CN112903698A - Tower crane scanning inspection method using three-dimensional laser - Google Patents
Tower crane scanning inspection method using three-dimensional laser Download PDFInfo
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Abstract
The invention provides a tower crane scanning inspection method using three-dimensional laser. The method comprises the steps of scanning by using three-dimensional laser to obtain a three-dimensional structure graph of the current tower crane and construct a first coordinate system; selecting three-dimensional structural graphs of standard tower cranes with the same model to construct a second coordinate system; the first coordinate system is overlapped with the second coordinate system, and the overlapped coordinate points are recorded as coordinate points of the second coordinate system; removing the second coordinate system, and marking the rest coordinate points except the coincident coordinate points in the first coordinate system; and taking the part corresponding to the marked coordinate point on the three-dimensional structural graph of the current tower crane as the part with the problem in the inspection. According to the invention, the three-dimensional graph of the tower crane is obtained through three-dimensional laser scanning, and the obtained three-dimensional graph of the tower crane is compared with the three-dimensional graph formed by a standard tower crane, so that the damage and deformation conditions of the components of the tower crane are comprehensively checked, and the safety of the tower crane is improved.
Description
The application is a divisional application of an invention patent application with the application number of 201811449894.7 and the invention name of 'inspection method of tower crane based on three-dimensional laser scanning technology' which is filed on 2018, 11, month and 30.
Technical Field
The invention relates to building equipment, in particular to a tower crane inspection method based on a three-dimensional laser scanning technology.
Background
In order to strengthen the safety management of the tower crane on the construction site and reduce the occurrence of safety accidents, safety inspection needs to be carried out when the tower crane is used so as to ensure the safe use of the tower crane.
In the prior art, safety inspection of the tower crane is performed by observing each part and a joint by a safety inspection worker, the inspection method wastes time, micro deformation or structural cracks of the tower crane are easily ignored, and the safety inspection is incomplete. Meanwhile, when tiny damage is inspected, security personnel need to use special equipment to inspect the welded or stressed structure carefully, so that the security inspection time of the equipment is seriously influenced, and certain danger is also caused to the security personnel.
Disclosure of Invention
The invention provides a tower crane inspection method based on a three-dimensional laser scanning technology, which at least solves at least one of the technical problems in the prior art.
In order to achieve the above object, the present invention provides a tower crane inspection method based on a three-dimensional laser scanning technology, comprising:
scanning the surface of the overall structure of the current tower crane to be inspected by using three-dimensional laser to obtain a three-dimensional structure graph of the current tower crane;
selecting the center of a base of the current three-dimensional structural graph of the tower crane as an origin to construct a first coordinate system, and determining coordinate points of a plurality of preset parts of the current tower crane in the first coordinate system;
acquiring a three-dimensional structure graph of a standard tower crane with the same model as the current tower crane;
selecting the center of a base of the three-dimensional structure graph of the standard tower crane as an origin to construct a second coordinate system, and determining coordinate points of a plurality of predetermined parts corresponding to the plurality of predetermined parts of the standard tower crane and the current tower crane respectively under the first coordinate system;
the origin and the coordinate axis of the first coordinate system are overlapped with the origin and the coordinate axis of the second coordinate system, and the overlapped coordinate points in the first coordinate system and the second coordinate system are determined to be overlapped coordinate points;
removing the second coordinate system, and marking the rest coordinate points except the coincident coordinate points in the first coordinate system;
and taking the part corresponding to the marked coordinate point on the current three-dimensional structure graph of the tower crane as the part with the problem in the inspection.
In one embodiment, determining coincident coordinate points in the first and second coordinate systems comprises:
selecting a coordinate point P in the first coordinate system1And a coordinate point P corresponding thereto in the second coordinate system2I.e. the same site P1And co-location point P2
Calculating the co-location point P when the first coordinate system and the second coordinate system are arranged in a superposition way1And co-location point P2The distance between coordinate points in the formula 1-3, and the formula 1-3 is as follows:
wherein the content of the first and second substances,
is a co-location point P1Point cloud data coordinates in the first coordinate system,
is a co-location point P2Point cloud data coordinates under the second coordinate system, wherein sigma is the nominal precision of the three-dimensional scanning laser;
and selecting a co-located point which satisfies the formulas 1-3 in the first coordinate system and the second coordinate system as the coincident coordinate point.
