CN115900594A - Method, processor and device for determining inclination angle of crane and crane - Google Patents
Method, processor and device for determining inclination angle of crane and crane Download PDFInfo
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- CN115900594A CN115900594A CN202211216538.7A CN202211216538A CN115900594A CN 115900594 A CN115900594 A CN 115900594A CN 202211216538 A CN202211216538 A CN 202211216538A CN 115900594 A CN115900594 A CN 115900594A
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Abstract
The application relates to the field of mechanical engineering, in particular to a method, a processor, a device, a crane and a storage medium for determining a crane inclination angle. Acquiring a track inclination angle of a lower vehicle track through an inclination angle sensor, wherein the track inclination angle is an angle formed by combining a first transverse angle and a first longitudinal angle; acquiring a relative angle between an upper vehicle turntable and a lower vehicle crawler; respectively constructing a first getting-off coordinate system aiming at the getting-off crawler and a first getting-on coordinate system aiming at the getting-on rotary table according to the relative angles, wherein an included angle between a first transverse shaft of the first getting-off coordinate system and a second transverse shaft of the first getting-on coordinate system is equal to the relative angle; converting the first transverse angle and the first longitudinal angle based on the first getting-off coordinate system and the first getting-on coordinate system to determine a first turntable angle corresponding to the first transverse angle and a second turntable angle corresponding to the first longitudinal angle; and determining the inclination angle of the upper turning table according to the first turning table angle and the second turning table angle.
Description
Technical Field
The present application relates to the field of mechanical engineering, in particular to a method, a processor, a device, a crane and a storage medium for determining a crane inclination.
Background
When the crane is in construction, the crane has strict national standard requirements on the levelness of a construction ground, and the inclination angle required by equipment hoisting construction is a ground inclination angle, namely the inclination angle between a lower vehicle crawler of the crane and the ground. At present, all crawler cranes on the market are provided with inclination angle detection devices, and the inclination angle detection devices are usually arranged on a loading turntable of the crane. The inclination angle of the upper turning table is detected by the inclination angle detection device, and when equipment is hoisted, the detected inclination angle of the turning table cannot truly reflect the ground inclination angle due to the deformation of the turning table, and the detected inclination angle easily exceeds the national standard requirement.
Disclosure of Invention
An object of the present application is to provide a method, processor, apparatus, crane and storage medium for determining the inclination of a crane that truly reflects the inclination of the ground.
In order to achieve the above object, the present application provides a method for determining a tilt angle of a crane, the crane including an upper turn table, a lower track, and a tilt sensor, wherein the tilt sensor is mounted on the lower track, the method comprising:
acquiring a track inclination angle of a lower vehicle track through an inclination sensor, wherein the track inclination angle is an angle formed by combining a first transverse angle and a first longitudinal angle;
acquiring a relative angle between an upper vehicle turntable and a lower vehicle crawler;
respectively constructing a first getting-off coordinate system aiming at the getting-off crawler and a first getting-on coordinate system aiming at the getting-on turntable according to the relative angles, wherein the included angle between a first transverse shaft of the first getting-off coordinate system and a second transverse shaft of the first getting-on coordinate system is equal to the relative angle;
converting the first transverse angle and the first longitudinal angle based on the first getting-off coordinate system and the first getting-on coordinate system to determine a first turntable angle corresponding to the first transverse angle and a second turntable angle corresponding to the first longitudinal angle;
and determining the inclination angle of the upper turning table according to the first turning table angle and the second turning table angle.
In an embodiment of the present application, converting the first lateral angle and the first longitudinal angle based on the first get-off coordinate system and the first get-on coordinate system to determine a first turntable angle corresponding to the first lateral angle and a second turntable angle corresponding to the first longitudinal angle includes: rotating the first plane by a first transverse angle around a first transverse axis of a first getting-off coordinate system to obtain a second plane, wherein the first plane is a plane where the first getting-off coordinate system and the first getting-on coordinate system are located; determining a first turntable angle corresponding to the first transverse angle through the second plane and the first plane; rotating the first plane by a first longitudinal angle around a first longitudinal axis of the first lower vehicle coordinate system to obtain a third plane; a second turret angle corresponding to the first longitudinal angle is determined by the third plane and the first plane.
In an embodiment of the application, the first turret angle is an angle resulting from a combination of a first transverse turret angle component and a first longitudinal turret angle component, and the second turret angle is an angle resulting from a combination of a second transverse turret angle component and a second longitudinal turret angle component, the method further comprising: determining a first transverse rotary table angle component and a first longitudinal rotary table angle component through a second plane and a first plane respectively; and respectively determining a second transverse rotary table angle component and a second longitudinal rotary table angle component through the third plane and the first plane.
In an embodiment of the application, determining the first traverse table component by the second plane and the first plane comprises: determining a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane; determining a first line segment between a coordinate origin of a second boarding coordinate system and a first preset coordinate point in the second boarding coordinate system, wherein the first preset coordinate point is positioned on a third transverse axis of the second boarding coordinate system; determining a first projection line segment of the first line segment vertically projected on a first plane; and determining an included angle between the first line segment and the first projection line segment as a first transverse turntable angle component.
