AU2022316516B2 - Method for establishing feature point mapping model of tower body damage states of tower crane and method for quickly distinguishing damage - Google Patents
Method for establishing feature point mapping model of tower body damage states of tower crane and method for quickly distinguishing damage Download PDFInfo
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Abstract
Provided are a method for establishing a feature point mapping model of tower body
damage states of a tower crane and a method for quickly distinguishing damage. The method
for establishing a feature point mapping model of tower body damage states of a tower crane
includes: constructing tower crane structures in combined states of different damage positions
of a tower body, and collecting data sets of the spatial position of the top end of the tower
body when a rotating arm of the tower crane rotates by one circle in each damage state under
the working condition of a constant load. Performing Nh-power sum function fitting on
spatial position data, and extracting feature vector sets of the amplitude, frequency, phase,
and the like of a sine function obtained by the fitting. Feature vector sets of the first 3
functions with the minimum fitting error in each damage state in the directions of the x axis
and they axis are respectively taken as vertices of a triangle to construct a feature plane set,
and a feature plane in an intact state is taken as a reference plane to calculate included angles
between other planes and the reference plane in the directions of two coordinate axes, and the
values of the included angles are used for constructing a point cloud map of each state in a
two-dimensional plane, which is taken as a damage state evaluation basis.
Description
The present disclosure relates to a method for establishing a feature point mapping model of tower body damage states of a tower crane and a method for quickly distinguishing damage and belongs to the technical field of intelligent monitoring of building machinery.
As a kind of modern lifting equipment, the tower crane is widely used in the industries of construction and the like. Because the tower crane works all year round in high-risk places with heavy loads and large impact characteristics, it is very prone to damage under the influence of its own gravity and the complex external environment, which brings huge economic losses and casualties. The tower body, as the main load-bearing structural component, is one of the most vulnerable parts of the tower crane. 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 state of the tower body of the tower crane.
Directing at the defects in the prior art, the present disclosure discloses a method for establishing a feature point mapping model of tower body damage states of a tower crane. The present disclosure fast and accurately identifies the tower body state of the tower crane according to a cloud map of distribution of single feature points in the model: specifically, the spatial displacement of the top end of a tower body of the tower crane is used to map a high-dimensional feature vector of the tower body of the tower crane in terms of circumference to a two-dimensional plane point cloud model through parametric model fitting and feature extraction, so that the correspondence between single-point features and the damage state is established. The present disclosure further discloses a method for quickly distinguishing damage of a tower body by using the above model.
The detailed technical solution of the present disclosure is as follows. A method for establishing a feature point mapping model of tower body damage states of a tower crane includes: (1) Collecting tower body state data sets of the tower crane under different states (1-1) constructing in a computer simulation a tower crane structure with a tower body in an intact state, constructing in the computer simulation a tower body structure with single-position damage of main limbs of the tower body, and constructing a tower body structure with multiple-position damage of main limbs of the tower body, where by constructing in this way, the tower crane structures with the intact tower body, single main limb damage of the tower body and multiple main limb damage in the same layer or different layers corresponding to 1+1 different states can be simulated; (1-2) establishing a relative coordinate system: taking an intersection point of the rotating plane of a rotating support of the top end of the tower body of the tower crane and the center line of the tower body as the origin o of coordinates, the positive direction of the coordinate axis x being the direction away from the tower body along a cargo boom, the positive direction of the z axis being upward in the direction of the center line of the tower body perpendicular to the ground, the y direction being perpendicular to the direction of the axis of the cargo boom, and complying with the right-hand screw rule with the x axis and the z axis, and the bending moment, pressure and load bome by the tower body being in the relative coordinate system; (1-3) acquiring data sets of the tower body in the intact and each damage state: according to the states in which the tower body is intact and has different damage of the main limb, rotating a rotating arm of the tower crane around the tower body by one circle under the working condition of a constant load, and once the rotating arm rotates by a°, collecting a point and finally acquiring a point set (xi,,, yw,,) of the spatial position of the top end of the tower body of the tower crane in the relative coordinate system, where 1+1 is the category number of the intact and damage states of the main limbs of the tower body, i=O represents the intact state of the tower body, and i=1---I respectively represents I different damage states of the tower body, where W is the number of times at which data is collected when the rotating arm rotates by one circle, w=1, 2--- W, W=[360/aj; acquiring a data sample set (X, Y) under 1+1 states, the intact state of the tower body and different damage states of the main limb being included:
-X ,1, X0,2, X0,3, ..•. X0,W'
X = [XO X 1 ; X 2 ; - ; X] = 1, X 1 , X 1 ,3 , , X1,w
XI,1, XI,2, XI,3, ., XI,W.