In one embodiment, the method further comprises:
selecting three-dimensional laser scanning, acquiring a three-dimensional structure graph of an adjacent tower crane adjacent to the current tower crane, and rotating by taking the center of each base as a rotating point;
selecting a coordinate point of a track formed by the rotation of the current three-dimensional structure graph of the tower crane as a first coordinate point set;
selecting coordinate points of the track formed by the rotation of the three-dimensional structure graph of the adjacent tower crane as a second coordinate point set;
calculating the distance between the coordinate points in the first coordinate point set and the coordinate points in the second coordinate point set;
and marking the number of the distance between the coordinate points in the first coordinate point set and the coordinate points in the second coordinate point set, which is less than or equal to 2 unit distances, and sending out an early warning when the number of the marked coordinate points is greater than 0.
In one embodiment, the method further comprises:
selecting a three-dimensional figure of surrounding obstacles obtained by three-dimensional laser scanning;
selecting coordinate points of the three-dimensional graph of the barrier to form a third coordinate point set;
respectively calculating the distances from coordinate points in the first coordinate point set and the second coordinate point set to coordinate points in the third coordinate point set;
and marking the number of the distance between the coordinate points in the first coordinate point set and the coordinate points in the second coordinate point set and the third coordinate point set, which is less than or equal to 0.6 unit distance, and giving out early warning when the number of the marked coordinate points is greater than 0.
In one embodiment, the method further comprises:
selecting a bottom surface coordinate point of the current tower crane, and forming a first plane by the selected coordinate point;
taking the axis line of the standard tower crane as the Z axis in the second coordinate system, and selecting a plane formed by the X axis and the Y axis in the second coordinate system as a second plane;
calculating an included angle theta between the first plane and the second plane;
when theta is larger than 0 degree, marking the first plane as an inclined plane and sending out an early warning;
when the first plane and the second plane are parallel, the bottom surface of the tower crane is normal.
In one embodiment, the method further comprises:
selecting a first axis of a tower body in a three-dimensional graph of the current tower crane;
calculating the lateral perpendicularity alpha of the first axis to the first plane;
wherein α satisfies any one of the following formulas 1, 2, and 3:
wherein N, E and U represent an orientation coordinate system in the centroid coordinate system, (N)1,E1,U1) Is point cloud data under a station center coordinate system of an observation point on the first axis, (N)0，E0，U0) Point cloud data under a station center coordinate system of a central point of the first plane, L is a tower body length of the tower crane, and VfIs the wind speed, afIs the acceleration of the wind;
when alpha is less than or equal to 4/1000, the tower body is not inclined;
when alpha is larger than 4/1000, the tower body inclines and an early warning is sent out;
further comprising:
selecting a second axis line of the tower body below the highest attachment point in the three-dimensional graph of the current tower crane;
calculating the lateral perpendicularity beta of the second axis to the first plane, wherein beta meets the formula 4;
in the formula (N)2，E2，U2) Is point cloud data under the station center coordinate system of the observation point on the second axis, (N)0，E0，U0) Point cloud data under the station center coordinate system of the first plane central point are obtained;
when beta is less than or equal to 2/1000, the tower body below the highest attachment point has no inclination;
when beta is larger than 2/1000, the tower body below the highest attachment point is inclined and an early warning is given.
In one embodiment, the method further comprises:
selecting a three-dimensional graph of the current tower crane obtained by three-dimensional laser scanning to construct a three-dimensional tower crane model;
placing the constructed three-dimensional tower crane model in a simulator to simulate the bearing capacity of each main stress piece;
comparing the bearing capacity of each main stressed member obtained by simulation with the bearing capacity of the main stressed member of the standard tower crane;
and marking the main stressed member with the bearing capacity of less than or equal to 95% of the same main stressed member of the standard tower crane in the three-dimensional tower crane model, and giving out an early warning.
In an embodiment, the building the three-dimensional tower crane model includes:
acquiring the material characteristics of the current tower crane forming the three-dimensional graph;
screening main stressed parts in a three-dimensional graph of the current tower crane, which are obtained through three-dimensional laser scanning;
acquiring the surface roughness of the screened main stress piece;
obtaining the model and service life of each connecting bolt and pin shaft on the current tower crane;
the obtained material characteristics, the main stress piece, the surface roughness, the connecting bolt and the pin shaft are respectively formed in a three-dimensional graph to form a three-dimensional tower crane model.
