CN110657787B - Crane track deformation detection method based on inertia measurement - Google Patents
Crane track deformation detection method based on inertia measurement Download PDFInfo
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- CN110657787B CN110657787B CN201810698725.0A CN201810698725A CN110657787B CN 110657787 B CN110657787 B CN 110657787B CN 201810698725 A CN201810698725 A CN 201810698725A CN 110657787 B CN110657787 B CN 110657787B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The invention belongs to the detection technology, and particularly relates to a crane track deformation detection method based on inertial measurement.
Description
Technical Field
The invention belongs to the detection technology, and particularly relates to a crane track deformation detection method based on inertial measurement.
Background
The crane is an essential important tool for modern production construction such as material handling, loading and unloading, transportation and installation, and is widely applied to various departments of national economic production. The track is as the load-bearing device of hoist, bears the hoist dead weight and lifts by crane goods gravity, and orbital condition will directly influence the stability and the life of hoist. The manufacturing and mounting precision is difficult to guarantee, and the crane is influenced by factors such as abrasion and ground subsidence, so that the crane is easy to have a rail gnawing phenomenon in the use process, wherein the rail gnawing phenomenon means that the wheel rim is in forced contact with the side face of the rail in the running process of a crane cart or trolley, horizontal lateral thrust is generated, severe friction is caused between the wheel rim and the rail, and severe abrasion is caused between the wheel rim and the side face of the rail. The occurrence of the phenomenon of rail gnawing influences the service life of the crane to a great extent, and simultaneously threatens the safe working state of the crane. When the rail gnawing is serious, the crane can derail in the running process, so that a great safety accident is caused.
The manufacturing, installation and abrasion of the rail are one of the main reasons for inducing the rail gnawing, because the crane is in a heavy-load or even overload working environment for a long time and is influenced by factors such as ground settlement, deformation of a bearing structure of a factory building and the like, the rail is easy to deform in the transverse direction and the longitudinal direction, in order to ensure the normal use of the crane and avoid the rail gnawing phenomenon, various parameters of the rail need to be regularly detected in the manufacturing, installation and use processes of the rail, when a certain parameter or a plurality of parameters are out of tolerance, the rail is required to be correspondingly corrected, and the safe use of the crane is ensured.
The crane track deformation detection mainly comprises track top horizontal straightness, track top center height straightness, two-track center span and two-track center height difference detection. The traditional crane track deformation detection method mainly comprises a steel wire pulling detection method, a level detection method and the like, and the detection methods are not enough in detection principle or technical means and mainly embodied in the following steps: (1) the automation degree is low, and the labor capacity of measuring personnel is large; (2) huge potential safety hazards exist in high-altitude operation; (3) the detection result has low precision and larger error, and is easily influenced by human factors and external factors.
In order to improve the detection efficiency and the measurement precision and reduce the labor intensity of measurement personnel, a plurality of experts and scholars at home and abroad develop research on related technologies in the field of crane rail detection. Peter Kyrinovic and Alojz Kopacik of the university of Splovack science and technology provide an automatic measuring system for crane track detection, which mainly comprises a total station (including a prism), a notebook computer, an inductive displacement sensor, a driving wheel and a mounting structure. The basic principle is that the measuring position of the whole detection system is obtained through the measurement of the total station, the distance between the top surface of the track and the total station is obtained through the measurement of the displacement sensor, and the position information of the top surface of the track can be obtained through the combination of the top surface of the track and the total station. Wu Enqi, Du Bao Jiang, etc. of Shanghai's university of rational engineering developed a crane track detection system based on detection robot, and this system mainly comprises total powerstation and track robot two parts, and the total powerstation erects on the track, and track robot is followed along being surveyed the track and is gone on in the measurement process, and the total powerstation tracks the position of robot. On the basis, the Liuwei, Chengweming and the like of Shanghai engineering technology university provide an improved scheme, and the total station is erected on the ground, so that the operation flexibility is improved. Compared with the traditional detection methods such as a steel wire drawing method, a level gauge and the like, the measurement method based on the total station has great improvement in the aspects of measurement efficiency, measurement precision and the like, but the measurement method based on the total station can only realize the measurement of discrete points, deformation parameters of the whole measured track are obtained by fitting a plurality of measurement points, and certain fitting errors exist. And in addition, an operator needs to aim at the total station prism again at each measuring point, so that the measuring efficiency needs to be further improved. The inertial measurement is widely applied in various fields due to the characteristics of autonomy, continuity, no interference and the like.
