CN103673972B - Cantilever crane deflection measuring method, device and system and crane - Google Patents
Cantilever crane deflection measuring method, device and system and crane Download PDFInfo
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Abstract
The invention discloses an arm frame deflection measuring method, an arm frame deflection measuring device, an arm frame deflection measuring system and a crane. The method comprises the following steps: receiving measurement data of a root measurement point positioned at the root of a basic arm of the arm support and an arm end measurement point positioned at any arm section of the arm support and arm support attitude data used for determining the theoretical position of the arm support; calculating the actual position of the arm end measuring point in a coordinate plane according to the measuring data of the root measuring point and the arm end measuring point, and calculating the theoretical position of the arm frame in the coordinate plane according to the measuring data of the root measuring point and the arm frame attitude data; and determining the deflection of the arm support in the coordinate plane according to the actual position of the arm end measuring point and the theoretical position of the arm support. The invention can realize dynamic and continuous measurement of the deflection of the arm support and has high accuracy.
Description
Technical field
The present invention relates to engineering machinery, in particular it relates to a kind of deflection of arm support measuring method, a kind of deflection of arm support measurement set
Deflection of arm support standby, a kind of measures system and a kind of crane.
Background technology
Along with crane to maximizing, heavy-duty development, also increase towards arm joint number as the arm of important steel construction piece,
The direction of length is developed, but thing followed arm deflection deformation problem becomes the most all the more prominent.Deflection of arm support deformation bag
Include the amount of deflection (lower amount of deflection) in luffing range of cantilever support plane and the amount of deflection (i.e. side sway degree) in jib plane of rotation.The lower amount of deflection of jib and
Side sway degree directly affects the safe application performances such as the bearing capacity of crane, shock resistance, such as also result in folding time serious
, there is casualty accident etc. in arm, and it is also rubber tyre gantry crane design and the key factor that must take into during using.Therefore, as
What measures deflection of arm support accurately, easily to guaranteeing that rubber tyre gantry crane design performance and lifting safety are significant.
Prior art existing the measuring method of some deflection of arm support, such as: 1) naked eyes are estimated or steel ruler is measured: at suspension hook
Place hangs steel wire, measures the steel wire horizontal range away from the centre of gyration by steel ruler, and with the work range pair when not having an amount of deflection
Ratio, thus obtain amount of deflection under jib；2) legacy equipment such as level gauge, collimator, theodolite is measured, and uses artificial reading mode to obtain
Take amount of deflection and side sway degree under jib；3) beam detection method is measured: is respectively mounted transmitting at jib two ends and receives beam apparatus, and one
As be laser device and target, be calculated amount of deflection and side sway degree under jib by launching and accepting the alternate position spike of light beam；4) base
Measurement in image procossing: by least two cameras to jib labelling point captured in real-time, uses image processing method to picture
Carry out splicing and filter tracking, and the three-dimensional coordinate of each labelling point in image after being spliced, and then it is calculated jib degree of disturbing.
But, there is a lot of problem in these methods, such as: naked eyes estimation be only applicable to jib deformation naked eyes distinguishable go out
Situation, and amount of deflection and side sway degree under jib accurately cannot be obtained, and wire hanger measure by pneumatic affect the biggest；Legacy equipment
Measuring and be often subject to the restriction that place is put, and the mode error of artificial reading is relatively big, measurement result precision is relatively low, the most above-mentioned
Two kinds of methods all have certain limitation, and when measuring point and being a lot, tester's labor intensity is relatively big, error is relatively big, the most not
It is applicable to kinetic measurement；And the installation of beam detection mode is more complicated, and if laser beam be blocked, it is impossible to normal transmission
To target or reflex on detector, then it cannot be guaranteed that certainty of measurement；Use the mode of image recognition to test equipment (phase
Machine) hardware configuration and installation site require higher, and data acquisition is pored over and precision depends on image processing algorithm, software
The difficulty of exploitation is bigger.Therefore prior art lacks and a kind of can accurately and easily measure the method for deflection of arm support, equipment
And system.
