CN106241605A - A kind of row hangs lifting rope swing angle detection method - Google Patents

Abstract

The invention discloses a kind of row and hang lifting rope swing angle detection method, at any water surface H₁H₂H₃H₄On take n point, respectively A₁、A₂、A₃、…、A_nIf lifting rope end is O, some O is in horizontal H₁H₂H₃H₄In be projected as O ', taking up an official post at lifting rope takes 1 C, C point position and fixes, and the angle of OC and plumb line is the pivot angle that α is lifting rope and vertical direction；With O point as initial point, to be parallel to plane H₁H₂H₃H₄Plane be rectangular coordinate system xoy plane in three dimensions, with cross O point be perpendicular to the straight line in xoy face as three dimensions in rectangular coordinate system z-axis, set up coordinate system oxyz, A₁、A₂、A₃、…、A_nCoordinate in coordinate system oxyz is (x₁,y₁,z₁),(x₂,y₂,z₂),(x₃,y₃,z₃),…,(x_n,y_n,z_n), the coordinate of C point is (x_c,y_c,z_c), OC, A₁C、A₂C、A₃C、…、A_nC is the length of actual measurement gained, can obtain the coordinate of a C according to formula, then α can calculate.

Description

A kind of row hangs lifting rope swing angle detection method

Technical field

The present invention relates to technical field of engineering machinery, hang lifting rope swing angle detection method particularly to a kind of row.

Background technology

Row hangs as a kind of conventional big machinery handling apparatus at present, needs to carry out one and hang during being directed to handling The detection of rope pivot angle, is at this moment accomplished by detection device or the detection method of a kind of lifting rope swing angle；In prior art, use machinery The monitoring device of contact often mechanism is complex, and uses image method to install two or more camera head and carry out Complicated image procossing could obtain lifting rope swing angle, is unfavorable for the enforcement that pivot angle detects.

Summary of the invention

The present invention is directed to above-mentioned technical problem, propose a kind of method simple, easily realize and detection row accurately hangs Lifting rope swing angle detection method.

For reaching object above, it is achieved through the following technical solutions:

A kind of row hangs lifting rope swing angle detection method, comprises the following steps:

Step one, at any water surface H₁H₂H₃H₄On take n point, respectively A₁、A₂、A₃、…、A_nIf lifting rope end is O, point O is in horizontal H₁H₂H₃H₄In be projected as O ', taking up an official post at lifting rope takes 1 C, C point position and fixes, and OC with the angle of plumb line is α is the pivot angle of lifting rope and vertical direction；

Step 2, with O point as initial point, to be parallel to plane H₁H₂H₃H₄Plane be rectangular coordinate system xoy in three dimensions Plane, with cross O point be perpendicular to the straight line in xoy face as three dimensions in rectangular coordinate system z-axis, set up coordinate system oxyz, A₁、A₂、 A₃、…、A_nCoordinate in coordinate system oxyz is (x₁,y₁,z₁),(x₂,y₂,z₂),(x₃,y₃,z₃),...,(x_n,y_n,z_n), C point Coordinate be (x_c,y_c,z_c), OC, A₁C、A₂C、A₃C、…、A_nC is the length of actual measurement gained, can basis

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2={\mathrm{OC}}^2\\ {(x_1-x_c)}^2+{(y_1-y_c)}^2+{(z_1-z_c)}^2=A_1{C}^2\\ {(x_2-x_c)}^2+{(y_2-y_c)}^2+{(z_2-z_c)}^2=A_2{C}^2\\ {(x_3-x_c)}^2+{(y_3-y_c)}^2+{(z_3-z_c)}^2=A_3{C}^2\\ ...\\ {(x_n-x_c)}^2+{(y_n-y_c)}^2+{(z_n-z_c)}^2={A_n}^2\end{array}\right.$

Obtain the coordinate of a C, then

In horizontal H₁H₂H₃H₄When the quantity of upper point is 2, can obtain

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2=O{C}^2\\ x_1{x}_c+y_1{y}_c+z_1{z}_c=\frac{{x_1}^2+{y_1}^2+{z_1}^2+{\mathrm{OC}}^2-A_1{C}^2}{2}\\ x_2{x}_c+y_2{y}_c+z_2{z}_c=\frac{{x_2}^2+{y_2}^2+{z_2}^2+{\mathrm{OC}}^2-A_2{C}^2}{2}\end{array}\right.$