Disclosure of Invention
The invention aims to provide a crane track deformation detection method based on inertia measurement, which can further improve the measurement efficiency and the measurement precision of crane track deformation detection.
The technical scheme of the invention is as follows:
a crane track deformation detection method based on inertial measurement comprises the following steps:
step 1) constructing a crane track deformation detection system
Placing the total station measuring equipment in the middle of the vertical line of the left track and the right track, wherein an I-shaped beam 1 of the crane is positioned above the left track and the right track, and two ends of the I-shaped beam are aligned with the walls on the left side and the right side of the tracks;
the laser range finders I3 and II 4 are respectively arranged right below two sides of the I-shaped beam 1 of the crane, a total station prism I5 and a total station prism II 6 are arranged on the inner side of I-shaped structures at two ends of the I-shaped beam 1 of the crane from outside to inside of one end, and a total station prism IV 8 and a total station prism III 7 are arranged on the inner side of the other end from outside to inside;
step 2) determining the center span of the tracks on two sides
Let the relative coordinates of the four total station prisms 5, 6, 7, 8 respectively (x)1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)；
The span d between the total station prism II 6 and the total station prism III 7;
d＝|z2-z3|
the initial value D of the center span of the tracks on the left and right sides is determined using the following equation.
D＝d+dl+dr+zL+zR
Wherein the transverse distance of the total station prism II 6 relative to the right laser range finder II 4 is drAnd the transverse distance d of the total station prism III 7 relative to the left side laser range finder I3lLet the coordinates of the left track vertex measured by the laser range finder I3 be (x)L,yL,zL) And the coordinate of the vertex of the right track measured by the laser range finder II is (x)R,yR,zR)
Step 3) determining the height difference of the centers of the two side tracks
Determining the height difference h between the prism II 6 and III 7
h＝|y2-y3|
The height difference H between the centers of the left and right tracks is
H＝h+|yL-yR|
Step 4) determining the horizontal straightness of the top surface of the monorail track and the high-low straightness of the center of the top surface
The relative coordinate of the vertex of the left track measured by the laser range finder I is (x)L,yL,zL) Determining the three-dimensional position coordinates of the corresponding rail vertex using the following equation
α＝α0+(γ-γ0)
Wherein alpha is the laser irradiation deflection angle in the dynamic measurement process, and gamma is0Is the inertial navigation roll angle at the initial moment, gamma is the inertial navigation roll angle in the dynamic measurement process, alpha0The laser irradiation deflection angle is the initial moment;
according to the obtained track vertex position information
Determining the displacement of any point of the whole measured track relative to the measurement starting point, and determining the horizontal straightness of the top surface of the track and the high-low straightness of the center of the top surface by referring to a calculation method specified in GB/T10183.1-2010.
The laser irradiation deflection angle alpha at the initial time in the step 4)0For the horizontal deflection angle of prism III 7 relative to prism IV 8, the following formula is used to determine
In the step 4), a Kalman filtering-based inertia/mileage combined navigation method is used to obtain a three-dimensional position coordinate (p) of the detection system in the measurement process1,p2,p3)。
And (2) fixedly mounting the laser range finder and the total station prism in the crane track deformation detection system in the step 1) through rigid structures.
