CN114803832B - Positioning method of lifting hook, processor, lifting equipment and storage medium - Google Patents
Positioning method of lifting hook, processor, lifting equipment and storage medium Download PDFInfo
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- CN114803832B CN114803832B CN202210430262.6A CN202210430262A CN114803832B CN 114803832 B CN114803832 B CN 114803832B CN 202210430262 A CN202210430262 A CN 202210430262A CN 114803832 B CN114803832 B CN 114803832B
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- hook
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- lifting
- lifting hook
- compensation parameter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
Abstract
The embodiment of the invention provides a positioning method of a lifting hook, a processor, lifting equipment and a storage medium, and belongs to the field of engineering machinery. The hoisting equipment comprises a safety monitoring system, the safety monitoring system is used for determining the position information of the lifting hook according to the output of an encoder arranged on the motor, and the positioning method of the lifting hook comprises the following steps: acquiring the position of a lifting hook determined by a safety monitoring system; determining corresponding compensation parameters according to the positions based on the corresponding relationship between the positions of the lifting hooks and the compensation parameters, which are stored in advance; and compensating the position according to a preset position compensation algorithm and a compensation parameter to obtain the actual position of the lifting hook. The invention can improve the accuracy of the position of the lifting hook.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a positioning method of a lifting hook, a processor, lifting equipment and a storage medium.
Background
Among many hoisting devices, a tower crane is taken as an example, and the tower crane is the most common hoisting device used in construction sites and used for carrying various building raw materials, such as concrete, steel bars, templates, steel pipes and the like. Along with the development of the automatic driving technology, the unmanned tower crane is provided by people in combination with the practical requirements. The unmanned tower crane can automatically plan a path, and automatically control the tower crane to finish automatic hoisting operation, thereby releasing manpower. The automatic hoisting operation of the tower crane is realized by automatically controlling the lifting hook to track the planned path motion, so that the problem of accurate positioning of the lifting hook is firstly solved in the automatic hoisting of the hoisting equipment.
The lifting hook positioning mode in the prior art is to obtain the real-time position of the lifting hook through a safety monitoring system of a hoisting device, and the principle is to collect the number of rotating circles of a motor by installing encoders on a rotary motor, a hoisting motor and a variable amplitude motor of the hoisting device, calculate the length of a rope winding through the radius of a roller connected with the motor and the number of rotating circles of the motor and indirectly calculate the position of the lifting hook according to the length of the rope winding. However, the above-described method is affected by the sag of the winding rope and the change in the radius of the winding drum, and there is a problem that the accuracy of the position of the hook is not high.
Disclosure of Invention
The embodiment of the invention aims to provide a positioning method, a processor, hoisting equipment and a storage medium of a lifting hook, so as to solve the problem of low accuracy of the position of the lifting hook in the prior art.
In order to achieve the above object, a first aspect of an embodiment of the present invention provides a method for positioning a lifting hook, which is applied to a lifting device, where the lifting device includes a safety monitoring system, the safety monitoring system is configured to determine position information of the lifting hook according to an output of an encoder disposed on a motor, and the method includes:
acquiring the position of a lifting hook determined by a safety monitoring system;
determining corresponding compensation parameters according to the positions based on the corresponding relationship between the positions of the lifting hooks and the compensation parameters, which are stored in advance;
and compensating the position according to a preset position compensation algorithm and a compensation parameter to obtain the actual position of the lifting hook.
In the embodiment of the invention, the compensation parameters comprise a first compensation parameter, a second compensation parameter and a third compensation parameter; based on the corresponding relation between the positions of the lifting hooks and the compensation parameters which are stored in advance, the corresponding compensation parameters are determined according to the positions, and the method comprises the following steps: determining a position interval corresponding to the position according to the position, wherein the lower limit value of the position interval is a first compensation parameter, and the upper limit value of the position interval is a second compensation parameter; and determining a third compensation parameter according to the position interval based on the corresponding relation between the position interval and the third compensation parameter.
In the embodiment of the present invention, the obtaining of the position compensation algorithm includes: acquiring a first position of the lifting hook detected by a preset position detection mode and a second position of the lifting hook determined by a safety monitoring system; determining the moving distance of the lifting hook as a preset compensation interval distance according to the first position; and determining a linear relation between the first position and the second position to obtain a position compensation algorithm, wherein the preset position detection mode comprises any one mode of differential satellite positioning, meter ruler or laser ranging.
In the embodiment of the invention, the first compensation parameter and the second compensation parameter are determined according to the position data of the lifting hook predetermined by the safety monitoring system; and the third compensation parameter is determined according to position data of the lifting hook, which is obtained in advance in any one mode of differential satellite positioning, meter ruler or laser ranging.