In an embodiment of the application, determining the first longitudinal turret component by the second plane and the first plane comprises: determining a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane; determining a second line segment between the coordinate origin of the second boarding coordinate system and a second preset coordinate point in the second boarding coordinate system, wherein the second preset coordinate point is positioned on a second longitudinal axis of the second boarding coordinate system; determining a second projection line segment of the second line segment vertically projected onto the first plane; and determining an included angle between the second line segment and the second projection line segment as a first longitudinal turntable angle component.
In an embodiment of the application, determining the second traverse table component by the third plane and the first plane comprises: determining a third boarding coordinate system contained in the third plane and corresponding to the first boarding coordinate system; determining a third line segment between a coordinate origin of a third boarding coordinate system and a third preset coordinate point in the third boarding coordinate system, wherein the third preset coordinate point is positioned on a fourth transverse axis of the third boarding coordinate system; determining a third projection line segment of the third line segment vertically projected onto the first plane; and determining an included angle between the third line segment and the third projection line segment as a second transverse turntable angle component.
In an embodiment of the application, determining the second longitudinal turret component by the third plane and the first plane comprises: determining a third boarding coordinate system corresponding to the first boarding coordinate system in the third plane; determining a fourth line segment between the coordinate origin of the third boarding coordinate system and a fourth preset coordinate point in the third boarding coordinate system, wherein the fourth preset coordinate point is positioned on a third longitudinal axis of the third boarding coordinate system; determining a fourth projection line segment of the vertical projection of the fourth line segment on the first plane; and determining an included angle between the fourth line segment and the fourth projection line segment as a second longitudinal turntable angle component.
In an embodiment of the application, the turntable tilt angle includes a second transverse angle and a second longitudinal angle, and determining the turntable tilt angle of the turntable according to the first turntable angle and the second turntable angle includes: superposing a first transverse turntable angle component included by the first turntable angle and a second transverse turntable angle component included by the second turntable angle to obtain a second transverse angle; superposing a first longitudinal turntable angle component included by the first turntable angle and a second longitudinal turntable angle component included by the second turntable angle to obtain a second longitudinal angle; and determining the angle formed by the second transverse angle and the second longitudinal angle as the inclination angle of the turntable of the upper vehicle.
A second aspect of the application provides a processor configured to perform any of the above-described methods for determining a crane inclination.
A third aspect of the application provides a device for determining the inclination of a crane comprising a processor as described above.
A fourth aspect of the present application provides a crane, comprising:
the loading rotary table is used for carrying out hoisting operation;
the lower vehicle crawler belt is used for controlling the crane to move;
the inclination angle sensor is arranged on the lower vehicle crawler belt and used for acquiring the crawler belt inclination angle of the lower vehicle crawler belt; and the device for determining the inclination angle of the crane.
A fifth aspect of the application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform the method for determining a crane inclination of any one of the above.
According to the technical scheme, the inclination angle sensor is arranged on the lower vehicle track of the crane to obtain the track inclination angle of the crane and the relative angle between the upper vehicle rotary table and the lower vehicle track, the rotary table inclination angle of the upper vehicle rotary table of the crane is determined according to the track inclination angle of the crane and the relative angle between the upper vehicle rotary table and the lower vehicle track, the upper vehicle rotary table inclination angle of the crane is obtained according to the track inclination angle and cannot be influenced by the deformation of the rotary table, and therefore the rotary table inclination angle can truly reflect the ground inclination angle.
Additional features and advantages of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not to limit the application. In the drawings:
FIG. 1 schematically illustrates a block diagram of a crane according to an embodiment of the present application;
FIG. 2 schematically shows a flow diagram of a method for determining a crane inclination according to an embodiment of the application;
FIG. 3 schematically illustrates an example diagram of a method for determining a crane inclination angle according to an embodiment of the present application;
FIG. 4 schematically illustrates an example diagram of a method for determining a crane inclination angle according to an embodiment of the present application;
FIG. 5 schematically illustrates an example diagram of a method for determining a crane inclination angle according to an embodiment of the present application;
FIG. 6 schematically illustrates an example diagram of a method for determining a crane inclination angle according to an embodiment of the present application;
FIG. 7 schematically illustrates an example diagram of a method for determining a crane inclination angle according to an embodiment of the present application;
FIG. 8 schematically illustrates an example diagram of a method for determining a crane inclination angle according to an embodiment of the present application;
fig. 9 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration and explanation only, and are not intended to limit the present application.
It should be noted that if directional indications (such as up, down, left, right, front, back, 8230; \8230;) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is 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 at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
In one embodiment, as shown in fig. 1, a structural block diagram of a crane 100 according to an embodiment of the present application is schematically shown, and the crane 100 includes: an upper vehicle turntable 101 for performing a lifting operation; the lower vehicle crawler 102 is used for controlling the crane to move; the inclination angle sensor 103 is arranged on the lower vehicle crawler 102 and used for acquiring a crawler inclination angle of the lower vehicle crawler 102; and means 104 for determining the inclination of the crane.