Summary of the invention
For the above-mentioned problems in the prior art, the invention provides a kind of deflection of arm support measuring method, the method
Including: the arm end of the root measurement point receiving the basic arm root being positioned at jib and the arbitrary arm joint being positioned at jib measures the survey of point
Measure data and for determining the jib attitude data of the theoretical position of jib；Measure point according to described root and described arm end is surveyed
The measurement data of amount point calculates described arm end and measures some physical location in coordinate plane, and measures point according to described root
Measurement data and described jib attitude data calculate described jib theoretical position in this coordinate plane；And according to described
The theoretical position of physical location and described jib that arm end measures point determines jib amount of deflection in described coordinate plane.
Present invention also offers a kind of deflection of arm support and measure equipment, this equipment includes: receptor, is positioned at jib for reception
Basic arm root root measure point and be positioned at jib arbitrary arm joint arm end measure point measurement data and for really
The jib attitude data of the theoretical position of arms frame；Controller, for measuring point and described arm end measurement point according to described root
Measurement data calculate described arm end and measure some physical location in coordinate plane, and measure the survey of point according to described root
Amount data and described jib attitude data calculate described jib theoretical position in this coordinate plane；And according to described arm end
The theoretical position of the physical location and described jib of measuring point determines jib amount of deflection in described coordinate plane.
Correspondingly, present invention also offers a kind of deflection of arm support and measure system, this system includes: multiple GPS measurement apparatus,
It is arranged on the arm joint end of arbitrary arm joint of jib and the basic arm of jib, for measuring the basic arm root being positioned at jib
Root measure point and be positioned at jib arbitrary arm joint arm end measure point measurement data and for determining the theory of jib
The jib attitude data of position；And measure equipment, wherein said GPS measurement apparatus according to deflection of arm support provided by the present invention
Communicated with one another by radio set, and at least one the GPS measurement apparatus in the plurality of GPS measurement apparatus and described jib
Deflection metrology equipment connects, so that described root is measured the measurement data of point, described arm end measure the measurement data and described of point
Jib attitude data is sent to described deflection of arm support and measures the receptor of equipment.
And, present invention also offers a kind of deflection of arm support and measure system, this system includes: multiple GPS measurement apparatus, peace
It is contained on the arm joint end of arbitrary arm joint of jib and the basic arm of jib, is positioned at the basic arm root of jib for measurement
Root is measured the arm end of the arbitrary arm joint putting and being positioned at jib and is measured the measurement data put；Jib angular transducer, is used for measuring
Determine the jib attitude data of the theoretical position of jib；And measure equipment according to deflection of arm support provided by the present invention, wherein
Described GPS measurement apparatus is communicated with one another by radio set, and at least one GPS in the plurality of GPS measurement apparatus surveys
Amount device and described jib angular transducer are measured equipment with described deflection of arm support respectively and are connected, so that described root to be measured point
Measurement data and the described jib attitude data of measurement data, described arm end measurement point are sent to described deflection of arm support measurement and set
Standby receptor.
Additionally, present invention also offers a kind of crane, this crane includes according to deflection of arm support provided by the present invention
Measurement system.
Use deflection of arm support measuring method, equipment, system and crane that the present invention provides, can be by being positioned at jib
Basic arm root root measure point and be positioned at jib arbitrary arm joint arm end measure point measurement data calculate arm end survey
Amount point physical location in coordinate plane, and utilize described root to measure the measurement data of point and for determining the theory of jib
The jib attitude data of position calculates jib theoretical position in described coordinate plane, measures the reality of point afterwards according to arm end
The theoretical position of position and jib calculates jib (such as luffing range of cantilever support plane and plane of rotation) in described coordinate plane
Amount of deflection, thus can realize to deflection of arm support dynamic, measure continuously, and the deflection of arm support precision that calculates is high.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, with following tool
Body embodiment is used for explaining the present invention together, but is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram that the example deflection of arm support according to one embodiment of the present invention measures equipment；
Fig. 2 A shows the schematic diagram of the jib attitude in jib plane of rotation before jib generation amount of deflection deformation；
Fig. 2 B shows the schematic diagram of the jib attitude in jib plane of rotation after jib generation amount of deflection deformation；
Fig. 3 is to calculate the schematic diagram of deflection of arm support in luffing range of cantilever support plane according to one embodiment of the present invention；
Fig. 4 is to calculate the schematic diagram of deflection of arm support in jib plane of rotation according to one embodiment of the present invention.
