CN112665885A - Stability evaluation method and device for hoisting equipment, hoisting equipment and storage medium - Google Patents
Stability evaluation method and device for hoisting equipment, hoisting equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a stability evaluation method and device for hoisting equipment, the hoisting equipment and a storage medium, wherein the evaluation method comprises the following steps: acquiring angular displacement information of a main body structure of the hoisting equipment in real time; obtaining stable representation information of the hoisting equipment based on the angular displacement information; and generating a corresponding stability evaluation result according to a preset rule based on the stability characterization information. Through for hoisting equipment configuration angle information acquisition device and position information acquisition device, detect and analyze the major structure that has strong relevance with hoisting equipment's stationarity to detect hoisting equipment's deformation fast, accurately, realize quick, the accurate evaluation to hoisting equipment's stationarity, greatly reduced the calculated amount, reduced and evaluated with low costsly.
Description
Technical Field
The invention relates to the technical field of equipment inspection, in particular to a stability evaluation method of hoisting equipment, a stability evaluation device of the hoisting equipment, the hoisting equipment and a computer-readable storage medium.
Background
In the modern building field, buildings often have higher building heights, and particularly in cities where land resources are precious, the building heights are higher and higher. In the process of building construction, hoisting equipment is widely used, such as a tower crane and the like.
In the application process, the tower crane needs to hoist heavy objects or carry out rotary movement between different areas in a no-load mode according to actual conditions, and in the moving process, the control accuracy of the tower crane becomes one of important indexes of difficulty in operation of technicians and safety of field work. For example, in the process of slewing operation of the tower crane, due to the influence of stress or service time, the phenomena of structural deformation, vibration, impact, swing and the like of the tower crane can cause different slewing stationarities of the tower crane, and therefore the slewing stationarities of the tower crane need to be evaluated.
In the prior art, the stability of the hoisting equipment is often evaluated through subjective feelings of technicians or operators, and the evaluation accuracy is low and the deviation is large; or a plurality of sets of measuring systems are configured for the hoisting equipment to evaluate the stability, however, in the practical application process, the measuring method has the problems of large calculated amount and high evaluating cost, and great troubles are caused for the operation of enterprises.
Disclosure of Invention
In order to solve the technical problems of low evaluation accuracy, large calculation amount and high evaluation cost in stability evaluation of hoisting equipment in the prior art, the embodiment of the invention provides a stability evaluation method and device of the hoisting equipment, the hoisting equipment and a storage medium.
In order to achieve the above object, an embodiment of the present invention provides a stability evaluation method for a hoisting device, where the evaluation method includes: acquiring angular displacement information of a main body structure of the hoisting equipment in real time; acquiring corresponding equipment deformation information based on the angular displacement information, wherein the equipment deformation information comprises first posture deformation information, second posture deformation information and third posture deformation information; obtaining stable representation information of the hoisting equipment based on the equipment deformation information, wherein the stable representation information is used for describing the stability of the hoisting equipment; and processing the stability characterization information based on a preset comparison rule to generate a corresponding stability evaluation result.
Preferably, the obtaining of the angular displacement information of the main structure of the hoisting device in real time includes: obtaining selected operation conditions, wherein the selected operation conditions comprise at least three different operation conditions; and acquiring angular displacement information of the main structure under each operating condition in real time.
Preferably, the obtaining of the angular displacement information of the main structure in real time under each operating condition includes: establishing a first three-dimensional coordinate system based on the hoisting equipment; acquiring initial position information of the main body structure; under each operation condition, acquiring operation attitude information of the main body structure in the first three-dimensional coordinate system in real time; and generating angular displacement information corresponding to each operation condition based on the initial position information and the operation attitude information.
Preferably, the evaluation method further comprises: after acquiring the angular displacement information of the main body structure of the hoisting equipment in real time, performing preprocessing operation on the angular displacement information to acquire processing rear angle displacement information, wherein the preprocessing operation comprises at least one of denoising operation, trend removing operation and bias removing operation; generating the device deformation information based on the processing relief angle displacement information.
Preferably, the obtaining of the stable characterization information of the hoisting device based on the device deformation information includes: establishing a second three-dimensional coordinate system; acquiring mapping points corresponding to the first posture deformation information, the second posture deformation information and the third posture deformation information on the second three-dimensional coordinate system; generating the smoothness characterization information based on the mapped points.
Preferably, the generating the smooth characterization information based on the mapping points includes: obtaining a three-dimensional envelope volume based on the mapping points; acquiring an envelope volume of the three-dimensional envelope body; obtaining the centroid distance between the three-dimensional envelope and the origin of the second three-dimensional coordinate system; taking the product of the envelope volume and the centroid distance, the envelope volume, and the centroid distance as the stationarity characterizing information.
Preferably, the obtaining a three-dimensional envelope based on the mapping points includes: judging whether all mapping points are positioned in the same plane or not; if so, acquiring the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate of all mapping points in the second three-dimensional coordinate system, acquiring a minimum coordinate point based on the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate, and generating the three-dimensional envelope body based on the plane and the minimum coordinate point; otherwise, the adjacent mapping points are connected in sequence to obtain the three-dimensional enveloping body.
Preferably, the processing the stationarity characterizing information based on a preset comparison rule to generate a corresponding stationarity evaluating result includes: acquiring reference stable characterization information of preset reference hoisting equipment, wherein the reference stable characterization information comprises a reference centroid distance, a reference envelope volume and a reference product; acquiring current stable characterization information of current hoisting equipment, wherein the current stable characterization information comprises a current centroid distance, a current envelope volume and a current product; and generating a corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information.