The crane 100 comprises an upper turning platform 101, a lower caterpillar 102 and an inclination angle sensor 103, wherein the inclination angle sensor 103 of the crane 100 is mounted on the lower caterpillar 102 of the crane 100 and can be used for acquiring the caterpillar inclination angle of the lower caterpillar 102 of the crane 100.
Fig. 2 schematically shows a flow diagram of a method for determining a crane inclination according to an embodiment of the application. In one embodiment of the present application, as shown in fig. 2, there is provided a method for determining a crane inclination angle, comprising the steps of:
202, acquiring a relative angle between an upper vehicle turntable and a lower vehicle crawler;
and step 205, determining the inclination angle of the upper turning table according to the first turning table angle and the second turning table angle.
The crane comprises an upper-vehicle turntable, a lower-vehicle crawler and an inclination angle sensor, wherein the inclination angle sensor of the crane is arranged on the lower-vehicle crawler of the crane and can be used for acquiring the crawler inclination angle of the lower-vehicle crawler of the crane. The processor acquires a track inclination angle of the lower vehicle track through the inclination sensor, wherein the track inclination angle is synthesized through a first transverse angle and a first longitudinal angle of the track.
The processor can acquire a relative angle between the upper vehicle turntable and the lower vehicle track of the crane, a first lower vehicle coordinate system for the lower vehicle track and a first upper vehicle coordinate system for the upper vehicle turntable are constructed according to the relative angle, and an included angle between a first transverse shaft of the first lower vehicle coordinate system and a second transverse shaft of the first upper vehicle coordinate system is equal to the relative angle between the upper vehicle turntable and the lower vehicle track. For example, as shown in fig. 3, 0-Xa is a first horizontal axis of the first lower-vehicle coordinate system for the lower-vehicle track, 0-Ya is a first vertical axis of the first lower-vehicle coordinate system for the lower-vehicle track, 0-Xb is a second horizontal axis of the first loading coordinate system for the loading turntable, and 0-Yb is a second vertical axis of the first loading coordinate system for the loading turntable. A1 is an included angle between a first transverse axis 0-Xa of the first get-off coordinate system and a second transverse axis 0-Xb of the first get-on coordinate system, and A1 is equal to a relative angle between the get-on rotary table and the get-off crawler.
The processor can convert a first transverse angle and a first longitudinal angle of the combined track inclination angle based on the constructed first getting-off coordinate system and the first getting-on coordinate system, so as to determine a first turntable angle corresponding to the first transverse angle and a second turntable angle corresponding to the first longitudinal angle. After the processor determines the first turntable angle and the second turntable angle, the turntable inclination angle of the upper turning turntable can be determined according to the first turntable angle and the second turntable angle.
In one embodiment, converting the first lateral angle and the first longitudinal angle based on the first disembarking coordinate system and the first boarding coordinate system to determine a first turret angle corresponding to the first lateral angle and a second turret angle corresponding to the first longitudinal angle comprises: rotating the first plane by a first transverse angle around a first transverse axis of a first getting-off coordinate system to obtain a second plane, wherein the first plane is a plane where the first getting-off coordinate system and the first getting-on coordinate system are located; determining a first turntable angle corresponding to the first transverse angle through the second plane and the first plane; rotating the first plane by a first longitudinal angle around a first longitudinal axis of the first lower vehicle coordinate system to obtain a third plane; a second turret angle corresponding to the first longitudinal angle is determined by the third plane and the first plane.
The processor may convert the first lateral angle and the first longitudinal angle based on the first get-off coordinate system and the first get-on coordinate system to determine a first turntable angle corresponding to the first lateral angle and a second turntable angle corresponding to the first longitudinal angle. The processor may determine a plane where the first lower vehicle coordinate system and the first upper vehicle coordinate system are located as a first plane, and as shown in fig. 4, determine a plane Xa-01-Yb where the first lower vehicle coordinate system Xa-0-Ya and the first upper vehicle coordinate system Xb-0-Yb are located as the first plane, where an included angle between a first horizontal axis 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and a second horizontal axis 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is a relative angle A1 between the upper vehicle turntable and the lower vehicle crawler.
The processor may rotate the first plane by a first lateral angle about a first lateral axis of the first lower vehicle coordinate system to obtain a second plane, and may rotate the first plane Xa-01-Yb by the first lateral angle Ax about the first lateral axis 0-Xa of the first lower vehicle coordinate system to obtain the second plane Xa-01-Yb' assuming that the first lateral angle of the track inclination angle is Ax, as shown in fig. 5. The first plane Xa-01-Yb comprises a first lower vehicle coordinate system Xa-0-Ya and a first upper vehicle coordinate system Xb-0-Yb, and an included angle between a first transverse shaft 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and a second transverse shaft 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is a relative angle A1 between the upper vehicle turntable and the lower vehicle crawler. A second boarding coordinate system Xb ' -0-Yb ' corresponding to the first boarding coordinate system Xb-0-Yb is provided on the second plane Xa-01-Yb '. The processor may determine a first turntable angle corresponding to the first transverse angle from the first plane and the second plane, i.e., a first turntable angle corresponding to the first transverse angle Ax of the track pitch angle from the first plane Xa-01-Yb and the second plane Xa-01-Yb'.