Make OC²=k₀,Can obtain $\left\{\begin{array}{c}{x}_c=\frac{k_1{y}_2-k_2{y}_1+(y_1{z}_2-y_2{z}_1)z_c}{x_1{y}_2-x_2{y}_1}\\ y_c=\frac{k_1{x}_2-k_2{x}_1+(x_1{z}_2-x_2{z}_1)z_c}{x_2{y}_1-x_1{y}_2}\end{array}\right.$

OrderFinally give $z_c=\frac{-(ab+cd)\±\sqrt{2abcd+(k_0-c^2)b^2+(k_0-a^2)d^2-a^2-c^2+k_0}}{b^2+d^2+1}$

In horizontal H₁H₂H₃H₄When the quantity of upper point is more than 2, have,

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2=O{C}^2\\ x_1{x}_c+y_1{y}_c+z_1{z}_c=\frac{{x_1}^2+{y_1}^2+{z_1}^2+{\mathrm{OC}}^2-A_1{C}^2}{2}\\ x_2{x}_c+y_2{y}_c+z_2{z}_c=\frac{{x_2}^2+{y_2}^2+{z_2}^2+{\mathrm{OC}}^2-A_2{C}^2}{2}\\ x_3{x}_c+y_3{y}_c+z_3{z}_c=\frac{{x_3}^2+{y_3}^2+{z_3}^2+{\mathrm{OC}}^2-A_3{C}^2}{2}\\ ...\\ x_n{x}_c+y_n{y}_c+z_n{z}_c=\frac{{x_n}^2+{y_n}^2+{z_n}^2+{\mathrm{OC}}^2-A_n{C}^2}{2}\end{array}\right.$

Make OC²=k₀,

TakeThen can get

$\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\end{array}\right]={\left(D^{T}D\right)}^{-1}{D}^T{D}_z$

Wherein, D^TIt is the transposed matrix of D, thus obtains z_c；A₁C、A₂C、A₃C、…、A_nC uses has stretching and compressibility The elastic mechanical attachment structure of matter, can obtain its length by measuring the elastic deformation of each mechanical connection, as used elastic shape Spring known to variable coefficient then can obtain its length by measuring spring stress thus obtain the length value of these line segments.

Use the present invention of technique scheme, by being only installed on certain horizontal plane fixing point to lifting rope with detecting two The length of certain fixing point can measure the pivot angle of lifting rope and vertical direction, and the method is simple, easily realizes, and overcomes in the past Lifting rope swing angle detection method is complicated and unfeasible defect.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of description, and in order to allow the above and other objects, features and advantages of the present invention can Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.

Accompanying drawing explanation

The present invention totally 1 width accompanying drawing, wherein:

Fig. 1 is the principle schematic of the present invention.

Detailed description of the invention

A kind of row as shown in Figure 1 hangs lifting rope swing angle detection method, comprises the following steps:

Step one, at any water surface H₁H₂H₃H₄On take n point, respectively A₁、A₂、A₃、…、A_nIf lifting rope end is O, point O is in horizontal H₁H₂H₃H₄In be projected as O ', taking up an official post at lifting rope takes 1 C, C point position and fixes, and OC with the angle of plumb line is α is the pivot angle of lifting rope and vertical direction；

Step 2, with O point as initial point, to be parallel to plane H₁H₂H₃H₄Plane be rectangular coordinate system xoy in three dimensions Plane, with cross O point be perpendicular to the straight line in xoy face as three dimensions in rectangular coordinate system z-axis, set up coordinate system oxyz, A₁、A₂、 A₃、…、A_nCoordinate in coordinate system oxyz is (x₁,y₁,z₁),(x₂,y₂,z₂),(x₃,y₃,z₃),...,(x_n,y_n,z_n), C point Coordinate be (x_c,y_c,z_c), OC, A₁C、A₂C、A₃C、…、A_nC is the length of actual measurement gained, can basis