Fig. 5 shows the schematic diagram of the jib attitude in luffing range of cantilever support plane before jib generation amount of deflection deformation；
Fig. 6 shows the schematic diagram of the jib attitude in luffing range of cantilever support plane after jib generation amount of deflection deformation
Fig. 7 is the example flow diagram of the deflection of arm support measuring method according to one embodiment of the present invention；And
Fig. 8 is the schematic diagram that the example deflection of arm support according to one embodiment of the present invention measures system.
Description of reference numerals
10 receptor 20 controllers
100 deflection of arm support measure equipment 200 jib
400 chassis 300a-300d GPS measurement apparatus
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.It should be appreciated that this place is retouched
The detailed description of the invention stated is merely to illustrate and explains the present invention, is not limited to the present invention.
Hereafter the thought of the present invention will be described as a example by the crane to have jib, it is understood that, the present invention's
Deflection of arm support measuring method, equipment, system may be used for any engineering machinery (such as, fire fighting truck etc.) with jib, this
Bright this is not limited.
Fig. 1 is the schematic diagram that the example deflection of arm support according to one embodiment of the present invention measures equipment.Such as Fig. 1 institute
Showing, this deflection of arm support is measured equipment 100 and be may include that receptor 10, for receiving the root of the basic arm root being positioned at jib
The arm end measuring the arbitrary arm joint putting and being positioned at jib measures the measurement data of point and for determining the theoretical position of jib
Jib attitude data；Controller 20, calculates institute for measuring the measurement data of point and described arm end measurement point according to described root
State arm end and measure some physical location in coordinate plane, and measure the measurement data of point and described jib according to described root
Attitude data calculates described jib theoretical position in this coordinate plane；And the physical location of point is measured according to described arm end
Jib amount of deflection in described coordinate plane is determined with the theoretical position of described jib.
Specifically, receptor 10 can receive the root measurement point of the basic arm root being positioned at jib and be positioned at jib
The arm end of arbitrary arm joint measures the measurement data of point and for determining the jib attitude data of the theoretical position of jib, the most logical
Cross connected any suitable measurement apparatus (such as, GPS measurement apparatus, the position measurement dress for measuring above-mentioned data
Put), it is also possible to directly from external reception (the most manually input etc.)；Controller 20, can measure according to described root
Point and described arm end are measured the measurement data of point and are calculated described arm end and measure some physical location in coordinate plane, and according to
Described root measures measurement data and the described jib attitude data calculating described jib theoretical bits in this coordinate plane of point
Put；And determine that jib is at described coordinate plane according to the physical location of described arm end measurement point and the theoretical position of described jib
Interior amount of deflection.
According to one embodiment of the present invention, it is the three-dimensional that this root measures point that described root measures the measurement data of point
Coordinate, described arm end measure point measurement data be this arm end measure point three-dimensional coordinate, described jib attitude data include to
Basic arm on a few basic arm being positioned at jib measures the three-dimensional coordinate of point.
Specifically, Fig. 2 A shows the signal of the jib attitude in jib plane of rotation before jib generation amount of deflection deformation
Figure.Fig. 2 B shows the schematic diagram of the jib attitude in jib plane of rotation after jib generation amount of deflection deformation.In order to this is described
The thought of invention, as a example by the crane arm support with three joint arm joint, as shown in Figure 2A and 2B, the jib of crane 200 with
Chassis 400 is fixing to be connected, and wherein jib 200 can include basic arm 200a(that is first arm joint), the second arm joint 200b, the 3rd arm
Joint 200c.Measurement to deflection of arm support, those skilled in the art can select on jib according to following condition and arrange suitably
Measurement point, and measurement point install measurement equipment, to reflect jib attitude:
(1) jib by arranging is measured point and can be reduced the jib state before jib generation amount of deflection deformation；
(2) spatial position change of jib measurement point can represent the spatial position change of this measurement point on jib, i.e.