The invention has the following remarkable effects: the inertia measurement unit calculates and obtains the position, speed and attitude information of the detection system through strapdown inertial navigation, and carries out inertial/mileage combined navigation by utilizing the high-precision mileage information of the odometer so as to inhibit the error accumulated by the inertia system along with the time and further improve the precision of the inertial measurement of the system. The laser range finder is used for measuring the distance from the top surface of the track to the laser range finder, the spatial position relation between the laser range finder and the inertial navigation system can be obtained by calibration in advance, the position information obtained by inertial measurement is combined with the distance information obtained by laser range finding to obtain the position information of the top surface of the track, and the triaxial displacement information of the whole track relative to the measurement starting point can be obtained by further calculation. The total station is used for measuring the center span of the two-rail track and the initial value of the height difference of the center of the two-rail track, and the total station is only used once at the measuring initial point in the measuring process, so that the measuring efficiency is greatly improved. According to the calculation method specified in GB/T10183.1-2010, the horizontal straightness of the top surface of the rail, the height straightness of the center of the top surface of the rail, the center span of the two-rail and the height difference of the center of the two-rail can be obtained. The attitude information of the inertial measurement can compensate the measurement error caused by vibration in the dynamic detection process, and the high-precision, continuous and dynamic detection of the crane track deformation is realized.
Drawings
FIG. 1 is a schematic view of a crane rail deformation detection system;
in the figure, 1, an I-shaped beam of a crane, 2, an inertia measurement unit, 3, a laser range finder I, 4, a laser range finder II, 5, a total station prism I, 6, a total station prism II, 7, a total station prism III, 8, a total station prism IV and 9, a total station measurement host are arranged.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, the crane track deformation detection system based on inertial measurement comprises an inertial measurement unit 2, photoelectric encoders, laser range finders 3 and 4, and total station prisms 5, 6, 7 and 8, which are installed through an i-shaped beam 1 of a crane.
The two ends of the I-shaped beam 1 of the crane are aligned with the wall bodies on the left side and the right side of the track. The total station measuring host 9 is arranged between the left track and the right track.
The inertia measurement unit 2 is arranged on one side of the I-shaped beam 1, and all the devices are fixedly connected through a rigid structure.
The laser range finder I3 and the laser range finder II 4 are respectively arranged under two sides of the I-shaped beam 1 of the crane, and laser irradiates downwards to cover the top surface of the whole track. And a total station prism I5 and a total station prism II 6 are arranged on the inner side of I-shaped structures at two ends of the I-shaped beam 1 of the crane from outside to inside of one end, and a total station prism IV 8 and a total station prism III 7 are arranged on the inner side of the other end from outside to inside.
The inertial measurement unit 2 establishes a space reference for the whole detection system, the laser distance measuring instruments 3 and 4 are used for measuring the distance from the top surface of the rail to the detection system, and the total station prisms 5, 6, 7 and 8 are used for measuring the center span of the two-rail and the initial value of the height difference of the center of the two-rail, and the position information of the centers of the tops of the rails on the two sides of the crane can be obtained by combining the inertial measurement space reference, the distance measurement information of the laser distance measuring instruments and the initial measurement information of the total station.
The crane track deformation detection based on inertia measurement is carried out by combining the system, and the specific steps are as follows.
Step 1 determining center span of two-side track
The relative coordinates of the four total station prisms 5, 6, 7, 8 are (x) respectively1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4) And obtaining the span d between the total station prism II 6 and the total station prism III 7.
d＝|z2-z3|
The transverse distance of the total station prism II 6 relative to the right laser range finder II 4 is drAnd the transverse distance d of the total station prism III 7 relative to the left side laser range finder I3lAll known through the structural design of the i-shaped beam 1 of the crane.
Let the coordinate of the vertex of the left orbit measured by the laser range finder I3 be (x)L,yL,zL) And the coordinate of the vertex of the right track measured by the laser range finder II is (x)R,yR,zR) And obtaining the initial value D of the center span of the tracks on the two sides.
