CN109696897B - Multipoint jacking mechanism load detection method and detection device thereof - Google Patents
Multipoint jacking mechanism load detection method and detection device thereof Download PDFInfo
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Abstract
The invention discloses a multipoint jacking mechanism load detection method, which comprises the steps of obtaining the load value of each jacking unit; judging the load state of the multipoint jacking mechanism according to the load value of each jacking unit; if the load state is judged to be an empty load or a static load, calculating a sampling value by adopting a median average filtering method; if the load state is judged to be the dynamic load, calculating a sampling value by adopting an amplitude limiting average filtering method; and judging whether the sampling value is greater than a load preset value, and if so, giving an alarm. The invention processes the data of the whole process of the empty load, the static load and the dynamic load by the acquired load value. The static load and dynamic load monitoring protection control is realized, and the alarm processing is realized. The method can be widely used for detecting the load of the multi-point jacking mechanism.
Description
Technical Field
The invention relates to the field of jacking detection, in particular to a multipoint jacking mechanism load detection method and a multipoint jacking mechanism load detection device.
Background
Jacking mechanisms are often used in building construction to jack up construction materials or construction equipment.
In actual construction, generally will use a plurality of climbing mechanisms, carry out the jacking simultaneously, need constantly detect the load that every jacking unit bore at the in-process of jacking. In the prior art, the value detected by the sensor is simply output in the form of an analog quantity signal, and the control and data processing of the sensor require a post-controller and a computer for processing.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a multi-point load detection method for a jacking mechanism and a detection apparatus thereof, which can detect the load of the jacking mechanism at any time.
The first aspect of the embodiment of the invention provides a multipoint jacking mechanism load detection method, which comprises the following steps:
acquiring a load value of each jacking unit;
judging the load state of the multipoint jacking mechanism according to the load value of each jacking unit;
if the load state is judged to be no load or static load, calculating a sampling value by adopting a median average filtering method;
if the load state is judged to be the dynamic load, calculating a sampling value by adopting an amplitude limiting average filtering method;
and judging whether the sampling value is greater than a load preset value, and if so, giving an alarm.
In one possible embodiment, the calculating the sample values by the median average filtering method comprises:
and continuously acquiring a plurality of load values, removing the maximum value and the minimum value, and performing arithmetic mean operation on the residual load value data.
In a possible embodiment, the calculating the sample value by using the limited average filtering method includes:
acquiring a motion speed value, an acceleration value and a theoretical dynamic load value of each jacking unit;
carrying out amplitude limiting processing on the load value;
and transmitting the load value subjected to amplitude limiting processing into a sampling value queue for recursive average filtering processing.
In a possible embodiment, the clipping processing of the load value includes:
and taking 2-3 times of the theoretical dynamic load value as the amplitude limiting value, and removing the load value larger than the amplitude limiting value.
Preferably, the processing of recursive average filtering on the queue of incoming sample values includes:
transmitting the load value subjected to amplitude limiting processing into the tail of a sampling value queue;
removing the load value after the amplitude limiting processing of the head of the sampling value queue;
and carrying out arithmetic mean operation on the load values after the amplitude limiting processing in the queue.
Preferably, the method for detecting the load of the multi-point jacking mechanism further comprises the following steps:
and if the load state is judged to be the empty load, zero marking is carried out on the obtained load value.
In one possible embodiment, the multi-point jacking mechanism load detection method further comprises the step of automatically replacing the distortion signal:
when the load value of any jacking unit is abnormal, the abnormal load value is shielded and replaced by the average value of other load values on the same jacking unit.
In one possible embodiment, the multipoint jacking mechanism load detection method further comprises:
calculating the position of the center of gravity of the load;
and judging whether the position of the center of gravity deviates from the preset position of the center of gravity, and if so, giving an alarm.
In one possible embodiment, the multipoint jacking mechanism load detection method further comprises:
acquiring an actual dynamic load value change curve of the jacking unit;
and judging whether the actual dynamic load value change curve is larger than a curve preset value or not, and if so, giving an alarm.
The invention processes the data of the whole process of the empty load, the static load and the dynamic load by the acquired load value. The static load and dynamic load monitoring protection control is realized, and the alarm processing is realized.