In an embodiment, the method further comprises simulating the wind power bearing capacity of the three-dimensional tower crane model, and the specific method comprises the following steps:
straightening a lifting arm in a simulated three-dimensional tower crane model of the current tower crane and enabling the lifting arm to be perpendicular to a wind direction;
displaying the stress of each main stress member in the three-dimensional tower crane model, and recording the deflection distance caused by different wind forces of the three-dimensional tower crane model in the bearing range;
calculating the moving precision of a crane arm of the three-dimensional tower crane model under different wind power through the acquired deflection distance;
gradually increasing wind power according to the wind level, and recording the maximum bearing wind power of the three-dimensional tower crane model;
comparing the moving precision and the maximum bearing wind power of the obtained three-dimensional tower crane model under different wind powers with the moving precision and the wind power of a standard tower crane under the same condition;
and when the movement precision and the maximum bearing wind power of the three-dimensional tower crane model obtained by simulation are less than or equal to 95% of the movement precision and the wind power of the standard tower crane under the same conditions, giving an early warning to the current tower crane forming the three-dimensional tower crane model.
In one embodiment, the specific steps of gradually increasing the wind power according to the wind level and recording the maximum bearing wind power of the three-dimensional tower crane model include:
selecting the maximum bearing capacity of a main stressed part of a standard tower crane;
determining a plurality of stressed areas according to the maximum bearing capacity of the selected main stressed parts of the standard tower crane as the maximum value; wherein, the stress value of each stress area is expressed by numerical values with different colors;
displaying the stressed value of the three-dimensional tower crane model in the simulation process of the main stressed member by using the determined stress areas;
gradually increasing wind power according to the wind level, and changing the speed of increasing the wind power according to the color change of the stress value of the main stress member in the wind power simulation; the color of the stress value in the wind simulation of the main stress piece changes once, and the speed of increasing the wind level is reduced once;
and selecting wind power when the three-dimensional tower crane model deforms or reaches the maximum bearing capacity of the main stress member of the standard tower crane as the maximum bearing wind power of the three-dimensional tower crane model.
According to the invention, the three-dimensional graph of the tower crane to be inspected is obtained through the three-dimensional laser scanning technology, and is compared with the three-dimensional graph of the standard tower crane in the coordinate system according to the three-dimensional graph, so that the structure position of the tower crane to be inspected, which has a problem, is obtained, the inspection efficiency of the tower crane to be inspected is improved, meanwhile, the structure of the tower crane can be inspected more comprehensively through the three-dimensional laser scanning, and the comprehensiveness and the safety of the inspection are improved.
The foregoing summary is for the purpose of description and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict some embodiments in accordance with the disclosure and are not to be considered limiting of its scope.
Fig. 1 is a flow chart of a method in a tower crane inspection method based on a three-dimensional laser scanning technology in an embodiment of the invention.
Fig. 2 is a flowchart of another method in the tower crane inspection method based on the three-dimensional laser scanning technology in the embodiment of the invention.
Fig. 3 is a flowchart of another method in the tower crane inspection method based on the three-dimensional laser scanning technology in the embodiment of the present invention.
Detailed Description
In the following, certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
The first embodiment of the present invention provides a method for inspecting a tower crane based on a three-dimensional laser scanning technology, which is shown in fig. 1 and includes:
step S110: and scanning the surface of the overall structure of the current tower crane to be inspected by using the three-dimensional laser to obtain the three-dimensional structure graph of the current tower crane. The tower crane can be scanned integrally by adopting an aerial photography mode, and the tower crane in a construction site can be scanned completely.
Step S120: the method comprises the steps of selecting the center of a base of a three-dimensional structural graph of the current tower crane as an origin to construct a first coordinate system, and determining coordinate points of a plurality of preset parts of the current tower crane in the first coordinate system. The origin of the first coordinate system is not selected uniquely, and the center of the base is selected as a preferred selection method.
Step S130: and acquiring a three-dimensional structure graph of a standard tower crane with the same model as that of the current tower crane. And a three-dimensional graph of the tower crane of the same model which is not used or damaged can be obtained through three-dimensional laser scanning to be used as a reference.