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2={\mathrm{OC}}^2\\ {(x_1-x_c)}^2+{(y_1-y_c)}^2+{(z_1-z_c)}^2=A_1{C}^2\\ {(x_2-x_c)}^2+{(y_2-y_c)}^2+{(z_2-z_c)}^2=A_2{C}^2\\ {(x_3-x_c)}^2+{(y_3-y_c)}^2+{(z_3-z_c)}^2=A_3{C}^2\\ ...\\ {(x_n-x_c)}^2+{(y_n-y_c)}^2+{(z_n-z_c)}^2={A_n}^2\end{array}\right.$

Obtain the coordinate of a C, then

In horizontal H₁H₂H₃H₄When the quantity of upper point is 2, can obtain

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2=O{C}^2\\ x_1{x}_c+y_1{y}_c+z_1{z}_c=\frac{{x_1}^2+{y_1}^2+{z_1}^2+{\mathrm{OC}}^2-A_1{C}^2}{2}\\ x_2{x}_c+y_2{y}_c+z_2{z}_c=\frac{{x_2}^2+{y_2}^2+{z_2}^2+{\mathrm{OC}}^2-A_2{C}^2}{2}\end{array}\right.$

Make OC²=k₀,Can obtain $\left\{\begin{array}{c}{x}_c=\frac{k_1{y}_2-k_2{y}_1+(y_1{z}_2-y_2{z}_1)z_c}{x_1{y}_2-x_2{y}_1}\\ y_c=\frac{k_1{x}_2-k_2{x}_1+(x_1{z}_2-x_2{z}_1)z_c}{x_2{y}_1-x_1{y}_2}\end{array}\right.$

OrderFinally give $z_c=\frac{-(ab+cd)\±\sqrt{2abcd+(k_0-c^2)b^2+(k_0-a^2)d^2-a^2-c^2+k_0}}{b^2+d^2+1}$

In horizontal H₁H₂H₃H₄When the quantity of upper point is more than 2, have,

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2=O{C}^2\\ x_1{x}_c+y_1{y}_c+z_1{z}_c=\frac{{x_1}^2+{y_1}^2+{z_1}^2+{\mathrm{OC}}^2-A_1{C}^2}{2}\\ x_2{x}_c+y_2{y}_c+z_2{z}_c=\frac{{x_2}^2+{y_2}^2+{z_2}^2+{\mathrm{OC}}^2-A_2{C}^2}{2}\\ x_3{x}_c+y_3{y}_c+z_3{z}_c=\frac{{x_3}^2+{y_3}^2+{z_3}^2+{\mathrm{OC}}^2-A_3{C}^2}{2}\\ ...\\ x_n{x}_c+y_n{y}_c+z_n{z}_c=\frac{{x_n}^2+{y_n}^2+{z_n}^2+{\mathrm{OC}}^2-A_n{C}^2}{2}\end{array}\right.$

Make OC²=k₀,

TakeThen can get

$\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\end{array}\right]={\left(D^{T}D\right)}^{-1}{D}^T{D}_z$

Wherein D^TIt is the transposed matrix of D, thus obtains z_c；A₁C、A₂C、A₃C、…、A_nC uses has stretching and compression property Elastic mechanical attachment structure, by measure each mechanical connection elastic deformation can obtain its length, as use elastic deformation Spring known to coefficient then can obtain its length by measuring spring stress thus obtain the length value of these line segments.

The above, be only presently preferred embodiments of the present invention, and the present invention not makees any pro forma restriction, though So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any technology people being familiar with this specialty Member is in the range of without departing from technical solution of the present invention, when the technology contents of available the disclosure above makes a little change or is modified to The Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention Any simple modification made for any of the above embodiments, equivalent variations and modification, all still fall within the range of technical solution of the present invention.