D＝d+dl+dr+zL+zR
Because all the devices are fixedly connected through a rigid structure, the span d between the total station prism II 6 and the total station prism III 7 and the transverse distance d of the total station prism II 6 relative to the right laser range finder II 4 in the dynamic measurement processrAnd the transverse distance d of the total station prism III 7 relative to the left side laser range finder I3lThe center spans of the tracks on the two sides can be dynamically and continuously measured according to the change of the vertexes of the tracks on the left side and the right side relative to the coordinates of the laser range finder in the measuring process.
Step 2, determining the height difference of the centers of the two side tracks
Measuring relative coordinates (x) of prism II 6 of total station according to initial time of total station2,y2,z2) And relative coordinates (x) of prism III 7 of total station3,y3,z3) And obtaining the height difference h between the total station prism II 6 and the total station prism III 7.
h＝|y2-y3|
Because the prism is rigidly and fixedly connected with the laser range finder, the height difference h between the prism II 6 and the prism III 7 is the height difference between the laser range finder I3 and the laser range finder II 4. Combining the coordinates (x) of the left and right orbital vertices relative to the laser rangefinderL,yL,zL)、(xR,yR,zR) And the height difference H between the centers of the left and right tracks can be obtained.
H＝h+|yL-yR|
Because the height difference h of the measuring original points of the left and right laser range finders is fixed, the height difference of the centers of the left and right tracks can be dynamically and continuously measured according to the change of the vertexes of the left and right tracks relative to the coordinates of the laser range finders in the measuring process.
Step 3, determining the horizontal straightness of the top surface of the monorail track and the high-low straightness of the center of the top surface
The inertial measurement unit obtains the position, speed and attitude information of the detection system through strapdown inertial navigation resolving, and obtains the measurement process through a Kalman filtering inertia/mileage-based integrated navigation methodThree-dimensional position coordinates (p) of the middle detection system1,p2,p3)。
According to the position information of the detection system, the position information of the track vertexes on the left side and the right side can be obtained by combining the coordinates of the track vertexes relative to the laser range finder.
Taking the left track as an example, the relative coordinate of the vertex of the left track measured by the laser range finder I is (x)L,yL,zL) Can obtain the three-dimensional position coordinates of the top point of the rail
In the formula (I), the compound is shown in the specification,
alpha is the laser irradiation declination angle in the dynamic measurement process, gamma0Is the inertial navigation roll angle at the initial moment, gamma is the inertial navigation roll angle in the dynamic measurement process, alpha0The laser irradiation deflection angle is the initial time.
According to the relative coordinate (x) of the prism III 7 measured by the total station3,y3,z3) Prism IV 8 relative coordinate (x)4,y4,z4) The horizontal deflection angle alpha of the prism III 7 relative to the prism IV 8 can be obtained0。
According to the obtained track vertex position information
The displacement of any point of the whole measured track relative to the measurement starting point can be obtained, and the horizontal straightness of the top surface of the track and the height of the center of the top surface can be carried out by referring to the calculation method specified in GB/T10183.1-2010And calculating low straightness.