Step S140: and selecting the center of the base of the three-dimensional structure graph of the standard tower crane as an origin to construct a second coordinate system, and determining coordinate points of a plurality of preset parts corresponding to the plurality of preset parts of the standard tower crane and the current tower crane respectively under the first coordinate system. The origin of the second coordinate system is not selected uniquely, and the center of the base is selected as a better selection method. And step S120 and step S140 select the same position of the tower crane as the origin, so that the position coordinates of the tower crane in the first coordinate system are the same as the position coordinates of the tower crane in the second coordinate system.
Step S150: and overlapping the origin and the coordinate axis of the first coordinate system with the origin and the coordinate axis of the second coordinate system, and determining overlapped coordinate points in the first coordinate system and the second coordinate system as overlapped coordinate points. Wherein the overlapping arrangement comprises the step of enabling the tower cranes in the two coordinate systems to perform overlapping comparison according to the same component position.
Step S160: and removing the second coordinate system, and marking the rest coordinate points except the coincident coordinate points in the first coordinate system. The structure of the tower crane represented by the rest coordinate points is different from that of the standard tower crane, and the structure changes, so that the stress of the structure of the tower crane changes.
Step S170: and taking the part corresponding to the marked coordinate point on the three-dimensional structural graph of the current tower crane as the part with the problem in the inspection.
According to the embodiment, the three-dimensional graph of the tower crane to be checked is obtained through the three-dimensional laser scanning technology, and is compared with the three-dimensional graph of the standard tower crane in the coordinate system according to the three-dimensional graph, so that the structural position of the tower crane to be checked, which is problematic, is obtained, the checking efficiency of the tower crane to be checked is improved, meanwhile, the structure of the tower crane can be checked more comprehensively through the three-dimensional laser scanning, and the comprehensiveness and safety of the checking are improved.
In one embodiment, determining coincident coordinate points in the first and second coordinate systems comprises:
selecting a coordinate point P in a first coordinate system1And a corresponding coordinate point P in the second coordinate system2I.e. the same site P1And co-location point P2
Calculating the co-location point P when the first coordinate system and the second coordinate system are overlapped1And co-location point P2The distance between coordinate points in the formula 1-3, and the formula 1-3 is as follows:
wherein the content of the first and second substances,
is a co-location point P1The coordinates of the point cloud data in the first coordinate system,
is a co-location point P2And (4) point cloud data coordinates under a second coordinate system, wherein sigma is the nominal precision of the three-dimensional scanning laser. Point cloud data: during scanning, the data is recorded in the form of points, and each point comprises three-dimensional coordinates.
And selecting the co-located point which satisfies the formulas 1-3 in the first coordinate system and the second coordinate system as a coincident coordinate point.
In an embodiment, as shown in fig. 2, the method further includes:
step 210: and selecting three-dimensional laser scanning, acquiring a three-dimensional structure graph of an adjacent tower crane adjacent to the current tower crane, and rotating by taking the center of each base as a rotating point. And acquiring a three-dimensional range of the three-dimensional graph of the tower crane in the rotating range through rotation, thereby acquiring the coordinates of the farthest position and the highest position in the working state of the tower crane.
Step S220: and selecting a coordinate point of a track formed by the rotation of the current three-dimensional structure graph of the tower crane as a first coordinate point set.
Step S230: and selecting coordinate points of the tracks formed by the rotation of the three-dimensional structure graphs of the adjacent tower cranes as a second coordinate point set.
Step S240: and calculating the distance between the coordinate points in the first coordinate point set and the coordinate points in the second coordinate point set. Therefore, the distance between each coordinate point of the two tower cranes is obtained, and further, the working ranges of the two tower cranes in practice are obtained.
Step S250: and marking the number of the distance between the coordinate points in the first coordinate point set and the coordinate points in the second coordinate point set, which is less than or equal to 2 unit distances, and sending out an early warning when the number of the marked coordinate points is greater than 0. The 2 unit distances are usually 2m, when the distance between any two positions of the two tower cranes is less than or equal to 2m, and the distance between the two tower cranes is less than the safety distance, the positions of the two tower cranes have problems, and the two tower cranes are regarded as unqualified for inspection and need early warning to be readjusted.
The working range of the tower crane can be directly obtained through rotation of the coordinate point, the distance between the tower cranes can be effectively calculated, and the safety of the tower crane is improved.
In an embodiment, as shown in fig. 3, the method further includes:
step S310: and selecting a three-dimensional figure of the surrounding obstacles obtained by three-dimensional laser scanning.