0O, 0O,21 0,3,'' 0,W'
~[ ;Y 01 ; 2 >']' Y1,1 Y1,2 Y1,3'' Y1,W (2) .YI,1 YI,2 I,3'' YI,W.
in the formula (1), Xi representing an x-coordinate point set of the spatial position of the top end of the tower body of the tower crane collected when the rotating arm rotates by one circle in the ith state; and in the formula (2), Y representing a y-coordinate point set of the spatial position of the top end of the tower body of the tower crane collected when the rotating arm rotates by one circle in the ith state; (2) Extracting feature vector sets in different damage states (2-1) normalizing the point set of the spatial position of the top end of the tower body of the tower crane in step (1); (2-2) performing sine 3-time sum function fitting to obtain the feature vector set of points of the spatial position of the top end of the tower body of the tower crane, as shown in formulas (3) and (4): X= a, sin(bi,jt + (3)
Y dijsin (e,jt + fi,) (4)
where j=0, 1, 2, 3, a , and di, represent the amplitude of the jth sinusoidal function
obtained by fitting the point sets of the spatial position of the top end of the tower body of the tower crane in the x and y directions in the th state; b, 1 and ei, represent the frequency of
the jth sinusoidal function obtained by fitting the point sets of the spatial position of the top end of the tower body of the tower crane in the x and y directions in the ith state; ci,jand fi,
represent the phase of the jth sinusoidal function obtained by fitting the point sets of the spatial position of the top end of the tower body of the tower crane in the x and y directions in the th state; respectively using a1,, di,, bi,, e, ci,, f, as the feature vector sets of the spatial
position of the top end of the tower body of the tower crane; (3) Constructing the feature mapping plane model of the damage state (3-1) selecting the feature vector sets corresponding to the 3-time sum function obtained by fitting to construct a feature mapping plane: establishing a three-dimensional coordinate system OXYZ, in the three-dimensional coordinate system OXYZ, establishing a plane set mi with the first 3 groups of feature vector sets (ai,o, a, 1 , ai,2 ), (bi, o , bi , bi, 1 2 ) and (ci,O, ci, 1 , ci, 2 ) of the spatial position quantity of the top end of the tower body of the tower crane in the x direction in i states as three vertices of a triangle, and establishing a plane set ni with the first 3 groups of feature vector sets (di,o, di, 1 di, , 2 ), (ei,o, e, 1, ei,2) and (fi,o, fi,, fi,2 ) of the displacement quantity of the top end of the tower body of the tower crane in the y direction in i states as three vertices of a triangle; mi (i=O, 2, -. 1) representing 1+1 plane sets constructed by a data feature set of the spatial position of the tower body of the tower crane in the x direction in1+1 states, and ni (i=, 2, -. 1) representing 1+1 plane sets constructed by a data feature set of the spatial position of the tower body of the tower crane in the y direction in 1+1 states; where the obtained mo and no are planes constructed by a feature vector set when the tower body of the tower crane is in the intact state and are taken as reference planes; (3-2) respectively solving a normal vector set for each plane in the plane sets mi and ni: enabling Ai=(bi,o - aj,o )Z+(bj, 1 - ai,1)]+(bi,2 - aj,2 )k=Aj, 1 Z + Ai, 2]+Ai, 3 k
Bi=(bi,o - cj,o )Z+(bj, 1 - ci, 1)I+(bi,2 - ci,2 )k= BiZ + Bi,2+Bi, 3k
i j k Pi =AixBi= Ai,1 Ai,2 A1 ,3 Bi,1 Bi,2 Bi, 3
=(Ai,2 Bi, 3 - Ai, 3 Bi,2 ) Z+(Ai,3 Bi, 1 - Ai, 1Bi, 3 )j+(Ai, 1Bi, 2 - A 1 ,2 B, 1) k
=Pi11 +Pi,2 f+Pi,3k (5)
where Z, j and k are respectively unit normal vectors in the directions of the x axis, the y axis and the z axis of the three-dimensional coordinate system OXYZ; Ai = (Ai, 1 , Ai, 2 ,
Ai, 3 ); Ai, 1 = bi,o - a,o; Ai, 2 = bi, 1 - a, 1; Ai, 3 = bi,2 - ai,2 ; B 1 = (Bi, 1 , Bi,2 , Bi, 3 );Bi,1 = bi,o - ci,o ;Bi,2 = bi, 1 - ci, 1; Bi,3 = bi,2 - ci,2 ; Pi = ( Pi,1 , Pi,2 , Pi,3 ); P, 1 = Ai, 2 Bi, 3 Ai, 3 Bi,2 ; Pi,2 = Ai, 3 Bi, 1 - Ai, 1 Bi,3 ; Pi,3 Ai, 1Bi, 2 - A, 2 B, ;1 Pi represents a normal vector
set corresponding to planes in the plane set m i ;
enabling C1 =(ei,o - dj,o )Z+(ej, 1 - di, 1)j+(ei,2 - di,2 )k = C, 1 ' + Ci,2 ]+Ci,3 k
Di =(ei,o - f,o )Z+(ej, 1 - f, 1)j+(ei,2 - fi, 2 )k Di, 1 Z + Di,2+Di,3 k z j k Qj = C, x Di = Ci,1 Ci,2 Ci,3 Di,1 Di,2 Di, 3
=(Ci,2Di,3 - Ci,3 Di,2 ) '+(Ci,3Di,1 - Ci, 1Di, 3 )j+(Ci, 1Di,2 - Ci, 2 Di, 1 )k
= Qi1 Z+Qi,2f+Qi,3k (6)
where C =(Ci,1 , Ci,2 , Ci,3 ); Ci,1 =ei,o - di,o; Ci,2 =ei, 1 - di, 1 ; Ci, 3 = ei,2 - di,2 ; Di
(Di, 1 , Di,2 , Di, 3 ); Di, 1 ei,o - fi,o; Di,2 = ei,1 - fi,1 ; Di,3 ei,2- fi, 2 ; Qi (Qi, 1 , Qi,2