In the embodiment of the present invention, the expression form of the correspondence between the position of the hook and the compensation parameter includes a hook position compensation table.
In an embodiment of the present invention, the position compensation algorithm includes formula (1):
wherein gx is the actual position, gn is the third compensation parameter, dn is the first compensation parameter, d (n + 1) is the second compensation parameter, dx is the position, and m is the preset compensation interval distance.
In an embodiment of the invention, the position comprises at least one of a luffing position, a hoisting position and a slewing angle.
In the embodiment of the present invention, the process of determining the third compensation parameter according to the position data of the hook obtained in advance in the differential satellite positioning manner includes: acquiring a three-dimensional coordinate of a rotation center of the tower crane obtained in a differential satellite positioning mode; when the lifting hook moves along the horizontal direction, acquiring a three-dimensional coordinate of the lifting hook obtained in a differential satellite positioning mode; and determining the distance between the rotation center and the lifting hook in the horizontal direction according to the three-dimensional coordinate of the rotation center and the three-dimensional coordinate of the lifting hook to obtain a third compensation parameter.
In the embodiment of the present invention, determining the distance between the slewing center and the hook in the horizontal direction according to the three-dimensional coordinate of the slewing center and the three-dimensional coordinate of the hook to obtain the third compensation parameter includes obtaining the third compensation parameter according to the following formula (2):
wherein gn is a third compensation parameter, dn x Is a horizontal axis coordinate value, dn, in the three-dimensional coordinates of the hook y Is the coordinate value of the longitudinal axis in the three-dimensional coordinate of the hook, x 0 The coordinate value of the abscissa, y, in three-dimensional coordinates of the center of rotation 0 Is a coordinate value of the vertical axis in the three-dimensional coordinates of the center of rotation.
A second aspect of the embodiments of the present invention provides a method for positioning a hook, which is applied to a hoisting device, where the hoisting device includes a safety monitoring system and a differential satellite positioning system, the safety monitoring system is configured to determine position information of the hook according to an output of an encoder disposed on a motor, and the positioning method includes:
acquiring a detection signal state of a differential satellite positioning system;
taking the position of the lifting hook detected by the differential satellite positioning system as the actual position of the lifting hook under the condition that the detection signal state reaches the preset state grade;
and under the condition that the detection signal state does not reach the preset state grade, determining the actual position of the lifting hook according to the positioning method of the lifting hook in the embodiment.
A third aspect of embodiments of the present invention provides a processor configured to execute the method for positioning a hook according to the foregoing description.
A fourth aspect of the embodiments of the present invention provides a hoisting device, including: a motor; the encoder is arranged on the motor; a hook; the safety monitoring system is used for acquiring the output of the encoder and determining the position information of the lifting hook according to the output; and a processor according to the above.
In an embodiment of the present invention, the motor includes at least one of a luffing motor, a hoisting motor, and a rotary motor.
A fifth aspect of the embodiments of the present invention provides a machine-readable storage medium, on which instructions are stored, and when executed by a processor, the instructions cause the processor to execute the method for positioning a hook according to the foregoing embodiments.
According to the technical scheme, the position of the lifting hook determined by the safety monitoring system is obtained, the corresponding compensation parameter is determined according to the position based on the corresponding relation between the position of the lifting hook and the compensation parameter which is stored in advance, and then the position is compensated according to the preset position compensation algorithm and the compensation parameter, so that the actual position of the lifting hook is obtained. According to the technical scheme, the problem that the accuracy of the position of the lifting hook obtained through the safety monitoring system in the prior art is not high is solved, the problem is not influenced by factors such as the droop of a winding rope and the radius change of a winding drum, the position of the lifting hook determined by the safety monitoring system is compensated through the corresponding relation between the position of the lifting hook and a compensation parameter which are stored in advance and a preset position compensation algorithm, the accuracy of the position of the lifting hook is improved, the positioning method is not influenced by natural weather or barrier shielding signals, the positioning method can be suitable for most working conditions, and the accurate and reliable positioning of the lifting hook of the lifting equipment is realized.
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 schematic flow chart illustrating a method of positioning a hook according to an embodiment of the present invention;
FIG. 2 is a block diagram schematically illustrating a specific embodiment of a method for positioning a hook according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a process of obtaining a hook position compensation table according to an embodiment of the present invention;
FIG. 4 schematically illustrates luffing motion of the hook in an embodiment of the invention;
fig. 5 schematically illustrates a principle diagram of the linear compensation of the amplitude variation data in an embodiment of the present invention.
Detailed Description
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.