Claims (1)

1. a row hangs lifting rope swing angle detection method, it is characterised in that comprise the following steps:

Step one, at any water surface H₁H₂H₃H₄On take n point, respectively A₁、A₂、A₃、…、A_nIf lifting rope end is O, some O exists Horizontal H₁H₂H₃H₄In be projected as O ', taking up an official post at lifting rope takes 1 C, C point position and fixes, and OC is that α is with the angle of plumb line Pivot angle for lifting rope Yu vertical direction；

Step 2, with O point as initial point, to be parallel to plane H₁H₂H₃H₄Plane be rectangular coordinate system xoy plane in three dimensions, With cross O point be perpendicular to the straight line in xoy face as three dimensions in rectangular coordinate system z-axis, set up coordinate system oxyz, A₁、A₂、A₃、…、 A_nCoordinate in coordinate system oxyz is (x₁,y₁,z₁),(x₂,y₂,z₂),(x₃,y₃,z₃),...,(x_n,y_n,z_n), the coordinate of C point For (x_c,y_c,z_c), OC, A₁C、A₂C、A₃C、…、A_nC is the length of actual measurement gained, can basis

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2={\mathrm{OC}}^2\\ {(x_1-x_c)}^2+{(y_1-y_c)}^2+{(z_1-z_c)}^2=A_1{C}^2\\ {(x_2-x_c)}^2+{(y_2-y_c)}^2+{(z_2-z_c)}^2=A_2{C}^2\\ {(x_3-x_c)}^2+{(y_3-y_c)}^2+{(z_3-z_c)}^2=A_3{C}^2\\ \mathrm{...}\\ {(x_n-x_c)}^2+{(y_n-y_c)}^2+{(z_n-z_c)}^2={A_n}^2\end{array}\right.$

Obtain the coordinate of a C, then

In horizontal H₁H₂H₃H₄When the quantity of upper point is 2, can obtain

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2={\mathrm{OC}}^2\\ x_1{x}_c+y_1{y}_c+z_1{z}_c=\frac{{x_1}^2+{y_1}^2+{z_1}^2+{\mathrm{OC}}^2-A_1{C}^2}{2}\\ x_2{x}_c+y_2{y}_c+z_2{z}_c=\frac{{x_2}^2+{y_2}^2+{z_2}^2+{\mathrm{OC}}^2-A_2{C}^2}{2}\end{array}\right.$

Make OC²=k₀,Can obtain

$\left\{\begin{array}{c}{x}_c=\frac{k_1{y}_2-k_2{y}_1+(y_1{z}_2-y_2{z}_1)z_c}{x_1{y}_2-x_2{y}_1}\\ y_c=\frac{k_1{x}_2-k_2{x}_1+(x_1{z}_2-x_2{z}_1)z_c}{x_2{y}_1-x_1{y}_2}\end{array}\right.$

OrderFinally give

$z_c=\frac{-(ab+cd)\±\sqrt{2abcd+(k_0-c^2)b^2+(k_0-a^2)d^2-a^2-c^2+k_0}}{b^2+d^2+1}$

In horizontal H₁H₂H₃H₄When the quantity of upper point is more than 2, have,

$\left\{\begin{array}{c}{x_c}^2+{y_c}^2+{z_c}^2={\mathrm{OC}}^2\\ x_1{x}_c+y_1{y}_c+z_1{z}_c=\frac{{x_1}^2+{y_1}^2+{z_1}^2+{\mathrm{OC}}^2-A_1{C}^2}{2}\\ x_2{x}_c+y_2{y}_c+z_2{z}_c=\frac{{x_2}^2+{y_2}^2+{z_2}^2+{\mathrm{OC}}^2-A_2{C}^2}{2}\\ x_3{x}_c+y_3{y}_c+z_3{z}_c=\frac{{x_3}^2+{y_3}^2+{z_3}^2+{\mathrm{OC}}^2-A_3{C}^2}{2}\\ \mathrm{...}\\ x_n{x}_c+y_n{y}_c+z_n{z}_c=\frac{{x_n}^2+{y_n}^2+{z_n}^2+{\mathrm{OC}}^2-A_n{C}^2}{2}\end{array}\right.$

Make OC²=k₀, ...,

TakeThen can get

$\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\end{array}\right]={\left(D^{T}D\right)}^{-1}{D}^T{D}_z$

Wherein, D^TIt is the transposed matrix of D, thus obtains z_c；A₁C、A₂C、A₃C、…、A_nC uses has stretching and compression property Elastic mechanical attachment structure, can obtain its length by measuring the elastic deformation of each mechanical connection.