, Qi,3 ); Qi, 1 = Ci,2 Di,3 - Ci, 3 Di,2 ; Qi,2 = Ci, 3 Di, 1 - Ci, 1Di,3 ; Qi,3 = Ci, 1Di, 2 - Ci, 2 Di, 1 ; Q represents a normal vector set corresponding to planes in the plane set ni; (3-3) respectively calculating an included angle between each plane in the plane set mi (i=1, 2, -. 1) and the reference plane mo and an included angle between each plane in the plane set ni (i=1, 2, .. I) and the reference plane no:
cos((pO PiXP - PlXPO1+Pi,2XPO,2+Pi,3XPO,3 (7) II 2+ P,22+ P,32) 2 (po, 1 2 + Po, 2 2 + Po, 3 2
) cos(p.y)= °xQ -- Q'XQ 1 +Qi 2 XQ 0 2 +Q 3 XQ 3 (8) 0"ItIQo 2 2 +Q 2 +Q 3 2 (p2+Q 2 2 +Q 3 2
) (px,= arccos(px) (9) py,i= arccos(pyj) (10) where cpx, represents the included angle between each plane in the plane set mi (i=1, 2, -. 1) and the reference plane mo;py, represents the included angle between each plane in
the plane set ni (i=1, 2, .. I) and the reference plane no; (3-4) establishing a plane coordinate system o'x'y', drawing a straight line passing through the origin of coordinates and in the horizontal direction as an x' axis, taking the rightward direction as the positive direction, drawing a straight line passing through the origin of coordinates and perpendicular to the x' axis as a y' axis, taking the upward direction as the positive direction, respectively taking the included angle cpx, as the
coordinate value of thex'axis, and cpy, as the coordinate value of the y' axis so as to
establish a mapping point cloud map of features of I damage states in a two-dimensional plane, and form the feature point mapping model of the damage state of the tower body, and mapping high-dimensional data to low-dimensional plane single-point features. The advantage of the design also lies in that the degree of damage of the tower body can be objectively observed through the obtained model. A method for quickly distinguishing damage of a tower body with the above model includes: according to step (3), calculating values cpx, and cpy, of included angles between
feature mapping planes of I states in the directions of an x' axis and a y' axis and a reference plane to determine damage states of the tower body of a tower crane: presetting thresholds 01 and02 of the included angles between the feature mapping planes of the I states in the directions of the x'axis and the y' axis and the reference plane, where the values of the thresholds 01 and 02 are mainly based on the state of the tower crane when leaving the factory and main technical full parameters, which is not the claimed technical content of the present disclosure; when pxj < 01 and pyj < 02 is satisfied, it is determined that the tower body is in an intact state; and when pxjI 01 or p3 yj 202, it is determined that main limbs of the tower body are in the damage states. The present disclosure has the following technical advantages: In the present disclosure, constructing combined states of different damage positions of a tower body of a tower crane, collecting coordinate values of spatial positions of a plurality of top ends of the tower body in the directions of the x axis and the y axis when a rotating arm rotates by one circle in each state of the tower body of the tower crane, and performing fitting by adopting an Nthpower sum function to acquire N groups of feature vectors of the amplitude, frequency and phase of a sine function obtained by the fitting. The first 3 groups of feature vectors with the minimum fitting error are respectively taken as vertices of a triangle to construct a feature plane, and a plane constructed when the tower crane is in an intact state is taken as a reference plane to calculate included angles between other types of damage states and the reference plane, and the values of the included angles are taken as the damage state evaluation basis to quickly and accurately identify the operating state of the tower body of the tower crane. The present disclosure realizes dimension reduction of data features of the state of the tower body of the tower crane, establishes a correspondence between the damage state and single feature values, and provides a reliable parameter index for monitoring the state of the tower body of the tower crane.
FIG. 1 is a flow chart of a method for establishing a feature point mapping model of tower body damage states of a tower crane according to the present disclosure; FIG. 2 is a flow chart of a method for fast distinguishing damage by using the method of FIG. 1; FIG. 3 is a table describing combined states of damage positions of a tower body of a tower crane according to the present disclosure; FIGS. 4(a), 4(b), 4(c) and 4(d) are respectively feature plane relationship diagrams of 4 damage states and an intact state, according to an embodiment of the present disclosure; and FIG. 5 is a mapping plane point cloud map of single-point features according to the present disclosure, where a safe region is determined by preset abscissa value O 1 and ordinate value 02.