Claims (5)
1. A crane track deformation detection method based on inertial measurement is characterized by comprising the following steps:
step 1) constructing a crane track deformation detection system
Placing the total station measuring equipment in the middle of the vertical line of the left track and the right track, wherein an I-shaped beam of the crane is positioned above the left track and the right track, and two ends of the I-shaped beam of the crane are aligned with the walls on the left side and the right side of the tracks;
the laser range finder I and the laser range finder II are respectively arranged right below two sides of an I-shaped beam of the crane, a total station prism I and a total station prism II are arranged on the inner side of an I-shaped structure at two ends of the I-shaped beam of the crane from outside to inside of one end of the I-shaped beam, and a total station prism IV and a total station prism III are arranged on the inner side of the other end of the I-shaped beam from outside to inside;
step 2) determining the center span of the tracks on two sides
Let the relative coordinates of the four total station prisms be (x)1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)；
The span d between the total station prism II and the total station prism III;
d＝|z2-z3|
determining an initial value D for the center span of the left and right tracks using the following equation:
D＝d+dl+dr+zL+zR
the transverse distance of the total station prism II relative to the right laser range finder II is drAnd the transverse distance d of the total station prism III 7 relative to the laser distance measuring instruments I on the left sidelLet the coordinates of the left track vertex measured by the laser range finder I be (x)L,yL,zL) And the coordinate of the vertex of the right track measured by the laser range finder II is (x)R,yR,zR)
Step 3) determining the height difference of the centers of the two side tracks
Determining the height difference h between the prism II and III
h＝|y2-y3|
The height difference H between the centers of the left and right tracks is
H＝h+|yL-yR|
Step 4) determining the horizontal straightness of the top surface of the monorail track and the high-low straightness of the center of the top surface
The relative coordinate of the vertex of the left track measured by the laser range finder I is (x)L,yL,zL) Determining the three-dimensional position coordinates of the corresponding rail vertex using the following equation
α＝α0+(γ-γ0)
Wherein alpha is the laser irradiation deflection angle in the dynamic measurement process, and gamma is0Is the inertial navigation roll angle at the initial moment, gamma is the inertial navigation roll angle in the dynamic measurement process, alpha0The laser irradiation deflection angle is the initial moment; p is a radical of1,p2,p3The three-dimensional position coordinates of the detection system during the measurement process.
2. The crane rail deformation detection method based on inertial measurement as claimed in claim 1, wherein: according to the obtained track vertex position information
Determining the displacement of any point of the whole measured track relative to the measurement starting point, and referring to the calculation method specified in GB/T10183.1-2010And determining the horizontal straightness of the top surface of the rail and the high-low straightness of the center of the top surface.
3. The crane rail deformation detection method based on inertial measurement as claimed in claim 1, wherein: the laser irradiation deflection angle alpha at the initial time in the step 4)0For the horizontal deflection angle of prism III relative to prism IV, the following formula is used to determine
4. The crane rail deformation detection method based on inertial measurement as claimed in claim 1, wherein: in the step 4), a Kalman filtering-based inertia/mileage combined navigation method is used to obtain a three-dimensional position coordinate (p) of the detection system in the measurement process1,p2,p3)。
5. The crane rail deformation detection method based on inertial measurement as claimed in claim 1, wherein: and (2) fixedly mounting the laser range finder and the total station prism in the crane track deformation detection system in the step 1) through rigid structures.
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| CN113758449B (en) * | 2021-09-03 | 2023-06-27 | 武汉一冶钢结构有限责任公司 | Derailment prevention detection system and detection method for traveling crane on track |
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| JPH07208992A (en) * | 1994-01-13 | 1995-08-11 | East Japan Railway Co | Apparatus for measuring alignment and of track of railroad |
| CN202508115U (en) * | 2012-05-02 | 2012-10-31 | 武汉汉宁科技有限公司 | Comprehensive detection trolley of high speed railway track |
| CN203079561U (en) * | 2013-01-18 | 2013-07-24 | 新疆维吾尔自治区特种设备检验研究院 | Crane gauge deviation value automatic monitoring device |
| CN203550940U (en) * | 2013-08-30 | 2014-04-16 | 上海电气核电设备有限公司 | Device for measuring span and elevation difference of traveling rails through laser |
| JP6269409B2 (en) * | 2014-09-17 | 2018-01-31 | 三菱電機株式会社 | Gauge measuring device, gauge measuring method |
| CN107782335B (en) * | 2016-08-31 | 2021-07-13 | 北京自动化控制设备研究所 | Non-contact type line detection system inertial navigation and laser range finder self-calibration method |
| CN206125057U (en) * | 2016-10-16 | 2017-04-26 | 华东交通大学 | Portable high -precision laser limit measuring appearance of integration |
| CN207365914U (en) * | 2017-11-06 | 2018-05-15 | 北京拉特激光精密仪器有限公司 | A kind of guide rail calibration equipment |
| CN108180355B (en) * | 2017-12-28 | 2019-09-13 | 苏州市测绘院有限责任公司 | A kind of mapping auxiliary tool and its application method |
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