Preferably, the generating a corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information includes: obtaining a first evaluation result according to a first comparison rule based on the reference centroid distance and the current centroid distance; judging whether the first evaluation result meets a first preset inspection requirement or not; under the condition that the first evaluation result does not meet the first preset test requirement, obtaining a second evaluation result according to a second comparison rule based on the reference envelope volume and the current envelope volume; judging whether the second evaluation result meets a second preset inspection requirement or not; under the condition that the second evaluation result does not meet the second preset test requirement, obtaining a third evaluation result according to a third comparison rule based on the reference product and the current product; and taking the first evaluation result, the second evaluation result or the third evaluation result as the stability evaluation result.
Correspondingly, the invention also provides a stability evaluating device of the hoisting equipment, which comprises: the angular displacement acquisition module is used for acquiring angular displacement information of the main body structure of the hoisting equipment in real time; the deformation information acquisition module is used for acquiring corresponding equipment deformation information based on the angular displacement information, wherein the equipment deformation information comprises first posture deformation information, second posture deformation information and third posture deformation information; the stability information acquisition module is used for acquiring stability characterization information of the hoisting equipment based on the equipment deformation information, and the stability characterization information is used for describing the stability of the hoisting equipment; and the evaluation module is used for processing the stability characterization information based on a preset comparison rule to generate a corresponding stability evaluation result.
Preferably, the angular displacement acquisition module includes: the working condition selection unit is used for acquiring selected operating working conditions, and the selected operating working conditions comprise at least three different operating working conditions; and the angular displacement acquisition unit is used for acquiring angular displacement information of the main body structure under each operating condition in real time.
Preferably, the angular displacement acquisition unit is configured to: establishing a first three-dimensional coordinate system based on the hoisting equipment; acquiring initial position information of the main body structure; under each operation condition, acquiring operation attitude information of the main body structure in the first three-dimensional coordinate system in real time; and generating angular displacement information corresponding to each operation condition based on the initial position information and the operation attitude information.
Preferably, the evaluation apparatus further comprises a preprocessing module, the preprocessing module is configured to: after acquiring the angular displacement information of the main body structure of the hoisting equipment in real time, performing preprocessing operation on the angular displacement information to acquire processing rear angle displacement information, wherein the preprocessing operation comprises at least one of denoising operation, trend removing operation and bias removing operation; generating the device deformation information based on the processing relief angle displacement information.
Preferably, the smooth information obtaining module includes: a coordinate system establishing unit for establishing a second three-dimensional coordinate system; a point mapping unit, configured to obtain mapping points corresponding to the first posture deformation information, the second posture deformation information, and the third posture deformation information on the second three-dimensional coordinate system; and the stable information acquisition unit is used for generating the stable representation information based on the mapping points.
Preferably, the stationary information acquiring unit is configured to: obtaining a three-dimensional envelope volume based on the mapping points; acquiring an envelope volume of the three-dimensional envelope body; obtaining the centroid distance between the three-dimensional envelope and the origin of the second three-dimensional coordinate system; taking the product of the envelope volume and the centroid distance, the envelope volume, and the centroid distance as the stationarity characterizing information.
Preferably, the obtaining a three-dimensional envelope based on the mapping points includes: judging whether all mapping points are positioned in the same plane or not; if so, acquiring the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate of all mapping points in the second three-dimensional coordinate system, acquiring a minimum coordinate point based on the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate, and generating the three-dimensional envelope based on the plane and the minimum coordinate point; otherwise, the adjacent mapping points are connected in sequence to obtain the three-dimensional enveloping body.
Preferably, the evaluation module comprises: the system comprises a reference information acquisition unit, a reference information storage unit and a reference information processing unit, wherein the reference information acquisition unit is used for acquiring reference stable representation information of preset reference hoisting equipment, and the reference stable representation information comprises a reference centroid distance, a reference envelope volume and a reference product; the current information acquisition unit is used for acquiring current stable representation information of the current hoisting equipment, wherein the current stable representation information comprises a current centroid distance, a current envelope volume and a current product; and the evaluating unit is used for generating a corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information.
Preferably, the evaluation unit is configured to: obtaining a first evaluation result according to a first comparison rule based on the reference centroid distance and the current centroid distance; judging whether the first evaluation result meets a first preset inspection requirement or not; under the condition that the first evaluation result does not meet the first preset test requirement, obtaining a second evaluation result according to a second comparison rule based on the reference envelope volume and the current envelope volume; judging whether the second evaluation result meets a second preset inspection requirement or not; under the condition that the second evaluation result does not meet the second preset test requirement, obtaining a third evaluation result according to a third comparison rule based on the reference product and the current product; and taking the first evaluation result, the second evaluation result or the third evaluation result as the stability evaluation result.
On the other hand, the invention also provides hoisting equipment which comprises the stability evaluating device provided by the invention, and the hoisting equipment further comprises: the angle information acquisition device is configured on the main body structure of the hoisting equipment and is used for acquiring the angular displacement information of the main body structure in real time; the position acquisition device is configured near the hoisting equipment and used for acquiring the position information of the hoisting equipment in real time; the stability evaluating device is electrically connected with the angle information acquisition device and the position acquisition device and is used for optimizing the angular displacement information based on the position information to obtain optimized relief angle displacement information and generating a stability evaluating result of the hoisting equipment based on the optimized relief angle displacement information.
In another aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method provided by the present invention.