The following describes the present disclosure in detail with reference to the accompanying drawings and specific implementations, but is not limited thereto. As shown in FIG. 1, in the following embodiments, taking a QTZ40 tower crane as an example, by calculating the relationship between feature mapping planes in each damage state of a tower body of a tower crane in the same type and a reference plane of feature mapping in an intact state, the damage condition of the tower body of the tower crane of this type is quickly and accurately identified. Embodiment 1 A method for establishing a feature point mapping model of tower body damage states of a tower crane includes: (1) Collecting tower body state data sets of the tower crane under different states (1-1) constructing, in a computer simulation, a tower crane structure having a state of an intact tower crane body; constructing, in the computer simulation, a tower crane structure having a single-position damage on any connections between each section of main limb of the tower crane body; and, constructing, in the computer simulation, a tower crane structure having multiple-position damages on the connections between each the section of the main limb of the tower crane body. In FIG. 3, a table of combined states of damage positions of a tower body of the tower crane is given, "0-30" listed on the left side are mark numbers of the states, where 0 represents the intact state of the tower body, 1-30 represent 30 types of damage states of the tower body, "I, II, III, IV, V" in FIG. 3 represent the number of layers of standard sections of the tower body of the tower crane, horizontal numerals "1-4" represent the serial numbers of the main limbs on each layer of the standard section according to the counterclockwise direction, and "" represents that the corresponding main limbs are damaged.
(1-2) A relative coordinate system is established: an intersection point of the rotating plane of a rotating support of the top end of the tower body of the tower crane and the center line of the tower body is taken as the origin o of coordinates, the positive direction of the coordinate axis x is the direction away from the tower body along a cargo boom, the positive direction of the z axis is upward in the direction of the center line of the tower body perpendicular to the ground, and the y direction is perpendicular to the direction of the axis of the cargo boom, and is complied with the right-hand screw rule with the x axis and the z axis. (1-3) A data set of each state of the tower body is acquired: According to different states of the tower body, a rotating arm of the tower crane is rotated around the tower body by one circle under the working condition of a constant load, and once the rotating arm rotates by a°, a point is collected and a point set (xi,,, y,,) of the spatial position of the top end of the tower body of the tower crane in the relative coordinate system is finally acquired. I is the number of categories of the damage states of the main limbs of the tower body, and I is 30 in the present embodiment. i= represents the intact state of the tower body, and i=1---I respectively represents I different damage states of the tower body. W is the number of times at which data is collected when the rotating arm rotates by one circle, w=1, 2--- W, W=[360/a , and in the present embodiment, a is 15. A data sample set (X, Y) under I+1 states is acquired: 'X ,1, X0,2, X0,3, --.. X0,W'
X = [X 0 ; X 1 ; X 2 ; - ; X] = 1, X 1 , X1 ,3 , "' ,w (1)
XI,1, XI,2, XI,3, - , XI,W.
1,11 Y0,2 Y0,3, 1',W' Y [Y0 ; Y1 ; Y2 ;'' ]- 1 .1,1;1,21,3 ''1,wI (2)
.YI,1 YI,2 I,3'' YI,W. in the formula (1), Xi representing an x-coordinate point set of the spatial position of the top end of the tower body of the tower crane collected when the rotating arm rotates by one circle in the ith state of the tower body; and in the formula (2), Y representing a y-coordinate point set of the spatial position of the top end of the tower body of the tower crane collected when the rotating arm rotates by one circle in the ith state of the tower body. (2) Extracting feature vector sets in different damage states (2-1) The point set of the spatial position of the top end of the tower body of the tower crane in step (1) is normalized by using a Range method.
(2-2) Sine 3-time sum function fitting is performed to obtain the feature vector set of points of the spatial position of the top end of the tower body of the tower crane, as shown in formulas (3) and (4):
,=oa, 1 sin(bi,jt + ci,j) (3) Y = o di,jsin (e,1 t + fi,j) (4)
where j=0, 1, 2, 3, a , and di, represent the amplitude of the jth sinusoidal function
obtained by fitting the point sets of the spatial position of the top end of the tower body of the tower crane in the x and y directions in the th state; b, 1 and ei, represent the frequency of
the jth sinusoidal function obtained by fitting the point sets of the spatial position of the top end of the tower body of the tower crane in the x and y directions in the ith state; and ci, and
fi, represent the phase of the jth sinusoidal function obtained by fitting the point sets of the spatial position of the top end of the tower body of the tower crane in the x and y directions in the th damage state. a,, di,, bi,, ee, ci,, f, are respectively used as the feature vector sets of the