The processor may rotate the first plane by a first longitudinal angle about the first longitudinal axis of the first lower vehicle coordinate system to obtain a third plane, and may rotate the first plane Xa-01-Yb by the first longitudinal angle Ay about the first longitudinal axis 0-Ya of the first lower vehicle coordinate system to obtain a third plane Xa "-01' -Yb" assuming that the first longitudinal angle of the track pitch angle is Ay, as shown in fig. 6. The first plane Xa-01-Yb comprises a first lower vehicle coordinate system Xa-0-Ya and a first upper vehicle coordinate system Xb-0-Yb, and an included angle between a first transverse shaft 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and a second transverse shaft 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is a relative angle A1 between the upper vehicle turntable and the lower vehicle crawler. The third plane Xa ' -01' -Yb ' is provided with a second boarding coordinate system Xb ' -0-Yb ' corresponding to the first boarding coordinate system Xb-0-Yb. The processor can determine a second turntable angle corresponding to the first longitudinal angle through the first plane and the second plane, namely, the second turntable angle corresponding to the first longitudinal angle Ay of the track inclination angle through the first plane Xa-01-Yb and the third plane Xa ' -01' -Yb '.
In one embodiment, the first turret angle is an angle resulting from a combination of a first transverse turret angle component and a first longitudinal turret angle component, and the second turret angle is an angle resulting from a combination of a second transverse turret angle component and a second longitudinal turret angle component, the method further comprising: determining a first transverse rotary table angle component and a first longitudinal rotary table angle component through a second plane and a first plane respectively; and respectively determining a second transverse rotary table angle component and a second longitudinal rotary table angle component through the third plane and the first plane.
The processor may determine the first transverse turret angle component and the first longitudinal turret angle component for synthesizing the first turret angle through the first plane and the second plane, respectively.
The second turret angle corresponding to the first longitudinal angle determined by the first plane and the third plane is an angle synthesized from the second transverse turret angle component and the second longitudinal turret angle component. The processor may determine a second transverse turret angle component and a second longitudinal turret angle component for synthesizing a second turret angle through the first plane and the third plane, respectively.
In one embodiment, determining the first transverse turret component from the second plane and the first plane comprises: determining a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane; determining a first line segment between a coordinate origin of the second boarding coordinate system and a first preset coordinate point in the second boarding coordinate system, wherein the first preset coordinate point is positioned on a third transverse axis of the second boarding coordinate system; determining a first projection line segment of the first line segment vertically projected on a first plane; and determining an included angle between the first line segment and the first projection line segment as a first transverse turntable angle component.
After the processor obtains a second plane through rotating the first plane, a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane can be determined, the processor can determine a first line segment between a coordinate origin of the second boarding coordinate system and a first preset coordinate point located on a third transverse shaft of the second boarding coordinate system in the second boarding coordinate system, and determine a first projection line segment of the first line segment vertically projected on the first plane, and the processor can determine an included angle between the first line segment and the first projection line segment as a first transverse turntable angle component.
As shown in FIG. 7, the first plane Xa-01-Yb is rotated about the first lateral axis 0-Xa of the first lower vehicle coordinate system by a first lateral angle Ax to obtain a second plane Xa-01-Yb'. The first plane Xa-01-Yb comprises a first lower vehicle coordinate system Xa-0-Ya and a first upper vehicle coordinate system Xb-0-Yb, and an included angle between a first transverse shaft 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and a second transverse shaft 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is a relative angle A1 between the upper vehicle turntable and the lower vehicle crawler. The processor may determine a second boarding coordinate system Xb ' -0-Yb ' on the second plane Xa-01-Yb ' corresponding to the first boarding coordinate system Xb-0-Yb ', and the processor may determine the first preset coordinate point Xb ' on a third abscissa 0-Xb ' of the second boarding coordinate system to obtain a first line segment 0Xb ' between the coordinate origin 0 and the first preset coordinate point Xb ', vertically project the first line segment 0Xb ' onto the first plane Xa-01-Yb, may obtain a first projected line segment Xb ', and may determine an angle · Xb ' between the first line segment 0Xb ' and the first projected line segment 0xb ' as the first transverse turntable angle component.
In one embodiment, determining the first longitudinal turret component from the second plane and the first plane comprises: determining a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane; determining a second line segment between the coordinate origin of the second boarding coordinate system and a second preset coordinate point in the second boarding coordinate system, wherein the second preset coordinate point is positioned on a second longitudinal axis of the second boarding coordinate system; determining a second projection line segment of the second line segment vertically projected onto the first plane; and determining an included angle between the second line segment and the second projection line segment as a first longitudinal rotary table angle component.
After the processor obtains a second plane through rotating the first plane, a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane can be determined, the processor can determine a second line segment between a coordinate origin of the second boarding coordinate system and a second preset coordinate point located on a second longitudinal axis of the second boarding coordinate system in the second boarding coordinate system, and determine a second projection line segment of the second line segment vertically projected on the first plane, and the processor can determine an included angle between the second line segment and the second projection line segment as a first longitudinal turntable angle component.