Fig. 1 schematically shows a flow chart of a positioning method of a hook according to an embodiment of the present invention. As shown in fig. 1, in an embodiment of the present invention, there is provided a positioning method for a hook, which is applied to a hoisting device, where the hoisting device includes a safety monitoring system, and the safety monitoring system is configured to determine position information of the hook according to an output of an encoder disposed on a motor, and the positioning method is described as being applied to a processor, and the positioning method may include the following steps:
and S102, acquiring the position of the lifting hook determined by the safety monitoring system.
It can be understood that the safety monitoring system of the hoisting device (for example, a tower crane) is composed of a black box, a wireless transmission device and a system platform, wherein the black box is responsible for recording, controlling and providing real-time data, the wireless transmission device is responsible for transmitting the real-time data through a wireless network, and the system platform receives the real-time data and then displays, stores and processes the real-time data in real time. The safety monitoring system of the hoisting device can determine the position information of the lifting hook according to the output of the encoder arranged on the motor, and specifically, the principle that the safety monitoring system of the hoisting device (for example, a tower crane) obtains the position of the lifting hook is as follows: the spatial motion of the lifting hook of the lifting device is realized by controlling the amplitude of the trolley, the lifting of the lifting hook and the rotation of the lifting device. Two reels of the hoisting equipment are respectively connected with a hoisting equipment trolley (corresponding to amplitude variation motion) through a steel wire rope, a lifting hook (corresponding to lifting motion), the forward and reverse rotation of the two reels (the forward and reverse rotation of the reels is realized through a motor corresponding to a control reel) drives the winding and unwinding motion of the steel wire rope, thereby realizing the amplitude variation and the lifting motion of the lifting hook of the hoisting equipment, the length of the steel wire rope is calculated by measuring the number of turns of the motor and the radius of the reels through a coder installed on the motor, and the position data of the amplitude variation and the lifting direction of the lifting hook is indirectly calculated through the length of the steel wire rope. The rotary angle is measured by an encoder arranged on a rotary motor, and the spatial position of the lifting hook is obtained by combining the amplitude variation and the lifting position data. Therefore, the processor can acquire the position of the lifting hook determined by the safety monitoring system of the lifting device through the process.
And step S104, determining corresponding compensation parameters according to the positions based on the corresponding relationship between the positions of the lifting hooks and the compensation parameters, which are stored in advance.
It is understood that the compensation parameter is a parameter for compensating the position of the hook determined by the safety monitoring system, and the number of the compensation parameters is not limited and may be multiple. The corresponding relation between the position of the lifting hook and the compensation parameter is the relation between the position of the lifting hook determined by the safety monitoring system and the corresponding compensation parameter, the corresponding relation can be predetermined and stored, and the expression form of the corresponding relation can comprise a table or an algorithm and the like.
Specifically, the processor may determine the corresponding compensation parameter according to the position of the hook determined by the safety monitoring system based on a pre-stored correspondence between the position of the hook and the compensation parameter.
In one embodiment, the representation of the correspondence of the position of the hook to the compensation parameter comprises a hook position compensation table.
It is understood that the hook position compensation table is a table including the position of the hook and parameters for compensating the position of the hook, wherein the data in the table may be predetermined and stored.
Specifically, the processor may search a preset hook position compensation table according to the position of the hook determined by the safety monitoring system, so as to determine a compensation parameter corresponding to the position of the hook.
In one embodiment, the compensation parameters include a first compensation parameter, a second compensation parameter, and a third compensation parameter; based on the corresponding relationship between the position of the lifting hook and the compensation parameter stored in advance, the corresponding compensation parameter is determined according to the position, and the method comprises the following steps: determining a position interval corresponding to the position according to the position, wherein the lower limit value of the position interval is a first compensation parameter, and the upper limit value of the position interval is a second compensation parameter; and determining a third compensation parameter according to the position interval based on the corresponding relation between the position interval and the third compensation parameter.
It can be understood that the position intervals are a plurality of preset position ranges determined by the safety monitoring system, the lower limit value of each position interval is a first compensation parameter, the upper limit value of each position interval is a second compensation parameter, and each position interval has a corresponding third compensation parameter. Further, the greater the number of value intervals, the higher the accuracy of the hook position.
Specifically, the processor may first determine a numerical range in which the position of the hook determined by the safety monitoring system is located, specifically, may compare the position of the hook with the first compensation parameter and/or the second compensation parameter to determine a position range to which the position of the hook belongs, and then determine the third compensation parameter according to the position range based on a correspondence between the position range and the third compensation parameter.
Further, in one embodiment, the first compensation parameter and the second compensation parameter are determined based on position data of the hook predetermined by the safety monitoring system; and the third compensation parameter is determined according to position data of the lifting hook, which is obtained in advance in any one mode of differential satellite positioning, meter ruler or laser ranging.
It is understood that the differential satellite positioning may include, but is not limited to, differential GPS positioning, differential beidou positioning, and the like.