Lower amount of deflection and side sway degree can be reflected.
Meet and meet any position of above-mentioned condition on jib and can serve as jib and measure point, for example, for figure
For example three sections of arm (i.e. there is the jib of three joint arm joint) shown in 2A and 2B, can be according to above-mentioned condition in suitable position
Installing measurement point, this is not defined by the present invention.In order to obtain the most accurate measurement data, can arrange measuring point
At A, B, C, the most as seen in figs. 2a-2b, A measures some the basic arm root being positioned at jib, referred to as root and measures point；B measures
On some basic arm between crane basic arm root hinge and amplitude oil cylinder-jib hinge, A measures point and measures point with B
Between line on the centrage of crane basic arm, or be parallel to the axis of jib, referred to as basic arm measures point.Further,
Due to the supporting role of amplitude oil cylinder, typically can by this section of jib (i.e. basic arm root hinge to amplitude oil cylinder-jib hinge it
Between jib section) amount of deflection deformation ignore, i.e. think and amount of deflection deformation do not occur, therefore can reduce before jib generation amount of deflection deformation
Jib state；C measures point and is positioned at the end of the 3rd arm joint, and referred to as arm end measurement point, represents the sky of this measurement point on jib
Between change in location, i.e. can reflect lower amount of deflection and side sway degree.Therefore, A, B, C measurement point meets above-mentioned condition.It is to be understood that
It is that it is the non-limiting example that the present invention is described that above-mentioned example measures some A, B, C, measures point for B, and it can be at A
Measure the optional position of basic arm between the basic arm between point and crane basic arm root hinge and amplitude oil cylinder-jib hinge
Place, the basic arm being positioned on basic arm is measured point and can also be arranged according to practical situation multiple, as long as meeting above-mentioned condition.
For n joint jib, multiple arm end can be had to measure point (C point), lay respectively at this arm joint needing to measure its jib attitude
End (such as can have D, E, F point etc., not shown), this is not defined by the present invention.As set forth above, it is possible in selection
Measurement point installs measurement apparatus, to detect the measurement data of described arm end measurement point.
Owing to GPS measurement apparatus has hi-Fix (error is smaller than 1mm), can realize dynamic measurement continuously,
Therefore according to one embodiment of the present invention, can be on the basic arm of the arm joint end of arbitrary arm joint of jib and jib
Multiple GPS measurement apparatus 300a-300d is installed, for accurately measuring above-mentioned data.For example, for shown in Fig. 2 A-2B
Three sections of arm, can be arranged on GPS measurement apparatus 300a at measurement point A, be separately mounted to survey by GPS measurement apparatus 300b-c
Amount point B, C sentence the three-dimensional coordinate of each point of detection, such as, still as a example by the three sections of arm shown in Fig. 2 A-2B, described root is surveyed
The three-dimensional coordinate corresponding A of amount measures the three-dimensional of the three-dimensional coordinate correspondence C measurement point of the three-dimensional coordinate of point, described arm end measurement point
Coordinate, described jib attitude data correspondence B measures the three-dimensional coordinate of point.
The basic arm root of jib it is positioned at owing to measuring some A, therefore can be right by (or basic point) as a reference point for this point
GPS measurement apparatus 300a herein that is arranged on answered can be done GPS reference station and be connected with this deflection of arm support measurement equipment 100.
And measure install at some B, C GPS measurement apparatus 300b, 300c as GPS movement station, and will be by carrier phase difference principle
The three-dimensional coordinate measured is sent to GPS measurement apparatus 300a, and each measured can be measured point by GPS measurement apparatus 300a afterwards
Three-dimensional coordinate be sent to this equipment, can be led to each other by radio set between wherein said GPS measurement apparatus 300a-300c
Letter sends root and measures the measurement data of point, the measurement data of arm end measurement point and jib attitude data.
It should be appreciated that GPS measurement apparatus measures principle and the transmission of data of three-dimensional coordinate, belong to this area public
Know general knowledge, in order to not obscure protection scope of the present invention, omit detailed description at this.