As shown in FIG. 7, the first plane Xa-01-Yb is rotated about the first lateral axis 0-Xa of the first lower vehicle coordinate system by a first lateral angle Ax to obtain a second plane Xa-01-Yb'. The first plane Xa-01-Yb comprises a first lower vehicle coordinate system Xa-0-Ya and a first upper vehicle coordinate system Xb-0-Yb, and an included angle between a first transverse shaft 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and a second transverse shaft 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is a relative angle A1 between the upper vehicle rotary table and the lower vehicle crawler. The processor may determine a second boarding coordinate system Xb ' -0-Yb ' on the second plane Xa-01-Yb ' corresponding to the first boarding coordinate system Xb-0-Yb ', and the processor may determine the second preset coordinate point Yb ' on a second longitudinal axis 0-Yb ' of the second boarding coordinate system to obtain a second line segment 0Yb ' between the coordinate origin 0 and the second preset coordinate point Yb ', and vertically project the second line segment 0Yb ' onto the first plane Xa-01-Yb to obtain a second projected line segment 0yb ' h, and the processor may determine an included angle Yb '0yb h between the second line segment 0Yb ' and the second projected line segment 0yb ' as the first longitudinal angle turntable component.
In one embodiment, determining the second traverse turret component from the third plane and the first plane comprises: determining a third boarding coordinate system corresponding to the first boarding coordinate system and contained in the third plane; determining a third line segment between the coordinate origin of the third boarding coordinate system and a third preset coordinate point in the third boarding coordinate system, wherein the third preset coordinate point is positioned on a fourth transverse axis of the third boarding coordinate system; determining a third projection line segment of the third line segment vertically projected onto the first plane; and determining an included angle between the third line segment and the third projection line segment as a second transverse turntable angle component.
After the processor obtains a third plane through rotating the first plane, a third boarding coordinate system corresponding to the first boarding coordinate system in the third plane can be determined, the processor can determine a third line segment between a coordinate origin of the third boarding coordinate system and a third preset coordinate point on a fourth transverse shaft of the third boarding coordinate system in the third boarding coordinate system, and determine a third projection line segment of the third line segment vertically projected on the first plane, and the processor can determine an included angle between the third line segment and the third projection line segment as a second transverse turntable angle component.
As shown in FIG. 8, a rotation of the first plane Xa-01-Yb by a first longitudinal angle Ay about the first longitudinal axis 0-Ya of the first lower vehicle coordinate system results in a third plane Xa "-01' -Yb". The first plane Xa-01-Yb comprises a first lower vehicle coordinate system Xa-0-Ya and a first upper vehicle coordinate system Xb-0-Yb, and an included angle between a first transverse shaft 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and a second transverse shaft 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is a relative angle A1 between the upper vehicle turntable and the lower vehicle crawler. The processor may determine a third boarding coordinate system Xb "-0-Yb" corresponding to the first boarding coordinate system Xb-0-Yb on the third plane Xa "-01' -Yb", and the processor may determine a third preset coordinate point Xb ", where the third preset coordinate point Xb" is located on a fourth horizontal axis 0-Xb "of the third boarding coordinate system to obtain a third line segment 0Xb" between the coordinate origin 0 and the third preset coordinate point Xb ", and vertically project the third line segment 0Xb" onto the first plane Xa-01-Yb, and may obtain a third projected line segment Xb h, and the processor may determine an included angle ═ Xb "Xb h between the third line segment 0Xb" and the third projected line segment 0xb h as a second turntable transverse angle component.
In one embodiment, determining the second longitudinal turret component from the third plane and the first plane comprises: determining a third boarding coordinate system corresponding to the first boarding coordinate system in the third plane; determining a fourth line segment between the coordinate origin of the third boarding coordinate system and a fourth preset coordinate point in the third boarding coordinate system, wherein the fourth preset coordinate point is positioned on a third longitudinal axis of the third boarding coordinate system; determining a fourth projection line segment of the vertical projection of the fourth line segment on the first plane; and determining an included angle between the fourth line segment and the fourth projection line segment as a second longitudinal turntable angle component.
The processor can determine a third boarding coordinate system corresponding to the first boarding coordinate system in the third plane after rotating the first plane to obtain a third plane, determine a fourth line segment between a coordinate origin of the third boarding coordinate system and a fourth preset coordinate point on a third longitudinal axis of the third boarding coordinate system in the third boarding coordinate system, determine a fourth projection line segment of the fourth line segment vertically projected on the first plane, and determine an included angle between the fourth line segment and the fourth projection line segment as a second longitudinal turntable angle component.