Specifically, the first compensation parameter and the second compensation parameter may be determined according to position data of the lifting hook predetermined by the security monitoring system, where the third compensation parameter may be obtained in a manner including, but not limited to, differential satellite positioning, metric scale or laser ranging and other manners with higher accuracy, and the differential satellite positioning may include differential GPS positioning, differential beidou positioning and other manners.
And S106, compensating the position according to a preset position compensation algorithm and a compensation parameter to obtain the actual position of the lifting hook.
It is understood that the position compensation algorithm is a preset algorithm for compensating the position of the lifting hook determined by the safety monitoring system based on the compensation parameter.
Specifically, the processor may compensate the position of the lifting hook determined by the safety monitoring system according to a preset position compensation algorithm and a compensation parameter, that is, compensate the position of the lifting hook determined by the safety monitoring system according to the compensation parameter based on the preset position compensation algorithm, so as to obtain the compensated position of the lifting hook, that is, the actual position of the lifting hook.
According to the positioning method of the lifting hook, the position of the lifting hook determined by the safety monitoring system is obtained, the corresponding compensation parameter is determined according to the position based on the corresponding relation between the position of the lifting hook and the compensation parameter which is stored in advance, and then the position is compensated according to the preset position compensation algorithm and the compensation parameter, so that the actual position of the lifting hook is obtained. The positioning method solves the problem that the accuracy of the position of the lifting hook obtained by the safety monitoring system in the prior art is not high, is not influenced by factors such as the droop of a winding rope and the radius change of a winding drum, compensates the position of the lifting hook determined by the safety monitoring system through the corresponding relation between the position of the lifting hook and the compensation parameter which are stored in advance and the preset position compensation algorithm, improves the accuracy of the position of the lifting hook, is not influenced by natural weather or barrier shielding signals, can be suitable for most working conditions, and realizes the accurate and reliable positioning of the lifting hook of the lifting equipment.
In one embodiment, the position includes at least one of a luffing position, a hoisting position, and a slewing angle.
It will be appreciated that the hoisting device, such as a tower crane, may comprise a rotary motor, a hoisting motor and a rotary motor, and the safety monitoring system may determine the position of the hook from the output of the rotary motor and/or an encoder on the hoisting motor and/or the rotary motor, i.e. the position of the hook determined by the safety monitoring system may comprise a luffing position and/or a hoisting position and/or a slewing angle, i.e. at least one of a luffing position, a hoisting position and a slewing angle.
In one embodiment, the deriving of the position compensation algorithm comprises: acquiring a first position of the lifting hook detected by a preset position detection mode and a second position of the lifting hook determined by a safety monitoring system; determining the moving distance of the lifting hook as a preset compensation interval distance according to the first position; and determining a linear relation between the first position and the second position to obtain a position compensation algorithm, wherein the preset position detection mode comprises any one mode of differential satellite positioning, meter ruler or laser ranging.
It can be understood that the preset position detection mode is a preset mode for detecting the position of the hook, and includes, but is not limited to, differential satellite positioning, metric scale or laser ranging, where the differential satellite positioning may include, but is not limited to, positioning modes such as differential GPS positioning and differential beidou positioning. The preset compensation interval distance is a preset compensation interval distance, generally speaking, the preset compensation interval distance usually takes a smaller value, and the smaller the value of the preset compensation interval distance is, the higher the compensation accuracy of the position of the lifting hook is. The first position is the position data of the lifting hook detected by a preset position detection mode, and the second position is the position data of the lifting hook determined by the safety monitoring system.
Specifically, the processor may obtain a first position of the hook obtained by a preset position detection manner (e.g., differential GPS positioning) and a second position of the hook determined by the safety monitoring system, determine a moving distance of the hook according to the first position, and if the moving distance is a preset compensation interval distance (e.g., 2 meters), determine a linear relationship between the first position and the second position, so as to obtain a position compensation algorithm, that is, a value of the preset compensation interval distance is smaller, e.g., 2 meters, and within the preset compensation interval distance, the position data of the hook determined by the safety monitoring system and the position data obtained by the preset position detection manner may be regarded as a linear relationship.
In one embodiment, the position compensation algorithm includes equation (1):
wherein gx is the actual position, gn is the third compensation parameter, dn is the first compensation parameter, d (n + 1) is the second compensation parameter, dx is the position, and m is the preset compensation interval distance.
It is understood that the first compensation parameter dn and the second compensation parameter d (n + 1) may be the position of the hook determined by the safety monitoring system in advance, and respectively correspond to a lower limit value and an upper limit value of a position interval, and the third compensation parameter corresponding to the position interval is gn.