The invention calculates the sampling value by adopting a median average filtering method, can effectively overcome fluctuation interference caused by accidental factors, and the load value fluctuates up and down in a certain numerical range, and has good filtering effect on slow measured parameters.
By adopting the amplitude limiting average filtering method to calculate the sampling value and adopting different filtering methods according to different loads, the disturbance and the interference in the signal are effectively removed, the reliability of the signal is improved, and the memory of a control system is greatly saved.
A second aspect of the present invention provides a multipoint jacking mechanism load detecting apparatus, also having the above-mentioned advantageous effects, the multipoint jacking mechanism load detecting apparatus including:
the load detection units are arranged on the jacking units of the multipoint jacking mechanism and used for detecting load values born by the jacking units;
the signal conditioners are connected with the load detection units in a one-to-one correspondence mode and used for marking zero and correcting each jacking unit;
and the processor is connected with the signal conditioner and used for processing data and instructions.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of the present invention.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 2, the technical solution provided by the embodiment of the present invention is as follows, a method for detecting a load of a multi-point jacking mechanism, comprising the following steps:
step S100: acquiring a load value of each jacking unit;
step S200: judging the load state of the multipoint jacking mechanism according to the load value of each jacking unit;
step S300: if the load state is judged to be no load or static load, calculating a sampling value by adopting a median average filtering method;
step S400: if the load state is judged to be the dynamic load, calculating a sampling value by adopting an amplitude limiting average filtering method;
step S500: judging whether the sampling value is larger than a load preset value or not;
step S600: if yes, an alarm is sent out.
The step S300 and the step S400 are parallel or the order can be changed without affecting the execution of the subsequent steps, and the sampling value in the step S500 is the sampling value in both the step S300 and the step S400. The load preset value is a value set in advance. The operation principle and operation process of the present embodiment will be described with reference to fig. 1. The multi-point jacking mechanism is provided with a plurality of jacking units, each jacking unit can be provided with a plurality of load detection units 1 for acquiring the load value of each jacking unit, each load detection unit 1 is connected with the signal conditioner 2, and the signal conditioner 2 is connected with the processor 3 through the I/O.
In step S300, if it is determined that the load state is no load or static load, the step of calculating the sampling value by the median average filtering method may include:
and continuously acquiring a plurality of load values, removing the maximum value and the minimum value, and performing arithmetic mean operation on the residual load value data.
Specifically, 3-14 load values can be obtained continuously, fluctuation interference caused by accidental factors can be effectively overcome, the load values fluctuate up and down within a certain numerical range, a good filtering effect is achieved on slow measured parameters, and the method is insensitive to fast changing parameters.
In step S400, if it is determined that the load state is a dynamic load, the calculating the sampling value by using the amplitude-limited average filtering method may specifically include the following steps:
(1) acquiring the motion speed value, the acceleration value and the theoretical dynamic load value of each jacking unit;
(2) carrying out amplitude limiting processing on the load value;
(3) and transmitting the load value subjected to amplitude limiting processing into a sampling value queue for recursive average filtering processing.
The theoretical dynamic load value is a load value calculated by the system according to the motion speed, the acceleration, the gravity acceleration and the mass, and is divided into the following four conditions:
when the acceleration is upward: f is mg + ma;
acceleration downward: f is mg-ma;
when the speed is reduced upwards: f is mg-ma;
when the speed is reduced downwards: f is mg + ma;
in the formula, F is a theoretical dynamic load value, m is a load mass, g is a gravity acceleration, and a is a motion acceleration.
The amplitude limiting value can be 2-3 times of the theoretical dynamic load value, and the load value larger than the amplitude limiting value is removed.
The step of performing recursive average filtering processing on the incoming sample value queue may specifically include:
(1) transmitting the load values subjected to amplitude limiting processing into the tail of the sampling value queue, wherein the number of the load values in the sampling value queue can be 4-6;
(2) removing the load value after the amplitude limiting processing of the head of the sampling value queue;
(3) and carrying out arithmetic mean operation on the load values subjected to the amplitude limiting processing in the queue.
Namely, a new load value is put into the tail of the sampling value queue, the data at the head of the queue in the sampling value queue is removed, and then the arithmetic mean operation is carried out on the new sampling value queue. The general filtering method can effectively eliminate the deviation caused by the pulse interference, but the memory of the control system is wasted. However, the embodiment adopts different filtering methods according to different loads, so that the disturbance and the interference in the signals are effectively removed, the reliability of the signals is improved, and the memory of a control system is greatly saved.