Step S320: and selecting coordinate points of the three-dimensional graph of the obstacle to form a third coordinate point set.
Step S330: and respectively calculating the distances from the coordinate points in the first coordinate point set and the second coordinate point set to the coordinate points in the third coordinate point set.
Step S340: and marking the number of the distance between the coordinate points in the first coordinate point set and the coordinate points in the second coordinate point set and the third coordinate point set, which is less than or equal to 0.6 unit distance, and giving out early warning when the number of the marked coordinate points is greater than 0.
The unit distance of 0.6 is usually 0.6m, when the distance between any two positions of the tower crane and the obstacle or the building is less than or equal to 0.6m, and the distance between the tower crane and the obstacle is less than the safety distance, the positions of the two tower cranes have problems, and the two tower cranes are regarded as unqualified for inspection, need early warning and readjust.
In one embodiment, the method further comprises:
selecting a bottom surface coordinate point of the current tower crane, and forming a first plane by the selected coordinate point;
taking the axis line of the standard tower crane as the Z axis in the second coordinate system, and selecting a plane formed by the X axis and the Y axis in the second coordinate system as a second plane; wherein the axis line comprises a vertical line of the tower crane in the vertical direction.
Calculating an included angle theta between the first plane and the second plane;
when theta is larger than 0 degree, marking the first plane as an inclined plane and sending out an early warning;
when the first plane and the second plane are parallel, the bottom surface of the tower crane is normal.
In the embodiment, the included angle between the bottom surface of the tower crane and the XY surface of the coordinate system is calculated according to the three-dimensional laser, so that the inclination between the bottom surface of the tower crane and the bottom surface is effectively checked, and the tower crane is prevented from inclining and falling.
In one embodiment, the method further comprises:
selecting a first axis of a tower body (above a highest attachment point in an attachment state) in a three-dimensional graph of the current tower crane;
calculating the lateral perpendicularity alpha of the first axis to the first plane;
wherein α satisfies the following formula 1:
wherein N, E and U represent an orientation coordinate system in the centroid coordinate system, (N)1,E1,U1) Is point cloud data under a station center coordinate system of an observation point on the first axis, (N)0，E0，U0) Point cloud data under a station center coordinate system of a central point of the first plane;
when alpha is less than or equal to 4/1000, the tower body is not inclined;
when alpha is larger than 4/1000, the tower body inclines and an early warning is sent out;
in another specific embodiment, the method further comprises:
selecting a first axis of a tower body (above a highest attachment point in an attachment state) in a three-dimensional graph of the current tower crane;
calculating the lateral perpendicularity alpha of the first axis to the first plane;
α satisfies the following formula 2:
wherein N, E and U represent an orientation coordinate system in the centroid coordinate system, (N)1，E1，U1) Is point cloud data under a station center coordinate system of an observation point on the first axis, (N)0，E0，U0) Point cloud data under a station center coordinate system which is the central point of the first plane, L is the tower body length of the tower crane, VfIs the wind speed, afIs the acceleration of the wind;
when alpha is less than or equal to 4/1000, the tower body is not inclined;
when alpha is larger than 4/1000, the tower body inclines and an early warning is sent out;
in another specific embodiment, the method further comprises:
selecting a first axis of a tower body (above a highest attachment point in an attachment state) in a three-dimensional graph of the current tower crane;
calculating the lateral perpendicularity alpha of the first axis to the first plane;
α satisfies the following formula 3:
wherein N, E and U represent an orientation coordinate system in the centroid coordinate system, (N)1，E1,U1) Is point cloud data under a station center coordinate system of an observation point on the first axis, (N)0，E0，U0) Point cloud data under a station center coordinate system which is the central point of the first plane, L is the tower body length of the tower crane, VfIs the wind speed, afIs the acceleration of the wind;
when alpha is less than or equal to 4/1000, the tower body is not inclined;
when alpha is larger than 4/1000, the tower body tilts and an early warning is sent.
In one embodiment, the method further comprises:
selecting a second axis line of the tower body below the highest attachment point in the three-dimensional graph of the tower crane;
calculating the lateral perpendicularity beta of the second axis to the first plane, wherein beta meets the formula 4;
in the formula (N)2，E2，U2) Point cloud data under the station center coordinate system of the observation point on the second axis line (N)0，E0，U0) Point cloud data under a station center coordinate system of a first plane central point;
when beta is less than or equal to 2/1000, the tower body below the highest attachment point has no inclination;
when beta is larger than 2/1000, the tower body below the highest attachment point is inclined and an early warning is given.