Specifically, the processor may read the current position dx of the hook through the safety monitoring system, and search for a correspondence (e.g., a hook position compensation table) between the position of the hook and the compensation parameter, which is stored in advance, according to the dx to determine which position interval the dx is located in, and if dn is less than or equal to dx is less than or equal to d (n + 1), query a third compensation parameter gn corresponding to a position interval composed of dn and d (n + 1) from the hook position compensation table, thereby determining the actual position gx of the hook based on the above formula (1), where gx is the accurate position of the hook.
In an embodiment, taking the amplitude variation motion of the hook as an example, the determining of the third compensation parameter according to the position data of the hook obtained in advance by the differential satellite positioning mode may include: acquiring a three-dimensional coordinate of a rotation center of the tower crane obtained in a differential satellite positioning mode; when the lifting hook moves along the horizontal direction, acquiring a three-dimensional coordinate of the lifting hook obtained in a differential satellite positioning mode; and determining the distance between the rotation center and the lifting hook in the horizontal direction according to the three-dimensional coordinate of the rotation center and the three-dimensional coordinate of the lifting hook to obtain a third compensation parameter.
It can be understood that when the lifting hook performs amplitude variation motion, the third compensation parameter in the amplitude variation process can be referred to as a third amplitude variation compensation parameter, similarly, the third compensation parameter in the lifting process can be referred to as a third lifting compensation parameter, and the third compensation parameter in the rotation process can be referred to as a third rotation compensation parameter.
Specifically, the processor may obtain a three-dimensional coordinate of a rotation center of the hoisting device (e.g., a tower crane) obtained by a differential satellite positioning manner, which is described by taking a differential GPS positioning manner in the differential satellite positioning manner as an example, specifically, an antenna of the differential GPS receiving terminal may be placed at a rotation center O of the hoisting device (e.g., a tower crane), so as to read data of the differential GPS receiving terminal to obtain a three-dimensional coordinate position (x) of a rotation center O point 0 ,y 0 ,z 0 ). When the lifting hook moves along the horizontal direction, the lifting hook can perform amplitude variation motion at the moment, and the processor can obtain the motion passing through the differential satelliteThree-dimensional coordinates (dn) of a hook obtained in a star positioning manner x ,dn y ,dn z ) And further based on the three-dimensional coordinates (x) of the center of rotation 0 ,y 0 ,z 0 ) And the three-dimensional coordinates (dn) of the hook x ,dn y ,dn z ) And determining the distance between the rotation center and the lifting hook in the horizontal direction, so that a corresponding third compensation parameter can be obtained.
Further, in one embodiment, determining the distance between the rotation center and the hook in the horizontal direction according to the three-dimensional coordinates of the rotation center and the three-dimensional coordinates of the hook to obtain the third compensation parameter includes obtaining the third compensation parameter according to the following formula (2):
wherein gn is a third compensation parameter, dn x Is a horizontal axis coordinate value, dn, in the three-dimensional coordinates of the hook y Is the coordinate value of the longitudinal axis in the three-dimensional coordinate of the hook, x 0 A coordinate value of a horizontal axis, y, in a three-dimensional coordinate of a rotation center 0 Is a coordinate value of the vertical axis in the three-dimensional coordinates of the center of rotation.
Specifically, the processor may be based on the above equation (2) according to the three-dimensional coordinates (x) of the center of gyration 0 ,y 0 ,z 0 ) And the three-dimensional coordinates (dn) of the hook x ,dn y ,dn z ) And determining the distance between the rotation center and the lifting hook in the horizontal direction, thereby obtaining a third compensation parameter.
Another embodiment of the present invention provides a method for positioning a hook, which is applied to a hoisting device, where the hoisting device includes a safety monitoring system and a differential satellite positioning system, the safety monitoring system is configured to determine position information of the hook according to an output of an encoder disposed on a motor, and the positioning method is described as being applied to a processor, where the positioning method includes: acquiring a detection signal state of a differential satellite positioning system; taking the position of the lifting hook detected by the differential satellite positioning system as the actual position of the lifting hook under the condition that the detection signal state reaches the preset state grade; and under the condition that the detection signal state does not reach the preset state grade, determining the actual position of the lifting hook according to the positioning method of the lifting hook in the embodiment.
It can be understood that the detected signal state is the signal strength of the differential satellite positioning system, and the preset state level is the preset signal strength level of the differential satellite positioning system.