Through the technical scheme provided by the invention, the invention at least has the following technical effects:
through for hoisting equipment configuration angle information acquisition device and position information acquisition device, detect and analyze the major structure that has strong relevance with hoisting equipment's stationarity to detect hoisting equipment's deformation fast, accurately, realize quick, the accurate evaluation to hoisting equipment's stationarity, greatly reduced the calculated amount, reduced and evaluated with low costsly.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a concrete implementation of a stability evaluation method for a hoisting device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of establishing a first three-dimensional coordinate system based on a hoisting device in the stability evaluation method for the hoisting device provided by the embodiment of the invention;
fig. 3 is a schematic diagram of angular displacement information of a tower crane operating under a certain working condition in the stability evaluation method for hoisting equipment provided by the embodiment of the invention;
FIG. 4 is a schematic diagram of a three-dimensional envelope obtained based on mapping points in the stability evaluation method for the hoisting equipment provided by the embodiment of the invention;
fig. 5 is a schematic diagram of three-dimensional enveloping bodies of a test tower crane and a standard prototype in the stability evaluation method of the hoisting equipment provided by the embodiment of the invention;
fig. 6 is a schematic diagram of three-dimensional enveloping bodies of a test tower crane and a standard prototype in the stability evaluating method of the hoisting equipment provided by another embodiment of the invention;
fig. 7 is a schematic structural diagram of a stability evaluating device of a hoisting apparatus provided by an embodiment of the invention.
Detailed Description
In order to solve the technical problems of low evaluation accuracy, large calculation amount and high evaluation cost in stability evaluation of hoisting equipment in the prior art, the embodiment of the invention provides a stability evaluation method and device of the hoisting equipment, the hoisting equipment and a storage medium.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The terms "system" and "network" in embodiments of the present invention may be used interchangeably. The "plurality" means two or more, and in view of this, the "plurality" may also be understood as "at least two" in the embodiments of the present invention. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" generally indicates that the preceding and following related objects are in an "or" relationship, unless otherwise specified. In addition, it should be understood that the terms first, second, etc. in the description of the embodiments of the invention are used for distinguishing between the descriptions and are not intended to indicate or imply relative importance or order to be construed.
Referring to fig. 1, an embodiment of the present invention provides a stability evaluation method for a hoisting device, where the evaluation method includes:
s10) acquiring the angular displacement information of the main structure of the hoisting equipment in real time;
s20) acquiring corresponding device deformation information based on the angular displacement information, wherein the device deformation information comprises first posture deformation information, second posture deformation information and third posture deformation information;
s30 obtaining stable representation information of the hoisting equipment based on the equipment deformation information, wherein the stable representation information is used for describing the stability of the hoisting equipment;
s40) processing the stability characterization information based on a preset comparison rule to generate a corresponding stability evaluation result.
In a possible implementation manner, the stability evaluation method provided by the embodiment of the invention is applied to a tower crane. Because the rotation stability of the tower crane has strong correlation with the structural deformation of the tower body, the tower body related parameters of the tower crane are collected and monitored in the process of evaluating the rotation stability of the tower crane. In the embodiment of the invention, angular displacement information of a main body structure of the hoisting equipment is firstly acquired, for example, in the embodiment of the invention, a technician installs and configures inertial navigation equipment on a standard section of a tower body of the tower crane, for example, the inertial navigation equipment can be a 9-axis sensor and the like, so that the angular displacement information of the tower body is directly acquired in real time.
In the embodiment of the invention, in order to further improve the accuracy of obtaining the angular displacement information, the angular displacement information collected by the inertial navigation equipment is optimized by combining a base station arranged near the tower crane or a third-party virtual base station arranged at a preset position, so that the accurate angular displacement information of the tower body is obtained.
And generating corresponding equipment deformation information immediately after acquiring the angular displacement information. For example, in the embodiment of the present invention, after the yaw angle, the pitch angle, and the roll angle of the tower crane are obtained, that is, the torsional deformation information, the front-back deformation information, and the left-right deformation information of the tower body at the inertial navigation device during the operation of the tower body are obtained, in the embodiment of the present invention, the first difference value of the yaw angle, the second difference value of the pitch angle, and the third difference value of the roll angle may be obtained, and the first difference value, the second difference value, and the third difference value may be used as the device deformation information of the tower crane during the operation. And finally, generating a corresponding stability evaluation result according to a preset evaluation rule based on the stability characterization information.
In the embodiment of the invention, the simple data acquisition device, such as the inertial navigation device in the embodiment of the invention, is configured on the hoisting equipment, so that the angular displacement information of the main body structure of the hoisting equipment in the operation process can be simply, quickly and accurately acquired, and the stability of the hoisting equipment can be quickly and accurately evaluated according to the angular displacement information; on the other hand, the stability of the hoisting equipment can be evaluated in time on site, and the hoisting equipment does not need to be transported to a special evaluation site, so that the timeliness and convenience of stability evaluation of the hoisting equipment are improved, and the personal safety of construction personnel on site is effectively guaranteed.
In the embodiment of the present invention, the obtaining of the angular displacement information of the main structure of the hoisting device in real time includes: obtaining selected operation conditions, wherein the selected operation conditions comprise at least three different operation conditions; and acquiring angular displacement information of the main structure under each operating condition in real time.
Further, in the embodiment of the present invention, the obtaining, in real time, angular displacement information of the main structure under each operating condition includes: establishing a first three-dimensional coordinate system based on the hoisting equipment; acquiring initial position information of the main body structure; under each operation condition, acquiring operation attitude information of the main body structure in the first three-dimensional coordinate system in real time; and generating angular displacement information corresponding to each operation condition based on the initial position information and the operation attitude information.