In the embodiment, the verticality calculation is carried out according to the axis line of the tower body of the tower crane and the axis line of the tower body below the highest attachment point obtained by the three-dimensional laser and the XY plane of the coordinate system, the inclination of the tower body and the bottom surface of the tower crane is effectively checked, and the tower crane is prevented from inclining and falling. Wherein the wind speed also serves as an important reference for influencing the perpendicularity thereof. (it is generally understood that when the distance of the inclined track of the tower top is 2 units, and the height of the tower body is 1000 units, the lateral perpendicularity of the axis of the tower body and the plane is 2/1000.)
Perpendicularity (perpendicular) is the position tolerance, denoted by symbol ×. Perpendicularity evaluates the perpendicular state between straight lines, between planes, or between straight lines and planes. One of the straight lines or the planes is an evaluation reference, the straight line can be a straight line part or a straight line motion track of the measured sample, and the plane can be a plane formed by a plane part or a motion track of the measured sample.
In one embodiment, the method further comprises:
selecting a three-dimensional graph of the current tower crane obtained by three-dimensional laser scanning to construct a three-dimensional tower crane model;
placing the constructed three-dimensional tower crane model in a simulator to simulate the bearing capacity of each main stress piece;
comparing the bearing capacity of each main stressed member obtained by simulation with the bearing capacity of the main stressed member of the standard tower crane;
and marking the main stressed member with the bearing capacity of less than or equal to 95% of the same main stressed member of the standard tower crane in the three-dimensional tower crane model, and giving out an early warning.
Further, constructing the three-dimensional tower crane model comprises:
acquiring the material characteristics of the current tower crane forming the three-dimensional graph;
screening main stressed parts in a three-dimensional graph of the current tower crane, which are obtained through three-dimensional laser scanning;
acquiring the surface roughness of the screened main stress piece;
obtaining the model and service life of each connecting bolt and pin shaft on the current tower crane;
the obtained material characteristics, the main stress piece, the surface roughness, the connecting bolt and the pin shaft are respectively formed in a three-dimensional graph to form a three-dimensional tower crane model.
In the embodiment, the obtained three-dimensional graph of the tower crane is input to the simulator in the inspection, so that a model of the tower crane is simulated, the bearing capacity of the tower crane is calculated according to the simulated model, and the reliability of the structure of the tower crane is inspected.
In one embodiment, the method further comprises simulating the wind power bearing capacity of the three-dimensional tower crane model, and the specific method comprises the following steps:
straightening a lifting arm in a simulated three-dimensional tower crane model of the current tower crane and enabling the lifting arm to be perpendicular to a wind direction;
displaying the stress of each main stress member in the three-dimensional tower crane model, and recording the deflection distance caused by different wind forces of the three-dimensional tower crane model in the bearing range;
calculating the moving precision of a crane arm of the three-dimensional tower crane model under different wind power through the acquired deflection distance;
gradually increasing wind power according to the wind level, and recording the maximum bearing wind power of the three-dimensional tower crane model;
comparing the moving precision and the maximum bearing wind power of the obtained three-dimensional tower crane model under different wind powers with the moving precision and the wind power of a standard tower crane under the same condition;
and when the movement precision and the maximum bearing wind power of the three-dimensional tower crane model obtained by simulation are less than or equal to 95% of the movement precision and the wind power of the standard tower crane under the same conditions, giving an early warning to the current tower crane forming the three-dimensional tower crane model.
Further, the concrete steps of gradually increasing wind power according to the wind level and recording the maximum bearing wind power of the three-dimensional tower crane model comprise:
selecting the maximum bearing capacity of a main stressed part of a standard tower crane;
determining a plurality of stressed areas according to the maximum bearing capacity of the selected main stressed parts of the standard tower crane as the maximum value; wherein, the stress value of each stress area is expressed by numerical values with different colors;
displaying the stressed value in the simulation process of the main stressed member in the three-dimensional tower crane model by using the determined multiple stressed areas;
gradually increasing wind power according to the wind level, and changing the speed of increasing the wind power according to the color change of the stress value of the main stress member in the wind power simulation; the color of the stress value in the wind simulation of the main stress piece changes once, and the speed of increasing the wind level is reduced once;
and selecting the wind power when the three-dimensional tower crane model deforms or reaches the maximum bearing capacity of the main stress member of the standard tower crane as the maximum bearing wind power of the three-dimensional tower crane model.