As shown in FIG. 8, a rotation of the first plane Xa-01-Yb about the first longitudinal axis 0-Ya of the first lower vehicle coordinate system by the first longitudinal angle Ay results in a third plane Xa "-01' -Yb". The first plane Xa-01-Yb comprises a first lower vehicle coordinate system Xa-0-Ya and a first upper vehicle coordinate system Xb-0-Yb, and an included angle between a first transverse shaft 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and a second transverse shaft 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is a relative angle A1 between the upper vehicle turntable and the lower vehicle crawler. The processor may determine a third boarding coordinate system Xb "-0-Yb" on the third plane Xa "-01' -Yb" corresponding to the first boarding coordinate system Xb-0-Yb, and the processor may determine a fourth preset coordinate point Yb "on the third longitudinal axis 0-Yb" of the third boarding coordinate system, to obtain a fourth line segment 0Yb "between the origin of coordinates 0 and the fourth preset coordinate point Yb", and vertically project the fourth line segment 0Yb "onto the first plane Xa-01-Yb, to obtain a fourth projected line segment 0yb h, and the processor may determine an included angle between the fourth line segment 0Yb" and the third projected line segment 0yb h as a second longitudinal direction angular component.
In one embodiment, the upper turning turret inclination angle comprises a second transverse angle and a second longitudinal angle, and determining the turret inclination angle of the upper turning turret from the first turret angle and the second turret angle comprises: superposing a first transverse turntable angle component included by the first turntable angle and a second transverse turntable angle component included by the second turntable angle to obtain a second transverse angle; superposing a first longitudinal turntable angle component included by the first turntable angle and a second longitudinal turntable angle component included by the second turntable angle to obtain a second longitudinal angle; and determining the angle formed by the second transverse angle and the second longitudinal angle as the inclination angle of the turntable of the upper vehicle.
The inclination angle of the upper turning table comprises a second transverse angle and a second longitudinal angle, the first turning table angle is an angle obtained by combining the angle component of the first transverse turning table and the angle component of the first longitudinal turning table, and the second turning table angle is an angle obtained by combining the angle component of the second transverse turning table and the angle component of the second longitudinal turning table.
The processor may determine a first transverse turret angle component from the first plane and the second plane and a second transverse turret angle component from the first plane and the third plane. The processor may superimpose the first transverse turret angle component and the second transverse turret angle component to obtain the second transverse angle. The processor may also determine a first longitudinal turret angle component from the first plane and the second plane and a second longitudinal turret angle component from the first plane and the third plane. The processor may superimpose the first longitudinal turret angle component and the second longitudinal turret angle component to obtain the second longitudinal angle.
After determining the second transverse angle and the second longitudinal angle, the processor may determine an angle obtained by combining the second transverse angle and the second longitudinal angle as a turntable inclination angle of the upper vehicle turntable corresponding to a track inclination angle of the lower vehicle track.
In one embodiment, a processor configured to perform any of the above methods for determining a crane inclination angle is provided.
According to the scheme, the inclination angle sensor is arranged on the lower vehicle track of the crane to obtain the track inclination angle of the crane, the relative angle between the upper vehicle rotary table and the lower vehicle track is obtained, the rotary table inclination angle of the upper vehicle rotary table of the crane is determined according to the track inclination angle of the crane and the relative angle between the upper vehicle rotary table and the lower vehicle track, the upper vehicle rotary table inclination angle of the crane is obtained according to the track inclination angle and cannot be influenced by the deformation of the rotary table, and therefore the rotary table inclination angle can truly reflect the ground inclination angle.
The memory may include 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), including at least one memory chip.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 9. The computer apparatus includes a processor a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the processor a01 of the computer device is arranged to provide computing and control capabilities. The memory of the computer device includes an internal memory a03 and a nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory a03 provides an environment for running the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing relevant data of the engineering machine and relevant data input by an operator. The network interface a02 of the computer apparatus is used for communicating with an external terminal through a network connection. The computer program B02, when executed by the processor a01, is adapted to implement a method for determining the inclination of a crane.
FIG. 2 is a schematic flow diagram of a method for determining a crane inclination angle in one embodiment. It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
An embodiment of the present application provides an apparatus, where the apparatus includes a processor, a memory, and a program that is stored in the memory and is executable on the processor, and the processor implements the following steps when executing the program: acquiring a track inclination angle of a lower vehicle track through an inclination sensor, wherein the track inclination angle is an angle formed by combining a first transverse angle and a first longitudinal angle; acquiring a relative angle between an upper vehicle turntable and a lower vehicle crawler; respectively constructing a first getting-off coordinate system aiming at the getting-off crawler and a first getting-on coordinate system aiming at the getting-on turntable according to the relative angles, wherein the included angle between a first transverse shaft of the first getting-off coordinate system and a second transverse shaft of the first getting-on coordinate system is equal to the relative angle; converting the first transverse angle and the first longitudinal angle based on the first getting-off coordinate system and the first getting-on coordinate system to determine a first turntable angle corresponding to the first transverse angle and a second turntable angle corresponding to the first longitudinal angle; and determining the inclination angle of the upper turning table according to the first turning table angle and the second turning table angle.