In the actual use process of the hoisting equipment, due to the complexity of a construction site, the running state of the hoisting equipment may have a certain difference in different application scenes, such as a stable application environment or a non-stable application environment, a running working condition of a large load and a small load, a fast running working condition, a slow running working condition and other different working conditions, so that in one possible implementation mode, in order to reduce the influence of different working conditions on the collected angular displacement information, the selected running working condition is firstly obtained. For example, in the embodiment of the present invention, a technician may manually select the corresponding selected operating condition according to actual experience, the hoisting device may also automatically select the corresponding selected operating condition according to the current application scenario according to a preset operating condition selection rule, in the embodiment of the present invention, in order to ensure the accuracy of the angular displacement information, reduce the influence of different working conditions on the accuracy of the angular displacement information, and reduce the data deviation existing in the data acquisition by using a single working condition, preferably, the selected operating condition includes at least three different operating conditions, for example, the operation conditions of the hoisting equipment may include, but are not limited to, low-gear steady parking, medium-gear steady parking, high-gear steady parking, low-gear inching, medium-gear inching, high-gear inching, low-gear reverse parking, medium-gear reverse parking, high-gear reverse parking, limit operation conditions, and the like.
And then the control system of the hoisting equipment can control the hoisting equipment to start to operate, and in the operation process, the angular displacement information of the main body structure under each operation condition is obtained in real time. For example, referring to fig. 2, in the embodiment of the present invention, a first three-dimensional coordinate system based on a hoisting device is first established, and for example, the first three-dimensional coordinate system may be established by taking a rotation center of a tower crane as an origin of coordinates, a tower body of the tower crane as a Z-axis, a tower arm of the tower crane as an X-axis, and a horizontal plane perpendicular to the tower arm as a Y-axis. At this time, initial position information of the main structure is acquired in the first three-dimensional coordinate system, for example in the embodiment of the present invention, acquiring initial position information of the position of inertial navigation equipment on the tower body as the initial position information of the main body structure, and then in the operation process of hoisting equipment, the operation attitude information of the main body structure is obtained in real time under each operating condition, for example, in the embodiment of the present invention, the operation attitude information includes a yaw angle, a pitch angle and a roll angle of the tower body, namely, the torsional deformation, front-back deformation and left-right deformation of the tower body at the inertial navigation equipment during the operation of the tower body are obtained, and finally, generating angular displacement information according to the obtained initial position information and the operation angle information acquired in real time, please refer to fig. 3 for the angular displacement information of the tower crane operating under a certain working condition provided by the embodiment of the invention.
In an embodiment of the present invention, the evaluation method further includes: after acquiring the angular displacement information of the main body structure of the hoisting equipment in real time, performing preprocessing operation on the angular displacement information to acquire processing rear angle displacement information, wherein the preprocessing operation comprises at least one of denoising operation, trend removing operation and bias removing operation; generating the device deformation information based on the processing relief angle displacement information.
In a possible implementation manner, in order to ensure accuracy in the data processing process and avoid deviation influence of data detection errors on stability evaluation, after the angular displacement information is obtained, the angular displacement information is preprocessed. For example, firstly, denoising operation is performed on the collected angular displacement information, for example, threshold analysis is performed on the collected angular displacement information, and the angular displacement information obviously not conforming to the running condition is removed; then, a further trend removing operation is performed on the angular displacement information, for example, the angular displacement information may be analyzed and processed through common processing software, so as to repair information of drift in the angular displacement information, to remove drift in the information, to implement a trend removing operation on the information, and to perform a bias removing operation on the angular displacement information.
It should be noted that, in the embodiment of the present invention, the sequence of the processing operations is only one implementation manner of the embodiment of the present invention, and should not be considered as a limitation to the sequence of the processing operations, and a person skilled in the art may also increase or decrease the processing operations or adjust the sequence of the processing operations according to actual needs, which should be easily thought of by the person skilled in the art according to the embodiment of the present invention, and therefore, the order of the processing operations should be within the protection scope of the embodiment of the present invention, and redundant description is not repeated herein.
In the embodiment of the invention, the collected angular displacement information is preprocessed, so that the angular displacement information is more accurately screened and extracted, the angular displacement information in the subsequent calculation and processing processes is ensured to have enough accuracy, and the evaluation accuracy of stability evaluation on hoisting equipment is ensured.
In an embodiment of the present invention, the obtaining of the stable characterization information of the hoisting device based on the device deformation information includes: acquiring mapping points corresponding to the first posture deformation information, the second posture deformation information and the third posture deformation information on the second three-dimensional coordinate system; generating the smoothness characterization information based on the mapped points.
In a possible implementation manner, a second three-dimensional coordinate system is established first, for example, in an embodiment of the present invention, the second three-dimensional coordinate system may be established with the torsional deformation information as the Z axis, the front and back deformation information as the X axis, and the left and right deformation information as the Y axis, and at this time, the first difference, the second difference, and the third difference are mapped into the second three-dimensional coordinate system as coordinate points, so as to obtain corresponding mapping points, thereby converting the abstract deformation information of the hoisting equipment into the visualized three-dimensional information. And further generating stable representation information of the hoisting equipment based on the mapping points.
In the embodiment of the invention, the acquired deformation information of the hoisting equipment is converted into the visual three-dimensional information from the abstract data, so that the checking and the analysis of technicians are greatly facilitated, meanwhile, the stability evaluation is automatically performed by the evaluation device according to the three-dimensional information, and the evaluation efficiency of the stability evaluation of the hoisting equipment is improved.
In an embodiment of the present invention, the generating the smooth characterization information based on the mapping points includes: obtaining a three-dimensional envelope volume based on the mapping points; acquiring an envelope volume of the three-dimensional envelope body; obtaining the centroid distance between the three-dimensional envelope and the origin of the second three-dimensional coordinate system; taking the product of the envelope volume and the centroid distance, the envelope volume, and the centroid distance as the stationarity characterizing information.