As a further preferred aspect of the present embodiment, the multipoint jacking mechanism load detection method further includes:
and if the load state is judged to be the empty load, zero marking is carried out on the obtained load value.
The working process of this step is explained with reference to fig. 1: firstly, the load values obtained in the step S100 are subjected to range comparison, when the load values are within the range of the revision value allowing the automatic zero calibration, the automatic zero calibration is performed, the processor 3 calculates the automatic correction calibration offset value through the program, that is, the program automatically takes the actual value of the zero calibration deviation to perform addition and subtraction operation to realize the automatic zero calibration, it is ensured that the processed value after each load value is zero calibrated in no-load, the automatic zero calibration value is always used as the reference value in the subsequent static load and dynamic load processes before the zero calibration is performed again, and the automatic correction calibration offset value is displayed in the operation interface at the same time, and this step actually performs a peeling function. The automatic zero marking can be divided into no-load power-on automatic zero marking, no-load periodic automatic zero marking and no-load use frequency automatic zero marking. The automatic zero marking of the no-load electrification is every electrification, and zero marking correction is automatically carried out if no-load is detected. The idle load periodic automatic zero marking is to automatically perform zero marking correction when the continuous idle time reaches a certain set period. The automatic zero marking of the no-load use frequency is that after the loaded use of a plurality of periodic frequencies, the equipment automatically carries out zero marking correction once the equipment is no-load. When the load value obtained in step S100 exceeds the range of the revision value of the allowed automatic zero calibration and the automatic zero calibration cannot make the signal zero calibration, the system will prompt the manual zero calibration, which is to perform zero calibration on the corresponding load value by manually adjusting the signal conditioner 2.
As a further preferred aspect of the present embodiment, the method for detecting a load of a multipoint jacking mechanism further includes a step of automatically replacing a distorted signal, specifically as follows:
when the load value of any jacking unit is abnormal, the abnormal load value is shielded and replaced by the average value of other load values on the same jacking unit. Meanwhile, an alarm instruction can be given in an operation interface to tell an operator that a certain load value is an average value after replacement, and the operator requests to overhaul and replace the load detection unit 1. Therefore, the emergency operation of the whole system cannot be influenced by the abnormality of a certain load detection unit 1 by the multipoint jacking mechanism, and the correct, stable and reliable operation is ensured.
The multipoint jacking mechanism load detection method further comprises the following steps:
(1) calculating the position of the center of gravity of the load;
(2) and judging whether the position of the center of gravity deviates from the preset position of the center of gravity, and if so, giving an alarm.
Specifically, during initial static loading of the load, the processor 3 automatically stores the initial steady value F0 and calculates the position of the center of gravity of the load. The processor 3 memorizes the initial stable value F0 measured by each load detection unit 1 and stores it in the power down register, and takes this value as the static load reference value for the subsequent dynamic load movement. Then, the center of gravity position point of the load is calculated by calculating the load value of each jacking unit acquired in step S100. Be equipped with n jacking units, there are m load detecting element 1 on every jacking unit, then calculate and adopt the vector calculation formula:
FszRzβz＝Fs11R11β11+Fs12R12β12+……+Fs1mR1mβ1m+Fs21R21β21+Fs22R22β22+……+Fs2mR2mβ2m+……Fsn1Rn1βn1+Fsn2Rn2βn2+……+FsnmRnmβnm；
wherein Fs11 to Fsnm are load values detected by the respective load detection cells 1;
in the formula, R11 to Rnm are distances from each load detection unit 1 to the center point of the multipoint jacking mechanism;
in the formula, beta 11-beta nm are included angles between each load detection unit 1 and a coordinate of a central point of the multipoint jacking mechanism;
wherein Fsz is the sum of the load values detected by the load detection units 1;
in the formula, Rz and β z are the vector values of the center of gravity to be obtained.
Therefore, whether the arrangement of the load and the alarm load is balanced or not is prompted through analysis and judgment of the result of the load gravity center vector position point, and whether the load bearing of a single jacking unit or a plurality of jacking units exceeds the set range or not is warned.