In one embodiment, converting the first lateral angle and the first longitudinal angle based on the first disembarking coordinate system and the first boarding coordinate system to determine a first turret angle corresponding to the first lateral angle and a second turret angle corresponding to the first longitudinal angle comprises: rotating the first plane by a first transverse angle around a first transverse axis of a first getting-off coordinate system to obtain a second plane, wherein the first plane is a plane where the first getting-off coordinate system and the first getting-on coordinate system are located; determining a first turntable angle corresponding to the first transverse angle through the second plane and the first plane; rotating the first plane by a first longitudinal angle around a first longitudinal axis of the first lower vehicle coordinate system to obtain a third plane; a second turret angle corresponding to the first longitudinal angle is determined by the third plane and the first plane.
In one embodiment, the first turret angle is an angle resulting from a combination of a first transverse turret angle component and a first longitudinal turret angle component, and the second turret angle is an angle resulting from a combination of a second transverse turret angle component and a second longitudinal turret angle component, the method further comprising: determining a first transverse rotary table angle component and a first longitudinal rotary table angle component through a second plane and a first plane respectively; and respectively determining a second transverse rotary table angle component and a second longitudinal rotary table angle component through the third plane and the first plane.
In one embodiment, determining the first transverse turret component from the second plane and the first plane comprises: determining a second boarding coordinate system corresponding to the first boarding coordinate system in a second plane; determining a first line segment between a coordinate origin of the second boarding coordinate system and a first preset coordinate point in the second boarding coordinate system, wherein the first preset coordinate point is positioned on a third transverse axis of the second boarding coordinate system; determining a first projection line segment of the first line segment vertically projected on a first plane; and determining an included angle between the first line segment and the first projection line segment as a first transverse turntable angle component.
In one embodiment, determining the first longitudinal turret component from the second plane and the first plane comprises: determining a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane; determining a second line segment between the coordinate origin of the second boarding coordinate system and a second preset coordinate point in the second boarding coordinate system, wherein the second preset coordinate point is positioned on a second longitudinal axis of the second boarding coordinate system; determining a second projection line segment of the second line segment vertically projected onto the first plane; and determining an included angle between the second line segment and the second projection line segment as a first longitudinal rotary table angle component.
In one embodiment, determining the second traverse turret component from the third plane and the first plane comprises: determining a third boarding coordinate system corresponding to the first boarding coordinate system and contained in the third plane; determining a third line segment between the coordinate origin of the third boarding coordinate system and a third preset coordinate point in the third boarding coordinate system, wherein the third preset coordinate point is positioned on a fourth transverse axis of the third boarding coordinate system; determining a third projection line segment of the third line segment vertically projected onto the first plane; and determining an included angle between the third line segment and the third projection line segment as a second transverse turntable angle component.
In one embodiment, determining the second longitudinal turret component from the third plane and the first plane comprises: determining a third boarding coordinate system corresponding to the first boarding coordinate system in the third plane; determining a fourth line segment between the coordinate origin of the third boarding coordinate system and a fourth preset coordinate point in the third boarding coordinate system, wherein the fourth preset coordinate point is positioned on a third longitudinal axis of the third boarding coordinate system; determining a fourth projection line segment of the vertical projection of the fourth line segment on the first plane; and determining an included angle between the fourth line segment and the fourth projection line segment as a second longitudinal turntable angle component.
In one embodiment, the boarding turnstile tilt angle comprises a second lateral angle and a second longitudinal angle, and determining the turnstile tilt angle for the boarding turnstile from the first turnstile angle and the second turnstile angle comprises: superposing a first transverse turntable angle component included by the first turntable angle and a second transverse turntable angle component included by the second turntable angle to obtain a second transverse angle; superposing a first longitudinal turntable angle component included by the first turntable angle and a second longitudinal turntable angle component included by the second turntable angle to obtain a second longitudinal angle; and determining the angle synthesized by the second transverse angle and the second longitudinal angle as the inclination angle of the turntable of the upper vehicle.
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 so forth) 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 permanent and non-permanent, removable and non-removable media, may implement the 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 phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements 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 (12)
1. A method for determining a tilt angle of a crane, the crane comprising an upper truck turntable, a lower truck track, and a tilt sensor, wherein the tilt sensor is mounted on the lower truck track, the method comprising:
acquiring a track inclination angle of the lower vehicle track through the inclination angle sensor, wherein the track inclination angle is an angle synthesized by a first transverse angle and a first longitudinal angle;
acquiring a relative angle between the upper vehicle turntable and the lower vehicle track;
respectively constructing a first getting-off coordinate system aiming at the getting-off crawler and a first getting-on coordinate system aiming at the getting-on turntable according to the relative angle, wherein an included angle between a first transverse shaft of the first getting-off coordinate system and a second transverse shaft of the first getting-on coordinate system is equal to the relative angle;
converting the first transverse angle and the first longitudinal angle based on the first getting-off coordinate system and the first getting-on coordinate system to determine a first turntable angle corresponding to the first transverse angle and a second turntable angle corresponding to the first longitudinal angle;
and determining the inclination angle of the upper turning table according to the first turning table angle and the second turning table angle.