Further, in an embodiment of the present invention, the obtaining a three-dimensional envelope based on the mapping points includes: judging whether all mapping points are positioned in the same plane or not; if so, acquiring the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate of all mapping points in the second three-dimensional coordinate system, acquiring a minimum coordinate point based on the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate, and generating the three-dimensional envelope body based on the plane and the minimum coordinate point; otherwise, the adjacent mapping points are connected in sequence to obtain the three-dimensional enveloping body.
In one possible embodiment, after the mapping points are acquired, corresponding three-dimensional envelope extraction is generated according to the acquired mapping points. In the embodiment of the invention, whether the mapping points are positioned in the same plane is judged firstly, if so, the connecting lines of the mapping points form a plane, and the three-dimensional visualization analysis cannot be better carried out, so that the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate of the mapping points in a second three-dimensional coordinate system are further obtained, the corresponding minimum coordinate points are obtained, at the moment, the mapping points are sequentially connected with one another and the minimum coordinate points, and a three-dimensional envelope body is formed, namely, the three-dimensional envelope body for representing the stability is obtained.
Referring to fig. 4, in another possible implementation manner, after the mapping points are obtained, it is determined that the mapping points are not in the same plane, and therefore adjacent mapping points are directly connected in sequence, for example, in the embodiment of the present invention, a technician tests a hoisting device under 6 working conditions, obtains the mapping points corresponding to the angular displacement information of working conditions 1 to 6, and connects the mapping points in sequence to obtain a three-dimensional envelope, that is, a three-dimensional envelope for representing the stability of the tower crane.
After the three-dimensional envelope is obtained, the envelope volume of the three-dimensional envelope is further obtained, the centroid distance between the center of the three-dimensional envelope and the origin of the second three-dimensional coordinate system is obtained, and the centroid distance, the envelope volume and the product of the centroid distance and the envelope volume are used as stable representation information.
In this embodiment of the present invention, the processing the stationarity characterizing information based on a preset comparison rule to generate a corresponding stationarity evaluating result includes: acquiring reference stable characterization information of preset reference hoisting equipment, wherein the reference stable characterization information comprises a reference centroid distance, a reference envelope volume and a reference product; acquiring current stable characterization information of current hoisting equipment, wherein the current stable characterization information comprises a current centroid distance, a current envelope volume and a current product; and generating a corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information.
Further, in the embodiment of the present invention, the generating a corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information includes: obtaining a first evaluation result according to a first comparison rule based on the reference centroid distance and the current centroid distance; judging whether the first evaluation result meets a first preset inspection requirement or not; under the condition that the first evaluation result does not meet the first preset test requirement, obtaining a second evaluation result according to a second comparison rule based on the reference envelope volume and the current envelope volume; judging whether the second evaluation result meets a second preset inspection requirement or not; under the condition that the second evaluation result does not meet the second preset test requirement, obtaining a third evaluation result according to a third comparison rule based on the reference product and the current product; and taking the first evaluation result, the second evaluation result or the third evaluation result as the stability evaluation result.
In a possible implementation manner, a technician expects stability evaluation on hoisting equipment, so that reference stability characterization information corresponding to the hoisting equipment is obtained first, for example, the reference stability characterization information may be standard stability characterization information detected by the type of hoisting equipment when the hoisting equipment leaves a factory; and then, stability detection is carried out on the current hoisting equipment to be evaluated, and current stability characterization information of the current hoisting equipment is obtained. And at the moment, the evaluating device automatically generates a stability evaluating result of the current hoisting equipment according to a preset comparison rule.
For example, in the embodiment of the present invention, when evaluating the stability of the rotation of the test tower crane 1, the test tower crane 2, and the test tower crane 3, the test tower crane 1, the test tower crane 2, and the test tower crane 3 are compared with the standard prototype, and the angular displacement information of the test tower crane is acquired as shown in table 1:
TABLE 1 angular displacement information of testing tower crane and standard prototype
At this time, the testing device automatically generates the corresponding stable characterization information of the testing tower crane and the standard prototype according to the angular displacement information, as shown in table 2:
| distance between centroid | Envelope volume | Product of | |
| Standard prototype | 6.05 | 6.96 | 42.11 |
| Testing tower crane 1 | 5.91 | 7.44 | 43.97 |
| |
6.14 | 5.87 | 36.04 |
| Testing tower crane 3 | 6.08 | 7.21 | 43.84 |
TABLE 2 Steady characterization information for testing tower cranes and standard prototypes
Further, please refer to fig. 5, which is a diagram illustrating a three-dimensional envelope of a testing tower crane and a standard prototype according to an embodiment of the present invention, first performing comparison and determination of the centroid distance according to the stable characterization information, and determining whether a first evaluation result after comparison meets a first preset inspection requirement, for example, whether a deviation between a reference centroid distance and a current centroid distance is less than 1%. For example, in the embodiment of the invention, the deviation of the centroid distance of the test tower crane 1 and the standard prototype is more than 1%, so that the stability of the test tower crane 1 is evaluated directly according to the centroid distance of the test tower crane 1, and the stability of the test tower crane 1 is better than that of the standard prototype, namely the stability of the test tower crane 1 is determined to meet the use requirement, because the centroid distance of the test tower crane 1 is smaller than that of the standard prototype. Based on the same principle, the deviation between the centroid distance of the test tower crane 2 and the centroid distance of the standard prototype is also larger than 1%, so that the stability of the test tower crane 2 is further evaluated according to the centroid distance of the test tower crane 2, and the stability of the test tower crane 2 is determined to be poor based on the data, so that the practical use requirement is not met.