In the embodiment, the obtained three-dimensional graph of the tower crane is input into the simulator in the inspection, so that a model of the tower crane is simulated, and the wind power of the tower crane during the movement precision and the maximum bearing capacity under different wind powers is calculated according to the simulated model, so that the reliability of the structure of the tower crane is inspected.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various changes and substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the invention and for the simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered as limiting.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or meaning that the first feature is at a lesser level than the second feature.
The above disclosure provides many different embodiments, or examples, for implementing different features of the invention. The components and arrangements of the specific examples are described above to simplify the present disclosure. Of course, they are examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
Claims (8)
1. A tower crane scanning inspection method using three-dimensional laser is characterized by comprising the following steps:
scanning the surface of the overall structure of the current tower crane to be inspected by using three-dimensional laser to obtain a three-dimensional structure graph of the current tower crane;
selecting the center of a base of the current three-dimensional structural graph of the tower crane as an origin to construct a first coordinate system, and determining coordinate points of a plurality of preset parts of the current tower crane in the first coordinate system;
acquiring a three-dimensional structure graph of a standard tower crane with the same model as the current tower crane;
selecting the center of a base of the three-dimensional structure graph of the standard tower crane as an origin to construct a second coordinate system, and determining coordinate points of a plurality of predetermined parts corresponding to the plurality of predetermined parts of the standard tower crane and the current tower crane respectively under the first coordinate system;
the origin and the coordinate axis of the first coordinate system are overlapped with the origin and the coordinate axis of the second coordinate system, and the overlapped coordinate points in the first coordinate system and the second coordinate system are determined to be overlapped coordinate points;
removing the second coordinate system, and marking the rest coordinate points except the coincident coordinate points in the first coordinate system;
taking the part corresponding to the marked coordinate point on the three-dimensional structure graph of the current tower crane as the part with problems in the inspection,
characterized in that the method further comprises:
selecting a bottom surface coordinate point of the current tower crane, and forming a first plane by the selected coordinate point;
taking the axis line of the standard tower crane as the Z axis in the second coordinate system, and selecting a plane formed by the X axis and the Y axis in the second coordinate system as a second plane;
calculating an included angle theta between the first plane and the second plane;
when theta is larger than 0 degree, marking the first plane as an inclined plane and sending out an early warning;
when the first plane and the second plane are parallel, the bottom surface of the tower crane is normal.
2. The method of claim 1, wherein determining coincident coordinate points in the first coordinate system and the second coordinate system comprises:
selecting a coordinate point P in the first coordinate system1And a coordinate point P corresponding thereto in the second coordinate system2I.e. the same site P1And co-location point P2
Calculating the co-location point P when the first coordinate system and the second coordinate system are arranged in a superposition way1And co-location point P2The distance between coordinate points in the formula 1-3, and the formula 1-3 is as follows:
wherein the content of the first and second substances,
is a co-location point P1Point cloud data coordinates in the first coordinate system,
is a co-location point P2Point cloud data coordinates under the second coordinate system, wherein sigma is the nominal precision of the three-dimensional scanning laser;
and selecting a co-located point which satisfies the formulas 1-3 in the first coordinate system and the second coordinate system as the coincident coordinate point.
3. The method of claim 1, further comprising:
selecting a three-dimensional figure of surrounding obstacles obtained by three-dimensional laser scanning;
selecting coordinate points of the three-dimensional graph of the barrier to form a third coordinate point set;
respectively calculating the distances from coordinate points in the first coordinate point set and the second coordinate point set to coordinate points in the third coordinate point set;
and marking the number of the distance between the coordinate points in the first coordinate point set and the coordinate points in the second coordinate point set and the third coordinate point set, which is less than or equal to 0.6 unit distance, and giving out early warning when the number of the marked coordinate points is greater than 0.