spatial position of the top end of the tower body of the tower crane. (3) Constructing the feature mapping plane model of the damage state (3-1) The feature vector sets corresponding to the 3-time sum function obtained by the fitting are selected to construct a feature mapping plane: A three-dimensional coordinate system OXYZ is established. In the three-dimensional coordinate system OXYZ, a plane set mi is established with the first 3 groups of feature vector sets (ai,o, aj,1 , ai,2 ), (bi,o, bi, 1 ,bi,2 ) and (ci,O, ci, 1 , ci, 2 ) of the spatial position quantity of the top end of the tower body of the tower crane in the x direction in i states as three vertices of a triangle. A plane set ni is established with the first 3 groups of feature vector sets (di,o, di 1 , di ,2), (ei,o, ej, ,1 ei,2 ) and (fi,O, fi,, fi,2) of the displacement quantity of the top end of the tower body of the tower crane in the y direction in i states as three vertices of a triangle. mi (i=O, 2, -. 1) represents I+1 plane sets constructed by a data feature set of the spatial position of the tower body of the tower crane in the x direction in 1+1 states, and ni (i=O, 2, -.- 1) represents 1+1 plane sets constructed by a data feature set of the spatial position of the tower body of the tower crane in the y direction in 1+1 damage states. The obtained me and no are planes constructed by a feature vector set when the tower body of the tower crane is in the intact state and are taken as reference planes. The relationship diagrams between data feature planes and the reference plane in the damage states with mark numerals 1-30 are as shown in FIGS. 4(a), 4(b), 4(c) and 4(d), where simx (i=, 1, 2, --- 30) represents a feature plane of the displacement of the top end of the tower body of the tower crane in the x direction, siny (i=, 1, 2, --- 30) represents a feature plane of the displacement of the top end of the tower body of the tower crane in the y direction, and smx and sOny are reference planes. FIGS. 4(a), 4(b), 4(c) and 4(d) are schematic diagrams of relationship diagrams of four damage states of i=1, 2, 3, 4 and the reference plane. (3-2) A normal vector set for each plane in the plane setsmiandn are solved respectively: enabling Ai=(bi,o - aj,O)Z+(bj, 1 - aj, 1)j+(bi,2 - aj,2 )k=Aj, 1 Z + Ai, 2 f+Ai, 3 k
Bi=(bi,o - c-,O)Z+(bj,1 - c, 2 )k= BiZ + Bi,2f+Bi, 3k
i j k Pi=AixBi= Ai,1 Ai,2 A1 ,3 Bi,1 Bi,2 Bi,3
=(Ai,2 Bi, 3 - Ai, 3 Bi,2 ) Z+(Ai,3 Bi, 1 - Ai, 1Bi, 3 )j+(Ai, 1Bi, 2 - A 1 ,2 B, 1) k
3k =Pi,1 +Pi,2j+Pi, (5) where Z, j and k are respectively unit normal vectors in the directions of the x axis, the y axis and the z axis of the three-dimensional coordinate system OXYZ; Ai =(Ai,1 , Ai, 2
, Ai, 3 ); Ai, 1 bi,O - a,O; Ai, 2 = bi, - a, 1; Ai, 3 bi,2 - ai,2 ; B 1 = (Bi, 1 , Bi 2 , Bi,3); B, 1 = bi,O - ci,O; Bi,2 = bi, 1 - ci, 1 ; Bi,3 = bi,2 - ci,2 ; Pi = ( Pi,1 , Pi,2 , Pi,3 ); P,1 = Ai, 2 Bi, 3
Ai, 3 Bi,2 ; Pi,2 = Ai, 3 Bi, 1 - Ai, 1 Bi,3 ; Pi,3 = Ai, 1 Bi,2 - A, 2 B, ;1 Pi represents a normal vector set corresponding to planes in the plane set m i ; enabling C1 =(ei,o - dj,O)Z+(ej, 1 - di, 1)j+(ei,2 - di,2 )k = C, 1 ' + Ci,2 ]+Ci,3 k
Di =(ei,o - f,O)Z+(ej, 1 - f,1)j+(ei,2 - fi, 2 )k Di, 1 Z + Di,2 ]+Di, 3 k
Qj = C, x Di = Ci,1 Ci,2 Ci,3 Di,1 Di,2 Di, 3
=(Ci,2 Di,3 - Ci,3 Di,2 ) '+(Ci,3 Di, 1 - Ci, 1Di, 3 )j+(Ci, 1Di,2 - Ci, 2 D, 1 ) k = Qi, 1 +Qi,2f+Qi,3k (6)
where C =(Ci,1 , Ci,2 , Ci,3 ); Ci, 1 =ei,o - di, 0 ; Ci,2 =ei, 1 - di, 1 ; Ci, 3 = ei,2 - di,2 ; Di
(Di1, Di,2, Di, 3 ); Di,1 e,O - f1,0 ; Di,2 = ei, 1 - fi,1 ; Di,3 ei,2 - fi, 2 ; Qi (Qi,1, Qi,2,
Qi,3 ); Qi,1 = Ci,2 Di,3 - Ci, 3 Di,2 ; Qi,2 = Ci, 3 Di, 1 - Ci, 1Di,3 ; Qi,3 Ci, 1Di, 2 - Ci, 2 Di, 1 ; Qi represents a normal vector set corresponding to planes in the plane set ni. (3-3) An included angle between each plane in the plane set mi (i=1, 2, --- I) and the reference plane mo and an included angle between each plane in the plane set ni (i 1, 2,
1) and the reference plane no are calculated respectively:
cos( 'x PiXP - PlXPO1+Pi,2XPO,2+Pi,3XPO,3 (7) I I 2+ P,22+ P,32) 2 (po, 1 2 + Po, 2 2 + Po, 3 2
) cos(p.y)= °xQ -- Q'XQ 1 +Qi 2 XQ 2 +Q 3 XQ 0 3 (8) 2 2 I 1Q +Q, 2 + Q, 3 2 2+ QO, 22 + QO, 32
) x= arccos(cp, ) (9) pyjI arccos(p3 , ) (10) where cpx, represents the included angle between each plane in the plane set mi (i=1, 2, 1) and the reference plane mo; cpy, represents the included angle between each plane in
the plane set ni (i=1, 2, .. I) and the reference plane no; (3-4) A plane coordinate system o'x'y' is established. A straight line passing through the origin of coordinates and in the horizontal direction is drawn as an x' axis. The rightward direction is taken as the positive direction. A straight line passing through the origin of coordinates and perpendicular to thex'axis is drawn as a y' axis. The upward direction is taken as the positive direction. The included angle px, is taken as the coordinate value of
the x' axis, and cpy, is taken as the coordinate value of the y' axis respectively so as to