When the stability of the test tower crane 3 is evaluated, the deviation between the centroid distance of the test tower crane 3 and the centroid distance of the standard prototype is found to be less than 1%, so that the current envelope volume of the current tower crane is further compared with the reference envelope volume of the standard prototype, for example, whether the deviation between the current envelope volume and the reference envelope volume is less than 2% or not is compared, in the embodiment of the invention, the deviation between the current envelope volume of the test tower crane 3 and the reference envelope volume of the standard prototype is greater than 2%, so that the stability of the test tower crane 3 is evaluated by the current envelope volume, and the stability of the test tower crane 3 is determined to be not in accordance with the actual use requirement.
In another possible implementation, a technician desires to compare stationarities of multiple tower cranes with each other, and therefore may first determine one of the tower cranes as a reference tower crane, and use the acquired angular displacement information of the reference tower crane as reference angular displacement information. For example, in the embodiment of the present invention, stability comparison is performed on the tower crane a and the tower crane B, so a technician can use the tower crane a as a reference tower crane and obtain the angular displacement information of the tower crane a and the tower crane B as shown in table 3:
TABLE 3 angular displacement information of Tower cranes A and B
Further, after the stability characterization information of the tower crane a and the tower crane B is obtained, the generated three-dimensional enveloping bodies of the tower crane a and the tower crane B are as shown in fig. 6, and in the process of comparison and judgment, according to the data of fig. 6, the centroid distance of the tower crane a is 6.06, and the centroid distance of the tower crane B is 6.03, so that the deviation of the centroid distances of the tower crane a and the tower crane B is less than 1%, and therefore, the enveloping volumes of the tower crane a and the tower crane B are further compared, for example, in the embodiment of the present invention, the enveloping volume of the tower crane a is 6.62, and the enveloping volume of the tower crane B is 9.02, so that the stability of the tower crane a is determined to be superior to that of the tower crane B, or the stability of the tower crane B is determined to be inferior to that of the tower crane a and the.
It should be noted that, in the embodiment of the present invention, preferably, the stability of the tower crane is evaluated according to the sequence of comparing the centroid distance, comparing the envelope volume, and comparing the product; a person skilled in the art may also adjust the comparison sequence according to the actual requirement, so as to better meet the actual evaluation requirement and evaluation accuracy, and all of the comparison sequence should belong to the protection scope of the embodiment of the present invention.
In the embodiment of the invention, the angular displacement information of the main body structure with strong correlation with the stability of the hoisting equipment in the operation process is detected in real time and accurately, so that the stability evaluation information of the hoisting equipment is rapidly and accurately obtained, on one hand, the accuracy of evaluating the stability of the hoisting equipment is greatly improved, on the other hand, the detection data quantity of the hoisting equipment is greatly reduced, the operation quantity is reduced, and the evaluation cost is effectively reduced.
The stability evaluating device for the hoisting equipment provided by the embodiment of the invention is described below with reference to the attached drawings.
Referring to fig. 7, based on the same inventive concept, an embodiment of the present invention provides a stability evaluation device for a hoisting apparatus, where the evaluation device includes: the angular displacement acquisition module is used for acquiring angular displacement information of the main body structure of the hoisting equipment in real time; the deformation information acquisition module is used for acquiring corresponding equipment deformation information based on the angular displacement information, wherein the equipment deformation information comprises first posture deformation information, second posture deformation information and third posture deformation information; the stability information acquisition module is used for acquiring stability characterization information of the hoisting equipment based on the equipment deformation information, and the stability characterization information is used for describing the stability of the hoisting equipment; and the evaluation module is used for processing the stability characterization information based on a preset comparison rule to generate a corresponding stability evaluation result.
In an embodiment of the present invention, the angular displacement obtaining module includes: the working condition selection unit is used for acquiring selected operating working conditions, and the selected operating working conditions comprise at least three different operating working conditions; and the angular displacement acquisition unit is used for acquiring angular displacement information of the main body structure under each operating condition in real time.
In an embodiment of the present invention, the angular displacement acquisition unit is configured to: establishing a first three-dimensional coordinate system based on the hoisting equipment; acquiring initial position information of the main body structure; under each operation condition, acquiring operation attitude information of the main body structure in the first three-dimensional coordinate system in real time; and generating angular displacement information corresponding to each operation condition based on the initial position information and the operation attitude information.
In an embodiment of the present invention, the evaluation apparatus further includes a preprocessing module, and the preprocessing module is configured to: after acquiring the angular displacement information of the main body structure of the hoisting equipment in real time, performing preprocessing operation on the angular displacement information to acquire processing rear angle displacement information, wherein the preprocessing operation comprises at least one of denoising operation, trend removing operation and bias removing operation; generating the device deformation information based on the processing relief angle displacement information.
In an embodiment of the present invention, the smooth information obtaining module includes: a coordinate system establishing unit for establishing a second three-dimensional coordinate system; a point mapping unit, configured to obtain mapping points corresponding to the first posture deformation information, the second posture deformation information, and the third posture deformation information on the second three-dimensional coordinate system; and the stable information acquisition unit is used for generating the stable representation information based on the mapping points.
In an embodiment of the present invention, the smooth information obtaining unit is configured to: obtaining a three-dimensional envelope volume based on the mapping points; acquiring an envelope volume of the three-dimensional envelope body; obtaining the centroid distance between the three-dimensional envelope and the origin of the second three-dimensional coordinate system; taking the product of the envelope volume and the centroid distance, the envelope volume, and the centroid distance as the stationarity characterizing information.
In an embodiment of the present invention, the obtaining a three-dimensional envelope based on the mapping points includes: judging whether all the mapping points are positioned in the same plane or not; if so, acquiring a minimum X coordinate, a minimum Y coordinate and a minimum Z coordinate of all mapping points in the second three-dimensional coordinate system, acquiring a minimum coordinate point based on the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate, and generating the three-dimensional envelope body based on the plane and the minimum coordinate point; otherwise, the adjacent mapping points are connected in sequence to obtain the three-dimensional enveloping body.