4. The method of claim 1, further comprising:
selecting a first axis of a tower body in a three-dimensional graph of the current tower crane;
calculating the lateral perpendicularity alpha of the first axis to the first plane;
wherein α satisfies any one of the following formulas 1, 2, and 3:
wherein N, E and U represent an orientation coordinate system in the centroid coordinate system, (N)1，E1，U1) Is point cloud data under a station center coordinate system of an observation point on the first axis, (N)0，E0，U0) Point cloud data under a station center coordinate system of a central point of the first plane, L is a tower body length of the tower crane, and VfIs the wind speed, afIs the acceleration of the wind;
when alpha is less than or equal to 4/1000, the tower body is not inclined;
when alpha is larger than 4/1000, the tower body inclines and an early warning is sent out;
further comprising:
selecting a second axis line of the tower body below the highest attachment point in the three-dimensional graph of the current tower crane;
calculating the lateral perpendicularity beta of the second axis to the first plane, wherein beta meets the formula 4;
in the formula (N)2，E2，U2) Is point cloud data under the station center coordinate system of the observation point on the second axis, (N)0，E0，U0) Point cloud data under the station center coordinate system of the first plane central point are obtained;
when beta is less than or equal to 2/1000, the tower body below the highest attachment point has no inclination;
when beta is larger than 2/1000, the tower body below the highest attachment point is inclined and an early warning is given.
5. The method of claim 1, further comprising:
selecting a three-dimensional graph of the current tower crane obtained by three-dimensional laser scanning to construct a three-dimensional tower crane model;
placing the constructed three-dimensional tower crane model in a simulator to simulate the bearing capacity of each main stress piece;
comparing the bearing capacity of each main stressed member obtained by simulation with the bearing capacity of the main stressed member of the standard tower crane;
and marking the main stressed member with the bearing capacity of less than or equal to 95% of the same main stressed member of the standard tower crane in the three-dimensional tower crane model, and giving out an early warning.
6. The method of claim 5, wherein constructing the three-dimensional tower crane model comprises:
acquiring the material characteristics of the current tower crane forming the three-dimensional graph;
screening main stressed parts in a three-dimensional graph of the current tower crane, which are obtained through three-dimensional laser scanning;
acquiring the surface roughness of the screened main stress piece;
obtaining the model and service life of each connecting bolt and pin shaft on the current tower crane;
the obtained material characteristics, the main stress piece, the surface roughness, the connecting bolt and the pin shaft are respectively formed in a three-dimensional graph to form a three-dimensional tower crane model.
7. The method of claim 5, further comprising simulating a wind load capacity of the three-dimensional tower crane model, the specific method comprising:
straightening a lifting arm in a simulated three-dimensional tower crane model of the current tower crane and enabling the lifting arm to be perpendicular to a wind direction;
displaying the stress of each main stress member in the three-dimensional tower crane model, and recording the deflection distance caused by different wind forces of the three-dimensional tower crane model in the bearing range;
calculating the moving precision of a crane arm of the three-dimensional tower crane model under different wind power through the acquired deflection distance;
gradually increasing wind power according to the wind level, and recording the maximum bearing wind power of the three-dimensional tower crane model;
comparing the moving precision and the maximum bearing wind power of the obtained three-dimensional tower crane model under different wind powers with the moving precision and the wind power of a standard tower crane under the same condition;
and when the movement precision and the maximum bearing wind power of the three-dimensional tower crane model obtained by simulation are less than or equal to 95% of the movement precision and the wind power of the standard tower crane under the same conditions, giving an early warning to the current tower crane forming the three-dimensional tower crane model.
8. The method as claimed in claim 7, wherein the specific steps of gradually increasing the wind power according to the wind level and recording the maximum bearing wind power of the three-dimensional tower crane model comprise:
selecting the maximum bearing capacity of a main stressed part of a standard tower crane;
determining a plurality of stressed areas according to the maximum bearing capacity of the selected main stressed parts of the standard tower crane as the maximum value; wherein, the stress value of each stress area is expressed by numerical values with different colors;
displaying the stressed value of the three-dimensional tower crane model in the simulation process of the main stressed member by using the determined stress areas;
gradually increasing wind power according to the wind level, and changing the speed of increasing the wind power according to the color change of the stress value of the main stress member in the wind power simulation; the color of the stress value in the wind simulation of the main stress piece changes once, and the speed of increasing the wind level is reduced once;
and selecting wind power when the three-dimensional tower crane model deforms or reaches the maximum bearing capacity of the main stress member of the standard tower crane as the maximum bearing wind power of the three-dimensional tower crane model.
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| CN109297980A (en) | 2019-02-01 |
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| CN112903700B (en) | 2022-08-30 |
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