The multipoint jacking mechanism load detection method further comprises the following steps:
(1) acquiring an actual dynamic load value change curve of the jacking unit;
(2) and judging whether the actual dynamic load value change curve is larger than a curve preset value or not, and if so, giving an alarm.
Specifically, in the dynamic load movement process of load bearing lifting and descending, the processor 3 obtains an actual dynamic load value and a theoretical dynamic load value through measurement and calculation, and compares the actual dynamic load value and the theoretical dynamic load value in real time. That is, the processor 3 can measure the actual dynamic load value change curve of each load detection unit 1 in real time, and simultaneously calculate the corresponding acceleration and the theoretical dynamic load value through the load ascending and descending speeds of each jacking mechanism, namely:
Fl＝F0±F0/g×△v/△t；
in the formula, Fl is a theoretical dynamic load value, and F0 is an initial stable value, that is, a load stable value measured in a static state is equal to the actual weight of the multipoint jacking mechanism;
in the formula, g is the gravity acceleration, Δ v is the speed change value within the sampling time of the processor 3, and Δ t is the sampling time of the processor 3.
Calculating the actual dynamic load value and the theoretical dynamic load value of each detection unit 1, namely:
the | Fs-Fl | namely, the absolute value of the difference value between the actual dynamic load value and the theoretical dynamic load value is obtained, whether the load is stable and normal in the operation process is judged by comparing the | Fs-Fl | of each detection unit 1, whether each jacking action is synchronous in operation is judged, and whether a certain single or multiple jacking units are alarmed to bear the situation that the load exceeds the set range due to the reason that the speed is too high, the mechanical jamming is caused, the electromechanical fault is caused, and the movement is blocked.
In addition, referring to fig. 1, the present invention also provides a multipoint jacking mechanism load detecting apparatus, including:
the load detection units 1 are arranged on the jacking units of the multipoint jacking mechanism and used for detecting load values borne by the jacking units;
the signal conditioners 2 are connected with the load detection units 1 in a one-to-one correspondence mode, and are used for marking zero and correcting each jacking unit and transmitting a load value;
and the processor 3 is connected with the signal conditioner 2 and used for processing data and instructions.
The signal conditioner 2 CAN be connected with an I/O module 4, the processor 3 is connected with a display device 5, a CAN communication interface 6 and an Ethernet communication interface 7, the I/O module 4 is used for converting analog signals detected by each load detection unit 1 into digital signals which CAN be identified by the processor 3 through operation amplification and AD conversion, and if the processor 3 is provided with the I/O module 4, the I/O module 4 does not need to be additionally arranged. The CAN communication interface 6 and the Ethernet communication interface 7 CAN realize intelligent networking of a previous-level management system and effectively improve the transmission distance, stability and anti-interference capability of signals. Through networking with the last level management system, the measurement data of the load detection unit 1 can be subjected to data archiving and backup, comparison is carried out during each load operation, the aging and the fault of the load detection unit 1 are detected, and the generation of safety accidents is avoided by monitoring the aging and the fault processes of the load detection unit 1.
The load detection unit 1 can be realized by a pressure sensor, a force measuring bolt and the like. The signal conditioner 2 may employ an analog quantity transmitter.
The multi-point jacking mechanism load detection device of the embodiment can be completely applied to the multi-point jacking mechanism load detection method, so that the detection method, the detection principle and the beneficial effects of the detection device are not repeated in the embodiment, and the embodiment of the detection method is directly referred to.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. It should be noted that there are no specific structures but a few objective structures due to the limited character expressions, and that those skilled in the art may make various improvements, decorations or changes without departing from the principle of the invention or may combine the above technical features in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.