Specifically, the processor may obtain a detection signal state (i.e., signal strength) of the differential satellite positioning system, and when the detection signal state reaches a preset state level, use the position of the hook detected by the differential satellite positioning system as the actual position of the hook, and when the detection signal state does not reach the preset state level, determine the actual position of the hook according to the positioning method of the hook in the above embodiment. For example, when the position data of the differential satellite positioning system is obtained, the corresponding signal strength can be obtained, for example, 6 stars indicate that the signal is good (the detection signal state reaches the preset state level), and less than 6 stars indicate that the signal is not good (the detection signal state does not reach the preset state level), the position of the hook detected by the differential satellite positioning system can be used as the actual position of the hook when the signal is good, the actual position of the hook can be determined by the positioning method of the hook in the above embodiment when the signal is not good, that is, the position of the hook determined by the safety monitoring system is obtained, based on the corresponding relationship between the position of the hook and the compensation parameter stored in advance, the corresponding compensation parameter is determined according to the position, and the position is compensated according to the preset position compensation algorithm and the compensation parameter, so as to obtain the actual position of the hook.
In an embodiment, a differential satellite positioning manner is taken as an example for explanation, fig. 2 schematically illustrates a block diagram of a specific technical solution of a positioning method of a hook in an embodiment of the present invention, fig. 3 schematically illustrates a process schematic diagram of obtaining a hook position compensation table in an embodiment of the present invention, fig. 4 schematically illustrates a schematic diagram of a hook performing luffing motion in an embodiment of the present invention, and fig. 5 schematically illustrates a schematic diagram of a linear compensation principle of luffing data in an embodiment of the present invention. As shown in fig. 2, when the GPS signal state is good, the hook position data detected by the differential GPS positioning mode can be directly used as the actual position of the hook, and when the GPS signal state is not good, the hook position data determined by the safety monitoring system can be acquired first, and then the hook position data is compensated through the position compensation table, so that the accurate hook position after compensation is obtained.
Referring to fig. 2 to 5, a tower crane is taken as an example for description, and a process of a specific hook positioning method is as follows:
1. obtaining hook position compensation gauge
The principle that the safety monitoring system obtains the position of the lifting hook is as follows: the spatial motion of the tower crane hook is realized by controlling the amplitude of the trolley, the lifting of the hook and the rotation of the tower crane. Two reels of the tower crane are respectively connected with a tower crane trolley (corresponding to amplitude variation motion) and a lifting hook (corresponding to lifting motion) through a steel wire rope, forward and reverse rotation of the two reels (forward and reverse rotation of the reels is realized through a motor corresponding to a control reel) drives the winding and unwinding motion of the steel wire rope, so that amplitude variation and lifting motion of the tower crane lifting hook are realized, the length of the steel wire rope is calculated by measuring the number of turns of the motor and the radius of the reels through an encoder installed on the motor, and the position data of the amplitude variation and the lifting direction of the lifting hook is indirectly calculated through the length of the steel wire rope. The space position of the lifting hook is obtained by measuring the rotation angle through an encoder arranged on a rotation motor and combining the amplitude variation and lifting position data.
Because the data of the safety monitoring system indirectly obtain the position of the lifting hook through the length of the steel wire rope, the position data error of the safety monitoring system is large due to the influence of factors such as the droop of the steel wire rope, the radius change of a winding drum and the like, and the error can reach 2-3 meters by taking amplitude variation as an example, therefore, in the first step, the position of the lifting hook of the safety monitoring system can be compensated by taking differential GPS position data as reference, a lifting hook position compensation table is obtained, and the accurate position of the lifting hook is obtained. The spatial position of the lifting hook is represented by amplitude variation, rotation and lifting values, and the position compensation method is described by taking the amplitude variation as an example, and the position compensation method of lifting and rotation is similar to the compensation of the amplitude variation position method.
By placing the antenna of the differential GPS receiving terminal on the towerReading the position (x) of the O point obtained by the data of the differential GPS terminal at the position of the rotation center O of the machine 0 ,y 0 ,z 0 ). Controlling the lifting hook to start from the point O, recording lifting hook amplitude variation position data measured by a safety monitoring system and a differential GPS every 2 meters, and explaining a compensation algorithm by taking amplitude variation D0 and D1 points as examples, (D0) x ,d0 y ,d0 z )、(d1 x ,d1 y ,d1 z ) The data of the lifting hook positions at the positions of the amplitude D0 and the D1 measured by the differential GPS are respectively represented, and the D0 and the D1 respectively represent the data of the amplitude of the lifting hook at the positions of the D0 and the D1 measured by the safety monitoring system. The hook position data measured by the differential GPS is converted into hook amplitude variation position data, and the algorithm is as follows:
point D0:
g0＝d0
point D1:
e1＝d1-g1
g1-g0＝2
wherein e1 represents the difference between the amplitude data (g 1) measured by the differential GPS and the amplitude data (D1) measured by the safety monitoring system at the position D1, and g0 is the amplitude data measured by the differential GPS at the position D0. The difference between g1 and g0 is a compensation distance, which can be preset, and in the embodiment of the invention, the compensation is performed once every 2 meters, or alternatively once every 1 meter and 3 meters … n meters.