According to one embodiment of the present invention, deflection of arm support is measured the receptor 10 of equipment 100 and is being received above-mentioned
After point and the measurement data of arm end measurement point and jib attitude data are measured by portion, send the data to controller 20.It
After, controller 20 can calculate described arm end according to following methods and measure some physical location in coordinate plane and described jib
Theoretical position in this coordinate plane；And physical location and the theoretical position of described jib of point is measured according to described arm end
Determining jib amount of deflection in described coordinate plane preferably, described coordinate plane includes that jib plane of rotation and luffing range of cantilever support are put down
Face, i.e. may determine that the amount of deflection (lower amount of deflection) in luffing range of cantilever support plane and/or the amount of deflection (i.e. side sway degree) in jib plane of rotation.
Specifically, deflection of arm support in Fig. 3 is the calculating luffing range of cantilever support plane according to one embodiment of the present invention
Schematic diagram；Fig. 4 is to calculate the schematic diagram of deflection of arm support in jib plane of rotation according to one embodiment of the present invention.
Wherein, calculate arm end measurement point physical location in coordinate plane to include:
Three-dimensional coordinate and the three-dimensional coordinate of described arm end measurement point of point is measured, it is thus achieved that described root is surveyed according to described root
Amount point and described arm end measure some two-dimensional coordinate in jib plane of rotation and luffing range of cantilever support plane, to be sat by described two dimension
Mark determines that this arm end measures some physical location in jib plane of rotation and luffing range of cantilever support plane；
Calculate jib theoretical position in coordinate plane to include:
Measure three-dimensional coordinate and the three-dimensional coordinate of at least one basic arm described measurement point of point according to described root, determine
Described root measures point and at least one basic arm described is measured point and constituted in jib plane of rotation and luffing range of cantilever support plane
Linear equation, to determine jib theoretical position in jib plane of rotation and luffing range of cantilever support plane by this linear equation.
Wherein, the theoretical position of the physical location and described jib of measuring point according to described arm end determines that jib is at described seat
Amount of deflection in mark plane includes: determine that jib is at described coordinate by the distance of calculating described arm end measurement point to described straight line
Amount of deflection in plane.
With reference to Fig. 3-4, above-mentioned computational methods are described in detail.It is positioned at basic arm root owing to A measures point, therefore may be used
With A point as initial point (reference point), setting up rectangular coordinate system in space, it is (x that B measures the three-dimensional coordinate (rectangular space coordinate) of pointB,
yB, zB), there is not amount of deflection deformation owing to thinking as mentioned above at A, B, therefore, its three-dimensional coordinate is fixed.And C point represents jib and scratches
Degree deformation quantity, the three-dimensional coordinate therefore measured is the C point position coordinates after there is amount of deflection deformation, is (xC, yC, zC)。
(1) amount of deflection (lower amount of deflection) in luffing range of cantilever support plane is calculated
In order to calculate the deflection of arm support in luffing range of cantilever support plane, in above-mentioned rectangular coordinate system in space, in luffing plane
Inside set up the rectangular coordinate system x ' Ay ' of A point, as it is shown on figure 3, according to measure rectangular space coordinate can with computation and measurement point B,
The C horizontal range (R) away from reference point A and height (H) are respectively as follows:
HB=zB
HC=zCFormula (1)
Then in luffing plane, the coordinate measuring point B and C is respectively (RB,HB)、(RC,HC)。
Owing to crossing jib state (the as above institute before the jib section between reference point A and measurement point B can represent amount of deflection deformation
State), it is (theoretical position) that linear equation during amount of deflection deformation does not occurs in being therefore calculated luffing range of cantilever support plane:
HBx′-RBY '=0 formula (2)
Then after amount of deflection deformation, measure a some C(i.e. physical location) distance away from straight line AB is
I.e. amount of deflection in luffing range of cantilever support plane is dLower amount of deflection。
(2) jib plane of rotation (side sway degree)
As shown in Figure 4, measuring point B and C and be projected as B ', C ' in jib plane of rotation, coordinate is respectively (xB,yB)、
(xC,yC).Then in jib plane of rotation, linear equation (i.e. theoretical position) before arm deformation is:
yBx-xBY=0 formula (4)
Therefore, can be calculated the subpoint C ' (i.e. physical location) distance away from straight line AB ' is
I.e. amount of deflection in jib plane of rotation is dSide sway degree。
According to one embodiment of the present invention, controller 20 can determine luffing range of cantilever support plane according to above-mentioned computational methods
Amount of deflection (i.e. side sway degree) in interior amount of deflection (lower amount of deflection) and/or jib plane of rotation.And it is possible to the luffing range of cantilever support that will determine
Amount of deflection in plane and/or the amount of deflection in jib plane of rotation export to other equipment (such as by connecting line, CAN, net
Network etc.), such as output shows in real time to display device, or other equipment needing deflection value or terminals.Use this reality
The mode of executing can be real-time by measuring the three-dimensional coordinate of point (including that root measures point, arm end measures point and basic arm measures point)
Ground, being precisely calculated deflection of arm support, and it is short to measure the time, it is possible to achieve successive dynamic measuring, error is smaller than 1mm.
