搭建塔身完好状态下的塔机结构、搭建塔身主肢具有单一位置损伤时的塔身结构、搭建塔身主肢具有多个位置损伤时的塔身结构；1-1) Build the tower crane structure when the tower body is in good condition, build the tower body structure when the main limb of the tower body is damaged in a single position, and build the tower body structure when the main limb of the tower body is damaged in multiple positions;1-2)建立相对坐标系：以塔机塔身顶端回转支承回转平面与塔身中心线的交点为坐标原点o，坐标轴x的正方向为沿着起重臂远离塔身方向，z轴正方向是沿着垂直于地面的塔身中心线方向向上，y方向垂直于起重臂轴线方向且和x轴和z轴符合右手螺旋法则；1-2) Establish a relative coordinate system: take the intersection point of the slewing bearing slewing plane at the top of the tower body of the tower crane and the center line of the tower body as the coordinate origin o, the positive direction of the coordinate axis x is along the direction away from the tower body along the boom, and the z-axis The positive direction is upward along the centerline of the tower body perpendicular to the ground, the y direction is perpendicular to the axis of the boom and conforms to the right-handed spiral rule with the x-axis and z-axis;1-3)获取塔身在完好和各损伤状态数据集：1-3) Obtain the data set of the tower body in good condition and each damage state:针对塔身完好和不同主肢损伤的状态，分别使塔机回转臂在恒定载荷工况下绕塔身回转一周，每旋转ω°采集一个相对坐标系的塔机塔身顶端空间位置点集(x i,w，y i,w)，其中I+1为塔身主肢具有的完好和损伤状态种类数，当i＝0时代表塔身完好状态，i＝1…I时分别代表塔身I种不同的损伤状态；其中W为回转臂回转一周时采集数据的次数，Aiming at the intact tower body and different main limb damage states, the slewing arm of the tower crane is rotated around the tower body once under a constant load condition, and a point set of spatial position points at the top of the tower crane body in the relative coordinate system is collected for each rotation ω° ( x i,w ，y i,w ), where I+1 is the number of intact and damaged states of the main limbs of the tower body, when i=0 represents the intact state of the tower body, and when i=1...I represent the tower body 1 different damage states; wherein W is the number of data collected when the rotary arm rotates one week,
获取I+1种状态下的数据样本集(X,Y)，既包括塔身完好状态和不同主肢损伤的状态：Obtain the data sample set (X, Y) in I+1 states, including the intact state of the tower body and the state of different main limb damage:
在所述公式(1)中，X i代表第i种状态下，回转臂回转一周所采集到的塔机塔身顶端空间位置x坐标点集； In the formula (1), Xi represents the x-coordinate point set of the spatial position of the top of the tower crane body collected by the swivel arm in the i-th state;在所述公式(2)中，Y i代表第i种状态下，回转臂回转一周所采集到的塔机塔身顶端空间位置y坐标点集； In the formula (2), Y i represents the y-coordinate point set of the top space position of the tower crane body collected by the slewing arm in the i-th state;2)提取不同损伤状态下的特征向量集2) Extract feature vector sets under different damage states2-1)对步骤1)中的所述塔机塔身顶端空间位置点集进行归一化处理；2-1) normalize the set of spatial position points at the top of the tower crane body in step 1);2-2)进行正弦N次和函数拟合，得到塔机塔身顶端空间位置点的特征向量集，如公式(3)和(4)所示：2-2) Carry out sine N times sum function fitting, obtain the feature vector set of the spatial position point of tower crane tower body, as shown in formula (3) and (4):
其中，j＝0,1,2,3,…N,N表示拟合得到的正弦函数的个数，a i,j和d i,j表示第i种状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的幅值，b i,j和e i,j表示第i种状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的频率，c i,j和f i,j表示第i种状态下塔机塔身顶端在x和y方向空间位置点集拟合得到的第j个正弦函数的相位； Among them, j=0,1,2,3,...N,N represents the number of sine functions obtained by fitting, a i,j and d i,j represent the top of the tower crane body in the i-th state between x and The amplitude of the jth sine function obtained by fitting the spatial position point set in the y direction, b i,j and e i,j represent the point set fitting of the spatial position point set of the top of the tower crane body in the x and y directions in the i-th state The frequency of the jth sine function obtained, c i,j and f i,j represent the phase of the jth sine function obtained by fitting the point set of the top of the tower body in the x