In an embodiment of the present invention, the evaluation module includes: the system comprises a reference information acquisition unit, a reference information storage unit and a reference information processing unit, wherein the reference information acquisition unit is used for acquiring reference stable representation information of preset reference hoisting equipment, and the reference stable representation information comprises a reference centroid distance, a reference envelope volume and a reference product; the current information acquisition unit is used for acquiring current stable representation information of the current hoisting equipment, wherein the current stable representation information comprises a current centroid distance, a current envelope volume and a current product; and the evaluating unit is used for generating a corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information.
In an embodiment of the present invention, the evaluation unit is configured to: obtaining a first evaluation result according to a first comparison rule based on the reference centroid distance and the current centroid distance; judging whether the first evaluation result meets a first preset inspection requirement or not; under the condition that the first evaluation result does not meet the first preset test requirement, obtaining a second evaluation result according to a second comparison rule based on the reference envelope volume and the current envelope volume; judging whether the second evaluation result meets a second preset inspection requirement or not; under the condition that the second evaluation result does not meet the second preset test requirement, obtaining a third evaluation result according to a third comparison rule based on the reference product and the current product; and taking the first evaluation result, the second evaluation result or the third evaluation result as the stability evaluation result.
On the other hand, the embodiment of the present invention further provides a hoisting device, including the stationarity evaluating device provided by the embodiment of the present invention, where the hoisting device further includes: the angle information acquisition device is configured on the main body structure of the hoisting equipment and is used for acquiring the angular displacement information of the main body structure in real time; the position acquisition device is configured near the hoisting equipment and used for acquiring the position information of the hoisting equipment in real time; the stability evaluating device is electrically connected with the angle information acquisition device and the position acquisition device and is used for optimizing the angular displacement information based on the position information to obtain optimized relief angle displacement information and generating a stability evaluating result of the hoisting equipment based on the optimized relief angle displacement information.
Further, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method of the present invention.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (20)
1. The stability evaluation method of the hoisting equipment is characterized by comprising the following steps:
acquiring angular displacement information of a main body structure of the hoisting equipment in real time;
acquiring corresponding equipment deformation information based on the angular displacement information, wherein the equipment deformation information comprises first posture deformation information, second posture deformation information and third posture deformation information;
obtaining stable representation information of the hoisting equipment based on the equipment deformation information, wherein the stable representation information is used for describing the stability of the hoisting equipment;
and processing the stability characterization information based on a preset comparison rule to generate a corresponding stability evaluation result.
2. The evaluation method according to claim 1, wherein the obtaining of the angular displacement information of the main body structure of the hoisting device in real time comprises:
obtaining selected operation conditions, wherein the selected operation conditions comprise at least three different operation conditions;
and acquiring angular displacement information of the main structure under each operating condition in real time.
3. An evaluation method according to claim 2, wherein the obtaining of the angular displacement information of the main structure in real time under each operating condition comprises:
establishing a first three-dimensional coordinate system based on the hoisting equipment;
acquiring initial position information of the main body structure;
under each operation condition, acquiring operation attitude information of the main body structure in the first three-dimensional coordinate system in real time;
and generating angular displacement information corresponding to each operation condition based on the initial position information and the operation attitude information.
4. The evaluation method according to claim 1, further comprising:
after acquiring the angular displacement information of the main body structure of the hoisting equipment in real time, performing preprocessing operation on the angular displacement information to acquire processing rear angle displacement information, wherein the preprocessing operation comprises at least one of denoising operation, trend removing operation and bias removing operation;
generating the device deformation information based on the processing relief angle displacement information.
5. The method of evaluating according to claim 1, wherein said obtaining smoothness characterization information of the lifting device based on the device deformation information comprises:
establishing a second three-dimensional coordinate system;
acquiring mapping points corresponding to the first posture deformation information, the second posture deformation information and the third posture deformation information on the second three-dimensional coordinate system;
generating the smoothness characterization information based on the mapped points.
6. An evaluation method according to claim 5, wherein said generating the smoothness characterization information based on the mapped points comprises:
obtaining a three-dimensional envelope volume based on the mapping points;
acquiring an envelope volume of the three-dimensional envelope body;
obtaining the centroid distance between the three-dimensional envelope and the origin of the second three-dimensional coordinate system;
taking the product of the envelope volume and the centroid distance, the envelope volume, and the centroid distance as the stationarity characterizing information.
7. An evaluation method according to claim 6, wherein said obtaining a three-dimensional envelope volume based on said mapped points comprises:
judging whether all mapping points are positioned in the same plane or not;
if so, acquiring the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate of all mapping points in the second three-dimensional coordinate system, acquiring a minimum coordinate point based on the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate, and generating the three-dimensional envelope body based on the plane and the minimum coordinate point;
otherwise, the adjacent mapping points are connected in sequence to obtain the three-dimensional enveloping body.
8. The evaluation method according to claim 6, wherein the processing the stationarity characterizing information based on a preset comparison rule to generate a corresponding stationarity evaluation result comprises:
acquiring reference stable characterization information of preset reference hoisting equipment, wherein the reference stable characterization information comprises a reference centroid distance, a reference envelope volume and a reference product;
acquiring current stable characterization information of current hoisting equipment, wherein the current stable characterization information comprises a current centroid distance, a current envelope volume and a current product;
and generating a corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information.