establish a mapping point cloud map of features of I damage states in a two-dimensional plane, and form the feature point mapping model of the damage state of the tower body. Mapping high-dimensional data to low-dimensional plane single-point features. The advantage of the design also lies in that the degree of damage of the tower body can be objectively observed through the obtained model. As shown in FIG. 5, the horizontal axis represents the value of the included angle between the plane constructed by the feature of the data set of the spatial position coordinate of the top end of the tower body of the tower crane in the x axis direction and the reference plane, and the vertical axis represents the value of the included angle between the plane constructed by the feature of the data set of the spatial position coordinate of the top end of the tower body of the tower crane in the y axis direction and the reference plane. 30 points represent single-point features obtained by the feature point mapping model of the present disclosure from the data set of the combined state of damage of the tower body of the tower crane numbered 1-30 in FIG. 3. Embodiment 2 A method for quickly distinguishing damage of a tower body by using the model of Embodiment 1 includes: according to step (3), values px, and cpy, of included angles between feature mapping planes of I states in the directions of an x' axis and a y' axis and a reference plane are calculated to determine damage states of the tower body of a tower crane. Thresholds 01 and02 of the included angles between the feature mapping planes of the I states in the directions of the x' axis and the y' axis and the reference plane are preset, where the values of the thresholds 01 and 02 are mainly based on the state of the tower crane when leaving the factory and main technical full parameters, which is not the claimed technical content of the present disclosure. When pj < 01 andp 1yj <02 is satisfied, it is determined that the tower body is in an intact state. When 'pj 2 01 orpyj 1 02, it is determined that main limbs of the tower body are in the damage states. As shown in FIG. 5, the lower side of a dotted line box is defined as a safe region, i.e. feature points fall within the range, and it is considered that the tower body of the tower crane is in the intact state, otherwise, it is considered that damage has occurred. values 'p, and pyj of the included angles between feature planes of damage states numbered 1-30 in the directions of the x axis and the y axis and the reference plane are calculated to determine the damage states of the tower body of the tower crane. As shown in FIG. 5, the included angles between the plane of the tower body of the tower crane in each damage state and the reference plane, and various angles are distributed at the periphery of the safety region in the feature mapping plane are cp 0 2 01 = 15°, cp3 yj 2 02 = 15°, and then it is determined that the tower body of the tower crane is damaged under the working conditions numbered 1-30 in FIG. 3, and the result is consistent with the actual situation.
Claims (2)
1. A method for establishing a feature point mapping model of a tower body of a tower crane, wherein the tower body includes at least four main limbs, the method comprising: (1) collecting tower body state data sets of the tower crane of an intact state and a damaged state of the tower body; (1-1) constructing in a computer simulation, the tower crane structure with the tower body in the intact state, further constructing in the computer simulation, the tower body structure with the damaged state, wherein the damaged state includes a single limb of the at least four main limbs of the tower body with a single damage site, a single limb of the at least four main limbs of the tower body with a plurality of damage sites, and multiple limbs of the at least four main limbs of the tower body including one or more damage sites; (1-2) establishing a relative coordinate system: taking an intersection point of the rotating plane of a rotating support of the top end of the tower body of the tower crane and a center line of the tower body as an origin o of coordinates x, y and z, a positive direction of a coordinate axis x being a direction away from the tower body along a cargo boom, a positive direction of an z axis being upward in a direction of the center line of the tower body perpendicular to the ground, and a y axis direction being perpendicular to a direction of the cargo boom, and complying with a right-hand screw rule with the x axis and the z axis; (1-3) acquiring data sets of the tower body in the intact state and each damage state: according to the states in which the tower body is intact and has different damage of the at least four main limb, rotating a rotating arm of the tower crane around the tower body by one circle under the working condition of a constant load, and once the rotating arm rotates by a°, collecting a point and finally acquiring a point set (xi,,, y,,) of the spatial position of the top end of the tower body of the tower crane in the relative coordinate system, wherein 1+1 is the category number of the intact state and damage state of the at least four main limbs of the tower body, i=O represents the intact state of the tower body, and i=1---I respectively represents I the damage state of the tower body, wherein W is the number of times at which data is collected when the rotating arm rotates by one circle, w=1, 2--- W, W=[360/aj; acquiring a data sample set (X, Y) under 1+1 states, the intact state of the tower body and damage state of each limb of the at least four main limbs of the tower body being included:
-X ,1, X0,2, X0,3, ..•. X0,W'
X = [XO X 1 ; X 2 ; - ; X] = 1, X 1 , X 1 ,3 , , X1,w
XI,1, XI,2, XI,3, ., XI,W.