The amplitude variation compensation distance (m) taken each time is short (2 meters as shown in fig. 4), so that within the 2 meters, the amplitude variation position data of the safety monitoring system and the amplitude variation data measured by the GPS can be regarded as a linear relationship, and as shown in fig. 5, if the position data of the current safety monitoring system is dx and dn is not less than dx and not less than d (n + 1), the position data after compensating the position data dx of the current safety monitoring system is gx.
By the linear relationship principle, namely:
the hook position compensation algorithm is obtained as follows:
wherein g0, d0 and d1 are recorded parameters during each compensation, and a hook position compensation table is formed. In one embodiment, the hook position compensation table may be as shown in table 1 below:
TABLE 1 hook position Compensation watch
2. Looking up a table and obtaining the accurate position of the lifting hook through a lifting hook position compensation algorithm
When the GPS signal is good, the position of the hook is measured by the differential GPS as the hook position, and when the GPS signal is poor (the good and the poor of the signal can be obtained by the state data of the differential GPS signal, that is, the state data of the differential GPS signal can indicate the degree of the good and the bad of the state of the differential GPS signal), the hook position of the compensated safety monitoring system is used as the hook position, and the calculation method of the accurate hook position gx of the compensated safety monitoring system is as follows:
reading current position data dx of the lifting hook through a safety monitoring system, judging which interval the dx is located by searching a lifting hook position compensation table, if dn is not less than dx and not more than d (n + 1), searching the table from the lifting hook position compensation table to obtain gn, dn, d (n + 1), and obtaining the accurate position gx of the lifting hook through the following lifting hook position compensation algorithm:
according to the technical scheme, when a GPS signal is good (good and poor signals can be obtained through state data of the differential GPS signal), the position of the lifting hook measured by the differential GPS is used as the position of the lifting hook, when the GPS signal is poor, table lookup compensation can be performed on the position of the lifting hook of the safety monitoring system according to the provided compensation algorithm, the position of the lifting hook of the safety monitoring system after compensation is used as the position of the lifting hook, the position of the lifting hook with high precision is obtained, and the method is suitable for most working conditions.
An embodiment of the present invention provides a processor, and the processor is configured to execute the method for positioning a hook according to the above embodiments.
The embodiment of the invention provides a hoisting device, which comprises: a motor; the encoder is arranged on the motor; a hook; the safety monitoring system is used for acquiring the output of the encoder and determining the position information of the lifting hook according to the output; and a processor configured to: acquiring the position of a lifting hook determined by a safety monitoring system; determining corresponding compensation parameters according to the positions based on the corresponding relationship between the positions of the lifting hooks and the compensation parameters, which are stored in advance; and compensating the position according to a preset position compensation algorithm and a compensation parameter to obtain the actual position of the lifting hook.
According to the technical scheme, the position of the lifting hook determined by the safety monitoring system is obtained, the corresponding compensation parameter is determined according to the position based on the corresponding relation between the position of the lifting hook and the compensation parameter which is stored in advance, and then the position is compensated according to the preset position compensation algorithm and the compensation parameter, so that the actual position of the lifting hook is obtained. According to the technical scheme, the problem that the accuracy of the position of the lifting hook obtained through the safety monitoring system in the prior art is not high is solved, the lifting hook is not affected by factors such as droop of a winding rope and radius change of a winding drum, the position of the lifting hook determined by the safety monitoring system is compensated through the corresponding relation between the position of the lifting hook stored in advance and compensation parameters and a preset position compensation algorithm, the accuracy of the position of the lifting hook is improved, the positioning method is not affected by natural weather or barrier shielding signals, the positioning method can be suitable for most working conditions, and accurate and reliable positioning of the lifting hook of the lifting equipment is achieved.
In one embodiment, the motor comprises at least one of a luffing motor, a hoisting motor, and a rotary motor.
An embodiment of the present invention provides a machine-readable storage medium, on which instructions are stored, and when executed by a processor, the instructions cause the processor to execute the method for positioning a hook according to the foregoing embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (14)
1. A positioning method of a lifting hook is applied to lifting equipment and is characterized in that the lifting equipment comprises a safety monitoring system, the safety monitoring system is used for determining position information of the lifting hook according to output of an encoder arranged on a motor, and the positioning method comprises the following steps:
acquiring the position of the lifting hook determined by the safety monitoring system;
determining corresponding compensation parameters according to the positions based on the corresponding relationship between the positions of the lifting hooks and the compensation parameters, which are stored in advance;
and compensating the position according to a preset position compensation algorithm and the compensation parameter to obtain the actual position of the lifting hook.