Claims (7)
1. A multipoint jacking mechanism load detection method is applied to a multipoint jacking mechanism load detection device, and the multipoint jacking mechanism load detection device comprises: the load detection units are arranged on the jacking units of the multipoint jacking mechanism and used for detecting load values born by the jacking units; the signal conditioners are connected with the load detection units in a one-to-one correspondence mode and used for marking zero and correcting each jacking unit; the processor is connected with the signal conditioner and used for processing data and instructions; the method is characterized by comprising the following steps:
acquiring a load value of each jacking unit;
judging the load state of the multipoint jacking mechanism according to the load value of each jacking unit;
if the load state is judged to be no load or static load, calculating a sampling value by adopting a median average filtering method;
if the load state is judged to be the dynamic load, calculating a sampling value by adopting an amplitude limiting average filtering method;
judging whether the sampling value is greater than a load preset value, and if so, giving an alarm;
the calculating the sampling value by using the amplitude-limited average filtering method comprises the following steps:
acquiring a motion speed value, an acceleration value and a theoretical dynamic load value of each jacking unit;
carrying out amplitude limiting processing on the load value;
transmitting the load value subjected to amplitude limiting processing into a sampling value queue for recursive average filtering processing;
the step of acquiring the motion speed value, the acceleration value and the theoretical dynamic load value of each jacking unit comprises the following steps:
the processor measures the actual dynamic load value change curve of each load detection unit in real time, and calculates the corresponding acceleration and the theoretical dynamic load value through the load ascending and descending speeds of each jacking mechanism, namely:
Fl=F0±F0/g×△v/△t
in the formula, Fl is a theoretical dynamic load value, and F0 is an initial stable value, that is, a load stable value measured in a static state is equal to the actual weight of the multipoint jacking mechanism; g is the gravity acceleration, delta v is the speed change value in the sampling time of the processor, and delta t is the sampling time of the processor;
the multi-point jacking mechanism load detection method further comprises the following steps:
calculating the position of the center of gravity of the load;
judging whether the position of the center of gravity deviates from a preset position of the center of gravity, if so, giving an alarm;
the step of calculating the position of the center of gravity of the load comprises:
in the process of bearing the initial static load of the load, the processor automatically stores an initial stable value F0 and calculates the gravity center position of the load;
the step of automatically storing an initial stable value F0 and calculating the gravity center position of the load by the processor during the initial static load bearing process of the load comprises the following steps:
the processor remembers an initial stable value F0 measured by each load detection unit and stores the initial stable value in a power-down register, and the value is used as a static load reference value of the subsequent dynamic load movement;
through calculating the load value of each jacking unit that acquires, calculate the focus position point of load, be equipped with n jacking units, there are m load detecting element 1 on every jacking unit, then calculate and adopt the vector calculation formula:
FszRzβz=Fs11R11β11+Fs12R12β12+……+Fs1mR1mβ1m+Fs21R21β21+ Fs22R22β22+……+Fs2mR2mβ2m+……Fsn1Rn1βn1+Fsn2Rn2βn2+……+FsnmRnmβnm；
wherein Fs11 to Fsnm are load values detected by the respective load detection cells; r11 to Rnm are distances from each load detection unit to the center point of the multipoint jacking mechanism; beta 11 to beta nm are included angles between each load detection unit and the coordinate of the central point of the multipoint jacking mechanism; fsz is the sum of the load values detected by the load detection units; rz and betaz are the vector values of the center of gravity of the solution.
2. The multipoint jacking mechanism load detecting method according to claim 1, wherein the calculating sampled values by a median average filtering method comprises:
and continuously acquiring a plurality of load values, removing the maximum value and the minimum value, and performing arithmetic mean operation on the residual load value data.
3. The method of claim 1, wherein the limiting the load value comprises:
and taking 2-3 times of the theoretical dynamic load value as the amplitude limiting value, and removing the load value larger than the amplitude limiting value.
4. The multipoint jacking mechanism load detection method of claim 1, wherein the recursive average filtering processing performed on the queue of incoming sampled values comprises:
transmitting the load value subjected to amplitude limiting processing into the tail of a sampling value queue;
removing the load value after the amplitude limiting processing of the head of the sampling value queue;
and carrying out arithmetic mean operation on the load values after the amplitude limiting processing in the queue.
5. The method of claim 1, further comprising:
and if the load state is judged to be the empty load, zero marking is carried out on the obtained load value.
6. The method of claim 1, further comprising the step of automatically replacing a distortion signal:
when the load value of any jacking unit is abnormal, the abnormal load value is shielded and replaced by the average value of other load values on the same jacking unit.
7. The method of claim 1, further comprising:
acquiring an actual dynamic load value change curve of the jacking unit;
and judging whether the actual dynamic load value change curve is larger than a curve preset value or not, and if so, giving an alarm.
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