0O, 0O,21 0,3,'' 0,W'
~[ ;Y 01 ; 2 >']' Y1,1 Y1,2 Y1,3'' Y1,W (2) .YI,1 YI,2 I,3'' YI,W.
in the formula (1), Xi representing an x-coordinate point set of the spatial position of a top end of the tower body of the tower crane collected when the rotating arm rotates by one circle in the ith state; and in the formula (2), Y representing a y-coordinate point set of the spatial position of the top end of the tower body of the tower crane collected when the rotating arm rotates by one circle in the ith state; (2) extracting feature vector sets of the damage state (2-1) normalizing by using a range method the point set of the spatial position of the top end of the tower body of the tower crane in step (1); (2-2) performing sine 3-time sum function fitting to obtain the feature vector set of points of the spatial position of the top end of the tower body of the tower crane, as shown in formulas (3) and (4); X = 0a, sin(bi,jt + (3)
Y = di,jsin (e 1 ,t + f,j) (4)
whereinj=, 1, 2, 3, a, and di, represent the amplitude of the jthsinusoidal function
obtained by fitting the point sets of the spatial position of the top end of the tower body of the tower crane in the x axis and y axis directions in the ith state; b, 1 and e, represent the
frequency of the jth sinusoidal function obtained by fitting the point sets of the spatial position of the top end of the tower body of the tower crane in the x axis and y axis directions in the ith state; ci, and f, 1 represent the phase of the jth sinusoidal function obtained by fitting the
point sets of the spatial position of the top end of the tower body of the tower crane in the x axis and y axis directions in the ith state; respectively using a,, di,, bi,, e , ci,, f, as the feature vector sets of the spatial
position of the top end of the tower body of the tower crane; (3) constructing a feature mapping plane model of the damage state (3-1) selecting feature vector sets corresponding to the 3-time sum function obtained by fitting to construct a feature mapping plane, establishing a three-dimensional coordinate system OXYZ, in the three-dimensional coordinate system OXYZ, establishing a plane set mi with the first 3 groups of feature vector sets (ai,o, a, 1 , ai,2 ), (bi, o , bi , bi, 1 2 ) and (ci,O, ci, 1 , ci, 2 ) of the spatial position quantity of the top end of the tower body of the tower crane in the x axis direction in i states as three vertices of a triangle, and establishing a plane set ni with the first 3 groups of feature vector sets (di,o, di, 1 ,di,2 ), (ei,o, ej, ,1ei,2 ) and (fi,O, fi, 1, fi, 2) of the displacement quantity of the top end of the tower body of the tower crane in the y axis direction in i states as three vertices of a triangle; mi (i=O, 2, -. 1) representing 1+1 plane sets constructed by a data feature set of the spatial position of the tower body of the tower crane in the x axis direction in1+1 states, and ni (i=O, 2, -. 1) representing 1+1 plane sets constructed by a data feature set of the spatial position of the tower body of the tower crane in they axis direction in I+1 states; wherein the obtained mo and no are planes constructed by a feature vector set when the tower body of the tower crane is in the intact state and are taken as reference planes; (3-2) respectively solving a normal vector set for each plane in the plane sets mi and ni: enabling Ai=(bi,o - aj,o )Z+(bj, 1 - ai,1)]+(bi,2 - aj,2 )k=Aj, 1 Z + Ai, 2]+Ai, 3 k
Bi=(bi,o - cj,o )Z+(bj, 1 - ci, 1)j+(bi,2 - ci,2 )k=Bj, 1 Z+ Bi,2 j+Bi, 3 k
Pi =AixBi= Ai,1 Ai,2 A1 ,3 Bi,1 Bi,2 Bi, 3
=(Ai,2 Bi, 3 - Ai, 3 Bi,2 ) Z+(Ai,3 Bi, 1 - Ai, 1Bi, 3 )j+(Ai, 1Bi, 2 - A 1 ,2 B, 1) k
=Pi1j +Pi,2]+Pi,3k (5)
wherein f, j and k are respectively unit normal vectors in the directions of the x axis, the y axis and the z axis of the three-dimensional coordinate system OXYZ; Ai =(Ai,1, Ai, 2 ,
Ai, 3 );Ai, 1 = bi,o - a,o; Ai, 2 bi, 1 - a, 1 ; Ai, 3 = bi,2 - ai,2 ; B 1 = (Bi, 1 , Bi,2 , Bi, 3 );Bi, 1 =
bi,o - ci,o; Bi,2 = bi, 1 - ci,1 ; Bi,3 = bi,2 - ci,2 ; Pi = ( Pi,1 , Pi,2 , Pi,3 ); P, 1 = Ai, 2 Bi, 3 Ai, 3 Bi,2 ; Pi,2 = Ai, 3 Bi, 1 - Ai, 1 Bi,3 ; Pi,3 = Ai, 1Bi,2 - A, 2 B, ;1 Pi represents a normal vector set corresponding to planes in the plane set m i ;
enabling C1 =(ei,o - dj,o )Z+(ej, 1 - di, 1)j+(ei,2 - di,2 )k = C, 1 ' + Ci,2 ]+Ci,3 k
Di =(ei,o - f,o )Z+(ej, 1 - f, 1)j+(ei,2 - fi, 2 )k = Di, 1 Z + Di,2 +Di, 3 k
Z j k Qj = CxDi = Ci,1 Ci,2 Ci,3 Di,1 Di,2 Di, 3