9. An evaluating method according to claim 8, wherein the generating of the corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information comprises:
obtaining a first evaluation result according to a first comparison rule based on the reference centroid distance and the current centroid distance;
judging whether the first evaluation result meets a first preset inspection requirement or not;
under the condition that the first evaluation result does not meet the first preset test requirement, obtaining a second evaluation result according to a second comparison rule based on the reference envelope volume and the current envelope volume;
judging whether the second evaluation result meets a second preset inspection requirement or not;
under the condition that the second evaluation result does not meet the second preset test requirement, obtaining a third evaluation result according to a third comparison rule based on the reference product and the current product;
and taking the first evaluation result, the second evaluation result or the third evaluation result as the stability evaluation result.
10. The stability evaluating device of the hoisting equipment is characterized by comprising:
the angular displacement acquisition module is used for acquiring angular displacement information of the main body structure of the hoisting equipment in real time;
the deformation information acquisition module is used for acquiring corresponding equipment deformation information based on the angular displacement information, wherein the equipment deformation information comprises first posture deformation information, second posture deformation information and third posture deformation information;
the stability information acquisition module is used for acquiring stability characterization information of the hoisting equipment based on the equipment deformation information, and the stability characterization information is used for describing the stability of the hoisting equipment;
and the evaluation module is used for processing the stability characterization information based on a preset comparison rule to generate a corresponding stability evaluation result.
11. The evaluation device according to claim 10, wherein the angular displacement acquisition module comprises:
the working condition selection unit is used for acquiring selected operating working conditions, and the selected operating working conditions comprise at least three different operating working conditions;
and the angular displacement acquisition unit is used for acquiring angular displacement information of the main body structure under each operating condition in real time.
12. The evaluation device according to claim 11, wherein the angular displacement acquisition unit is configured to:
establishing a first three-dimensional coordinate system based on the hoisting equipment;
acquiring initial position information of the main body structure;
under each operation condition, acquiring operation attitude information of the main body structure in the first three-dimensional coordinate system in real time;
and generating angular displacement information corresponding to each operation condition based on the initial position information and the operation attitude information.
13. The evaluation apparatus according to claim 10, further comprising a preprocessing module for:
after acquiring the angular displacement information of the main body structure of the hoisting equipment in real time, performing preprocessing operation on the angular displacement information to acquire processing rear angle displacement information, wherein the preprocessing operation comprises at least one of denoising operation, trend removing operation and bias removing operation;
generating the device deformation information based on the processing relief angle displacement information.
14. The evaluation apparatus according to claim 10, wherein the stationarity information obtaining module comprises:
a coordinate system establishing unit for establishing a second three-dimensional coordinate system;
a point mapping unit, configured to obtain mapping points corresponding to the first posture deformation information, the second posture deformation information, and the third posture deformation information on the second three-dimensional coordinate system;
and the stable information acquisition unit is used for generating the stable representation information based on the mapping points.
15. The evaluation apparatus according to claim 14, wherein the stationarity information obtaining unit is configured to:
obtaining a three-dimensional envelope volume based on the mapping points;
acquiring an envelope volume of the three-dimensional envelope body;
obtaining the centroid distance between the three-dimensional envelope and the origin of the second three-dimensional coordinate system;
taking the product of the envelope volume and the centroid distance, the envelope volume, and the centroid distance as the stationarity characterizing information.
16. The evaluation apparatus according to claim 15, wherein said obtaining a three-dimensional envelope based on said mapped points comprises:
judging whether all mapping points are positioned in the same plane or not;
if so, acquiring the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate of all mapping points in the second three-dimensional coordinate system, acquiring a minimum coordinate point based on the minimum X coordinate, the minimum Y coordinate and the minimum Z coordinate, and generating the three-dimensional envelope body based on the plane and the minimum coordinate point;
otherwise, the adjacent mapping points are connected in sequence to obtain the three-dimensional enveloping body.
17. The evaluation apparatus according to claim 15, wherein the evaluation module comprises:
the system comprises a reference information acquisition unit, a reference information storage unit and a reference information processing unit, wherein the reference information acquisition unit is used for acquiring reference stable representation information of preset reference hoisting equipment, and the reference stable representation information comprises a reference centroid distance, a reference envelope volume and a reference product;
the current information acquisition unit is used for acquiring current stable representation information of the current hoisting equipment, wherein the current stable representation information comprises a current centroid distance, a current envelope volume and a current product;
and the evaluating unit is used for generating a corresponding stationarity evaluating result according to the preset comparison rule based on the reference stationarity characterizing information and the current stationarity characterizing information.
18. The evaluation apparatus according to claim 17, wherein the evaluation unit is configured to:
obtaining a first evaluation result according to a first comparison rule based on the reference centroid distance and the current centroid distance;
judging whether the first evaluation result meets a first preset inspection requirement or not;
under the condition that the first evaluation result does not meet the first preset test requirement, obtaining a second evaluation result according to a second comparison rule based on the reference envelope volume and the current envelope volume;
judging whether the second evaluation result meets a second preset inspection requirement or not;
under the condition that the second evaluation result does not meet the second preset test requirement, obtaining a third evaluation result according to a third comparison rule based on the reference product and the current product;
and taking the first evaluation result, the second evaluation result or the third evaluation result as the stability evaluation result.
19. A lifting device comprising the stationarity evaluating apparatus of any one of claims 10 to 18, the lifting device further comprising:
the angle information acquisition device is configured on the main body structure of the hoisting equipment and is used for acquiring the angular displacement information of the main body structure in real time;
the position acquisition device is configured near the hoisting equipment and used for acquiring the position information of the hoisting equipment in real time;
the stability evaluating device is electrically connected with the angle information acquisition device and the position acquisition device and is used for optimizing the angular displacement information based on the position information to obtain optimized relief angle displacement information and generating a stability evaluating result of the hoisting equipment based on the optimized relief angle displacement information.
20. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 9.
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