2. The method for determining crane inclination according to claim 1, wherein said converting said first lateral angle and first longitudinal angle based on said first disembarking coordinate system and said first boarding coordinate system to determine a first turntable angle corresponding to said first lateral angle and a second turntable angle corresponding to said first longitudinal angle comprises:
rotating a first plane by the first transverse angle around a first transverse axis of the first getting-off coordinate system to obtain a second plane, wherein the first plane is a plane where the first getting-on coordinate system and the first getting-off coordinate system are located;
determining a first turntable angle corresponding to the first transverse angle through the second plane and the first plane;
rotating the first plane by the first longitudinal angle around a first longitudinal axis of the first lower vehicle coordinate system to obtain a third plane;
and determining a second turntable angle corresponding to the first longitudinal angle through the third plane and the first plane.
3. A method for determining crane inclination according to claim 2, wherein said first turret angle is an angle resulting from a combination of a first transverse turret angle component and a first longitudinal turret angle component, and said second turret angle is an angle resulting from a combination of a second transverse turret angle component and a second longitudinal turret angle component, said method further comprising:
determining a first transverse turntable angle component and a first longitudinal turntable angle component respectively through the second plane and the first plane;
and respectively determining a second transverse rotary table angle component and a second longitudinal rotary table angle component through the third plane and the first plane.
4. A method for determining crane inclination according to claim 3, wherein determining a first transverse turret component from said second plane and said first plane comprises:
determining a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane;
determining a first line segment between a coordinate origin of the second boarding coordinate system and a first preset coordinate point in the second boarding coordinate system, wherein the first preset coordinate point is located on a third transverse axis of the second boarding coordinate system;
determining a first projection line segment of the first line segment vertically projected on the first plane;
and determining an included angle between the first line segment and the first projection line segment as the angle component of the first transverse turntable.
5. A method for determining a crane inclination according to claim 3, wherein determining a first longitudinal turntable component from said second plane and said first plane comprises:
determining a second boarding coordinate system corresponding to the first boarding coordinate system in the second plane;
determining a second line segment between the coordinate origin of the second boarding coordinate system and a second preset coordinate point in the second boarding coordinate system, wherein the second preset coordinate point is located on a second longitudinal axis of the second boarding coordinate system;
determining a second projected line segment of the second line segment projected perpendicularly onto the first plane;
and determining an included angle between the second line segment and the second projection line segment as the angle component of the first longitudinal rotary table.
6. A method for determining the inclination of a crane according to claim 3, characterized in that determining a second transverse turret component by means of said third plane and said first plane comprises:
determining a third boarding coordinate system corresponding to the first boarding coordinate system and contained in the third plane;
determining a third line segment between the coordinate origin of the third boarding coordinate system and a third preset coordinate point in the third boarding coordinate system, wherein the third preset coordinate point is located on a fourth horizontal axis of the third boarding coordinate system;
determining a third projected line segment of the third line segment projected perpendicularly onto the first plane;
and determining an included angle between the third line segment and the third projection line segment as the angle component of the second traverse table.
7. A method for determining a crane inclination according to claim 3, wherein determining a second longitudinal turret component by said third plane and said first plane comprises:
determining a third boarding coordinate system corresponding to the first boarding coordinate system in the third plane;
determining a fourth line segment between the coordinate origin of the third boarding coordinate system and a fourth preset coordinate point in the third boarding coordinate system, wherein the fourth preset coordinate point is located on a third longitudinal axis of the third boarding coordinate system;
determining a fourth projected line segment of the fourth line segment projected perpendicularly onto the first plane;
and determining an included angle between the fourth line segment and the fourth projection line segment as the angle component of the second longitudinal rotary table.
8. The method for determining the inclination angle of a crane according to any one of claims 1 to 7, wherein said upper turning table inclination angle comprises a second transverse angle and a second longitudinal angle, and said determining the turning table inclination angle of said upper turning table from said first turning table angle and said second turning table angle comprises:
superposing a first transverse turntable angle component included by the first turntable angle and a second transverse turntable angle component included by a second turntable angle to obtain a second transverse angle;
superimposing a first longitudinal turret angle component comprised by the first turret angle with a second longitudinal turret angle component comprised by a second turret angle to obtain the second longitudinal angle;
and determining the angle formed by the second transverse angle and the second longitudinal angle as the inclination angle of the turntable of the upper vehicle.
9. A processor configured to perform a method for determining a crane inclination angle according to any one of claims 1 to 8.
10. An arrangement for determining the inclination of a crane, comprising a processor according to claim 8.
11. A crane, comprising:
the loading rotary table is used for carrying out hoisting operation;
the lower-vehicle crawler is used for controlling the crane to move;
the inclination angle sensor is arranged on the lower vehicle track and used for acquiring the track inclination angle of the lower vehicle track; and
device for determining the inclination of a crane according to claim 10.
12. A machine-readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to be configured to perform a method for determining a crane inclination angle according to any one of claims 1 to 8.
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| CN202211216538.7A CN115900594A (en) | 2022-09-30 | 2022-09-30 | Method, processor and device for determining inclination angle of crane and crane |
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| CN202211216538.7A CN115900594A (en) | 2022-09-30 | 2022-09-30 | Method, processor and device for determining inclination angle of crane and crane |
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