and y directions in the i state ;分别以a i,j，d i,j，b i,j，e i,j，c i,j，f i,j作为塔机塔身顶端空间位置点的特征向量集； Respectively take a i,j , d i,j , b i,j , e i,j , c i,j , f i,j as the feature vector set of the spatial position points at the top of the tower crane body;3)构建损伤状态特征映射平面模型3) Construction of damage state feature map plane model3-1)选取拟合误差量最小的N次和函数对应的前3组(j＝0,1,2)特征向量集构建特征映射平面：3-1) Select the first 3 groups (j=0, 1, 2) of feature vector sets corresponding to the N times with the smallest fitting error and the function to construct the feature mapping plane:建立三维坐标系OXYZ，在所述三维坐标系OXYZ中，以i种状态下塔机塔身顶端在x方向的空间位置量的前3组特征向量集(a i,0,a i,1,a i,2)、(b i,0,b i,1,b i,2)、 (c i,0,c i,1,c i,2)为三角形三个顶点建立平面集m i，以i种状态下塔机塔身顶端在y方向的位移量的前3组特征向量集(d i,0,d i,1,d i,2)、(e i,0,e i,1,e i,2)、(f i,0,f i,1,f i,2)为三角形三个顶点建立平面集n i； Establish a three-dimensional coordinate system OXYZ, in the three-dimensional coordinate system OXYZ, the first three groups of feature vector sets (a i,0 ,a i,1 , a i,2 ), (b i,0 ,b i,1 ,b i,2 ), (ci ,0 ,ci ,1 ,ci ,2 ) establish a plane set m i for the three vertices of the triangle, The first three groups of eigenvector sets (d i,0 ,d i,1 ,d i,2 ), (e i,0 ,e i,1 ,e i,2 ), (f i,0 ,f i,1 ,f i,2 ) establish plane set n i for the three vertices of the triangle;m i(i＝0,2,…I)表示I+1种状态的塔机塔身在x方向的空间位置数据特征集构建的I+1个平面集，n i(i＝0,2,…I)表示I+1种状态的塔机塔身在y方向的空间位置数据特征集构建的I+1个平面集；其中，所得的m 0和n 0为塔机塔身完好状态下的特征向量集构建的平面，并将其作为参考平面； m i (i=0,2,...I) represents the I+1 plane sets constructed by the spatial position data feature set of the tower body of the I+1 state in the x direction, n i (i=0,2, ...1) represent the I+1 plane sets constructed by the spatial position data feature set of the tower crane body in the y direction of the tower crane body in the I+1 state; The plane constructed by the eigenvector set is used as the reference plane;3-2)分别求平面集m i和n i中的每个平面的法向量集： 3-2) Find the normal vector set of each plane in the plane sets mi and ni respectively:令make
其中：分别是沿着三维坐标系OXYZ的x轴y轴和z轴方向的单位法向量；A i＝(A i,1,A i,2,A i,3)；A i,1＝b i,0-a i,0；A i,2＝b i,1-a i,1；A i,3＝b i,2-a i,2；B i＝(B i,1,B i,2,B i,3)；B i,1＝b i,0-c i,0；B i,2＝b i,1-c i,1；B i,3＝b i,2-c i,2；P i＝(P i,1,P i,2,P i,3)；P i,1＝A i,2B i,3-A i,3B i,2；P i,2＝A i,3B i,1-A i,1B i,3；P i,3＝A i,1B i,2-A i,2B i,1；P i表示平面集中m i平面对应的法向量集； in:
are respectively the unit normal vectors along the x-axis, y-axis and z-axis directions of the three-dimensional coordinate system OXYZ; A i =(A i,1 ,A i,2 ,A i,3 ); A i,1 =bi , 0 -a i,0 ; A i,2 ＝b i,1 -a i,1 ; A i,3 ＝b i,2 -a i,2 ; B i ＝(B i,1 ,B i,2 ,B i,3 ); B i,1 ＝b i,0 -c i,0 ; B i,2 ＝b i,1 -c i,1 ; B i,3 ＝b i,2 -c i, 2 ; P i =(P i,1 ,P i,2 ,P i,3 ); P i,1 =A i,2 B i,3 -A i,3 B i,2 ; P i,2 = A i,3 B i,1 -A i,1 B i ,3 ; P i,3 ＝A i,1 B i ,2 -A i,2 B i,1 ; The set of normal vectors;令make
其中：C i＝(C i,1,C i,2,C i,3)；C i,1＝e i,0-d i,0；C i,2＝e i,1-d i,1；C i,3＝e i,2-d i,2；D i＝(D i,1,D i,2,D i,3)；D i,1＝e i,0-f i,0；D i,2＝e i,1-f i,1；D i,3＝e i,2-f i,2；Q i＝(Q i,1,Q i,2,Q i,3)；Q i,1＝C i,2D i,3-C i,3D i,2；Q i,2＝C i,3D i,1-C i,1D i,3；Q i,3＝C i,1D i,2-C i,2D i,1；Q i表示平面集中n i平面对应的法向量集； Among them: C i ＝(C i,1 ,C i,2 ,C i,3 ); C i,1 ＝e i,0 -d i,0 ; C i,2 ＝e i,1 -d i, 1 ; C i,3 =e i,2 -d i,2 ; D i =(D i,1 ,D i,2 ,D i,3 ); D i,1 =e i,0 -f i, 0 ; D i,2 ＝e i,1 -f i,1 ; D i,3 ＝e i,2 -f i,2 ; Q i ＝(Q i,1 ,Q i,2 ,Q i,3 ); Q i,1 =C i,2 D i,3 -C i,3 D i,2 ; Q i,2 =C i,3 D i ,1 -C i,1 D i,3 ; Q i ,3 ＝C i,1 D i,2 -C i,2 D i,1 ; Q i represents the normal vector set corresponding to n i plane in the plane set;3-3)分别计算平面集m i(i＝1,2,…I)中每个平面与参考平面m 0的夹角以及平面集n i(i＝1,2,…I)中每个平面与参考平面n 0的夹角： 3-3) Calculate the angle between each plane in the plane set m i (i=1,2,...I) and the reference plane m 0 and the angle of each plane in the plane set n i (i=1,2,...I) The angle between the plane and the reference plane n 0 :
其中，表示平面集m i(i＝1,2,…I)中每个平面与参考平面m 0的夹角；
表示平面集n i(i＝1,2,…I)中每个平面与参考平面n 0的夹角； in,