2. The positioning method according to claim 1, wherein the compensation parameters include a first compensation parameter, a second compensation parameter, and a third compensation parameter; the method for determining the corresponding compensation parameters according to the positions based on the corresponding relationship between the positions of the lifting hooks and the compensation parameters stored in advance comprises the following steps:
determining a position interval corresponding to the position according to the position, wherein the lower limit value of the position interval is the first compensation parameter, and the upper limit value of the position interval is the second compensation parameter;
and determining the third compensation parameter according to the position interval based on the corresponding relation between the position interval and the third compensation parameter.
3. The positioning method according to claim 1, wherein the obtaining of the position compensation algorithm comprises:
acquiring a first position of the lifting hook detected by a preset position detection mode and a second position of the lifting hook determined by the safety monitoring system;
determining the moving distance of the lifting hook as a preset compensation interval distance according to the first position;
and determining a linear relation between the first position and the second position to obtain the position compensation algorithm, wherein the preset position detection mode comprises any one mode of differential satellite positioning, metric scale or laser ranging.
4. The positioning method according to claim 2, wherein the first compensation parameter and the second compensation parameter are determined according to position data of the hook predetermined by the safety monitoring system;
and the third compensation parameter is determined according to position data of the lifting hook, which is obtained in advance in any one mode of differential satellite positioning, meter ruler or laser ranging.
5. The positioning method according to claim 1, wherein the representation of the correspondence between the position of the hook and the compensation parameter comprises a hook position compensation table.
6. The positioning method according to claim 2, wherein the position compensation algorithm comprises formula (1):
wherein gx is the actual position, gn is the third compensation parameter, dn is the first compensation parameter, d (n + 1) is the second compensation parameter, dx is the position, and m is a preset compensation interval distance.
7. The method of claim 1, wherein the position comprises at least one of a luffing position, a hoisting position, and a slewing angle.
8. The positioning method according to claim 4, wherein the determining of the third compensation parameter according to the position data of the hook obtained in advance by the differential satellite positioning method comprises:
acquiring a three-dimensional coordinate of a rotation center of the hoisting equipment obtained in the differential satellite positioning mode;
when the lifting hook moves along the horizontal direction, acquiring a three-dimensional coordinate of the lifting hook obtained in the differential satellite positioning mode;
and determining the distance between the rotation center and the lifting hook in the horizontal direction according to the three-dimensional coordinate of the rotation center and the three-dimensional coordinate of the lifting hook so as to obtain the third compensation parameter.
9. The positioning method according to claim 8, wherein the determining the distance between the rotation center and the hook in the horizontal direction according to the three-dimensional coordinates of the rotation center and the three-dimensional coordinates of the hook to obtain the third compensation parameter comprises obtaining the third compensation parameter according to the following formula (2):
wherein gn is the third compensation parameter, dn x Is a horizontal axis coordinate value, dn, in the three-dimensional coordinates of the hook y Is a longitudinal coordinate value, x, in the three-dimensional coordinates of the hook 0 Is a coordinate value of the abscissa axis, y, in the three-dimensional coordinates of the rotation center 0 Is three of the centre of rotationThe ordinate value in the dimensional coordinates.
10. The positioning method of the lifting hook is applied to lifting equipment and is characterized in that the lifting equipment comprises a safety monitoring system and a differential satellite positioning system, the safety monitoring system is used for determining the position information of the lifting hook according to the output of an encoder arranged on a motor, and the positioning method comprises the following steps:
acquiring a detection signal state of the differential satellite positioning system;
taking the position of the lifting hook detected by the differential satellite positioning system as the actual position of the lifting hook under the condition that the state of the detection signal reaches a preset state grade;
determining the actual position of the hook according to the method of positioning a hook of any one of claims 1 to 9, in case the detection signal status does not reach a preset status level.
11. A processor, characterized by being configured to perform the method of positioning a hook according to any one of claims 1 to 9, and/or the method of positioning a hook according to claim 10.
12. A lifting device, comprising:
a motor;
the encoder is arranged on the motor;
a hook;
the safety monitoring system is used for acquiring the output of the encoder and determining the position information of the lifting hook according to the output; and
the processor of claim 11.
13. The hoisting device of claim 12 wherein the motor comprises at least one of a luffing motor, a hoisting motor, and a rotary motor.
14. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to perform the method of positioning a hook of any of claims 1 to 9, and/or the method of positioning a hook of claim 10.
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| CN113526349A (en) * | 2021-07-27 | 2021-10-22 | 上海亥伯智能科技有限公司 | Detection method and detection system for diagonal pulling of heavy crane hook |
| CN114408751A (en) * | 2021-12-27 | 2022-04-29 | 上海旷通科技有限公司 | Method and equipment for auxiliary positioning of lifting hook |
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| CN108821120A (en) * | 2018-04-20 | 2018-11-16 | 北京建筑大学 | Construction derrick crane and suspension hook positioning system |
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