=(Ci,2Di,3 - Ci,3 Di,2 ) '+(Ci,3Di,1 - Ci, 1Di, 3 )j+(Ci, 1Di,2 - Ci, 2 D, 1 ) k
= Qi, 1 +Qi,2f+Qi,3k (6)
wherein C =(Ci,1 , Ci,2 , Ci,3 ); C, 1 = e,o- dj,o; Ci, 2 =e,1 - d, 1 ; Ci, 3 =ei,2 -di,2;
Dj= (Di, 1 ,Di, 2 , Dj,3 );Dj,1 = ej,o- f1,o; Di,2 = ei, 1 - fi, 1 ; D, 3 = ei,2 - fi, 2 ; Qi= (Qi,l,
Qi, 2 , Qi, 3 ); Qi, 1 = Ci,2 Di,3 - Ci,3 Di,2 ; Qi, 2 = Ci,3 Di, 1 - Ci, 1Di,3 ; Qi, 3 = Ci, 1 Di,2 - Ci, 2 Di, 1; Qi represents a normal vector set corresponding to planes in the plane set ni; (3-3) an included angle between each plane in the plane set mi (i=1, 2, .. I) and the reference plane mo and an included angle between each plane in the plane set ni (i 1, 2, 1) and the reference plane no are calculated respectively:
cos((pO PiXP - PlXPO1+Pi,2XPO,2+Pi,3XPO,3 (7) II 2+ P,22+ P,32) 2 (po, 1 2 + Po, 2 2 + Po, 3 2
) cos(p.y)= °xQ -- Q'XQ 1 +Qi 2 XQ 0 2 +Q 3 XQ 3 (8) 2 0"ItIQo 2 2 +Q 2 +Q 3 2 (p2+Q 2 2 +Q 3 )
cpxji arccos (cp ) (9) py,i= arccos(py) (10) wherein cpx, represents the included angle between each plane in the plane set mi
(i=1, 2, -. 1) and the reference plane mo; y, represents the included angle between each
plane in the plane set ni (i=1, 2, .. I) and the reference plane no; (3-4) establishing a plane coordinate system o'x'y', drawing a straight line passing through the origin of coordinates and in the horizontal direction as an x' axis, taking the rightward direction as the positive direction, drawing a straight line passing through the origin of coordinates and perpendicular to the x' axis as a y' axis, taking the upward direction as the positive direction, respectively taking the included angle cpx, as the
coordinate value of the x' axis, and y, as the coordinate value of the y' axis so as to
establish a mapping point cloud map of features of I damage state in a two-dimensional plane, and form the feature point mapping model of the damage state of the tower body.
2. The method for establishing a feature point mapping model of a tower body of a tower crane, wherein the tower body includes at least four main limbs according to claim 1, further including wherein following step (3), calculating values cpx, and py, of included angles between feature mapping planes of I damage state in the directions of an x' axis and a y' axis and a reference plane to determine the damage state of the tower body of the tower crane: presetting thresholds 01 and 02 of the included angles between the feature mapping planes of I damage state in the directions of the x' axis and the y' axis and the reference plane: when pj < 01 and pyj < 02 is satisfied, it is determined that the tower body is in an intact state; and when 'pj 201 orpyj 1 02, it is determined that main limbs of the tower body are in the damage state.
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| PCT/CN2022/102028 WO2023029706A1 (en) | 2021-09-02 | 2022-06-28 | Method for establishing tower body damage state feature point mapping model of tower crane and method for quickly determining damage |
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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 |
| 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 |
| CN117389256B (en) * | 2023-12-11 | 2024-03-08 | 青岛盈智科技有限公司 | Early warning method for truck vehicle state in transportation process |
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| US20090266160A1 (en) * | 2008-04-24 | 2009-10-29 | Mike Jeffrey | Method and system for determining an imbalance of a wind turbine rotor |
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| CN103274319B (en) * | 2013-04-23 | 2015-04-22 | 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 |
| CN107285201B (en) * | 2016-03-31 | 2018-11-13 | 山东建筑大学 | A kind of judgment method of stacker crane body damage |
| CN106952331B (en) * | 2017-02-28 | 2020-12-08 | 深圳信息职业技术学院 | Texture mapping method and device based on three-dimensional model |
| WO2021042277A1 (en) * | 2019-09-03 | 2021-03-11 | 浙江大学 | Method for acquiring normal vector, geometry and material of three-dimensional object employing neural network |
| CN113239492B (en) * | 2021-04-09 | 2022-08-05 | 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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| US20090266160A1 (en) * | 2008-04-24 | 2009-10-29 | Mike Jeffrey | Method and system for determining an imbalance of a wind turbine rotor |
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