Indicates the angle between each plane in the plane set m i (i=1,2,...I) and the reference plane m 0 ;Indicates the angle between each plane in the plane set n i (i=1,2,...I) and the reference plane n 0 ;3-4)建立平面坐标系o′x′y′，过坐标原点且沿着水平方向做一条直线作为x′轴，取向右为正方向，过坐标原点且垂直于x′轴做一条直线作为y′轴，取向上为正方向，分别以夹角为x′轴坐标值，以
为y′轴坐标值，建立I种损伤状态的特征在二维平面内的映射点云图，形成塔身损伤状态特征点映射模型。 3-4) Establish a plane coordinate system o'x'y', pass through the origin of the coordinates and make a straight line along the horizontal direction as the x' axis, orient to the right as the positive direction, pass through the origin of the coordinates and make a straight line perpendicular to the x' axis as The y′ axis is positive in orientation, and the included angle is
is the coordinate value of the x' axis, withis the coordinate value of the y′ axis, and establishes the point cloud map of the characteristics of one damage state in the two-dimensional plane to form the characteristic point mapping model of the damage state of the tower body. - 利用如权利要求1所述模型快速判别塔身损伤的方法，其特征在于，包括，The method for quickly judging tower body damage by using the model as claimed in claim 1, is characterized in that, comprising,依据步骤3)计算I种状态在x′轴和y′轴方向上的特征映射平面与参考平面的夹角值和
来判定塔机塔身损伤状态： According to step 3) calculate the included angle value between the characteristic mapping plane and the reference plane of one state in the direction of x' axis and y' axis
andTo determine the damage status of the tower crane tower:预设I种状态在x′轴和y′轴方向上的特征映射平面与参考平面的夹角阈值θ 1和θ 2； The angle thresholds θ 1 and θ 2 between the feature mapping plane and the reference plane in the preset 1 state in the direction of the x' axis and the y'axis;当满足且
时，则判断塔身为完好状态； when satisfied
and, it is judged that the tower body is in good condition;当或
时，则判断塔身为主肢损伤状态。 when
or, then judge the damage state of the main limb of the tower body.
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| CN117389256A (en) * | 2023-12-11 | 2024-01-12 | 青岛盈智科技有限公司 | Early warning method for truck vehicle state in transportation process |
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| CN115374575B (en) * | 2022-10-25 | 2023-03-24 | 山东建筑大学 | Tower crane body structure damage positioning method based on adjacent space point distance model |
| CN115374660B (en) * | 2022-10-25 | 2023-03-24 | 山东建筑大学 | Tower crane body damage severity determination method based on local feature extraction model |
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| CN103274319A (en) * | 2013-04-23 | 2013-09-04 | 济南富友慧明监控设备有限公司 | Method for determining single-leg damage and damage position of tower body steel structure of tower crane |
| CN107285201A (en) * | 2016-03-31 | 2017-10-24 | 山东建筑大学 | A kind of determination methods of stacker crane body damage |
| CN106952331A (en) * | 2017-02-28 | 2017-07-14 | 深圳信息职业技术学院 | A kind of texture mapping method and device based on threedimensional model |
| US20210209340A1 (en) * | 2019-09-03 | 2021-07-08 | Zhejiang University | Methods for obtaining normal vector, geometry and material of three-dimensional objects based on neural network |
| CN113239492A (en) * | 2021-04-09 | 2021-08-10 | 山东建筑大学 | Tower crane body steel structure damage positioning and monitoring method |
| CN113868785A (en) * | 2021-09-02 | 2021-12-31 | 山东建筑大学 | Method for establishing tower body damage state characteristic point mapping model of tower crane and method for rapidly judging damage |
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| CN117131465B (en) * | 2023-10-26 | 2024-01-30 | 中国铁塔股份有限公司 | Single-pipe tower damage identification method and device, electronic equipment and readable storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| AU2022316516A1 (en) | 2023-03-16 |
| AU2022316516B2 (en) | 2023-10-05 |
| CN113868785A (en) | 2021-12-31 |
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