According to another embodiment of the invention, worked due at crane that controller 20 can also will calculate
Journey may need horizontal variable quantity and vertical change amount (the i.e. C point in luffing range of cantilever support plane of amount of deflection in luffing range of cantilever support plane
Horizontal range and the variable quantity of height, by the horizontal range before and after computation and measurement point C three-dimensional coordinate generation amount of deflection deformation and
Height difference obtains) output (such as arriving display device etc.), for operating crane the most intuitively.
It should be appreciated that deflection of arm support computational methods provided by the present invention are exemplary and but not limited method, this
Skilled person can calculate physical location and theoretical position by any other suitable method and thus obtain jib and exist
Amount of deflection in luffing range of cantilever support plane and jib plane of rotation, this is not defined by the present invention.
For example, according to another embodiment of the invention, controller 20 can also use angle-data to calculate
Described physical location and theoretical position.In this embodiment, receptor 10 can receive root and measure point and arm end measurement point
Measurement data, described root measure point measurement data be this root measure point three-dimensional coordinate, described measurement data permissible
Measure three-dimensional coordinate and the jib attitude data of point for this arm end, described jib attitude data can include jib argument α,
Wherein said jib argument α is the angle between the basic arm root of jib and ground, and it can be received from crane configuration
Jib angular transducer (not shown).
Preferably, described coordinate plane can be luffing range of cantilever support plane, and described calculating arm end measures point in coordinate plane
Physical location include: according to described root measure point three-dimensional coordinate and described arm end measure point three-dimensional coordinate, it is thus achieved that institute
State root and measure point and described arm end measurement point two-dimensional coordinate in luffing range of cantilever support plane, to be determined by described two-dimensional coordinate
This arm end measures some physical location in luffing range of cantilever support plane；
Described calculating jib theoretical position in coordinate plane includes: according to described root measure point three-dimensional coordinate and
Described jib argument α determines that described root measures the straight line side that point is constituted in luffing range of cantilever support plane with described jib argument α
Journey, to determine jib theoretical position in luffing range of cantilever support plane by this linear equation.
Wherein, the theoretical position of the physical location and described jib of measuring point according to described arm end determines that jib is at described seat
Amount of deflection in mark plane includes: determine that jib is at described coordinate by the distance of calculating described arm end measurement point to described straight line
Amount of deflection in plane.
Fig. 5 shows the schematic diagram of the jib attitude in luffing range of cantilever support plane before jib generation amount of deflection deformation.Fig. 6 illustrates
The schematic diagram of jib attitude after jib generation amount of deflection deformation in luffing range of cantilever support plane.As it is shown in figure 5, can be according to jib
Argument α and A measure a linear equation constituted in luffing range of cantilever support plane and determine jib theory in luffing range of cantilever support plane
Position.Physical location the most still can measure point by A and C measures some two-dimensional coordinate in luffing range of cantilever support plane and determines, it
After can measure point and determine jib amount of deflection d in luffing range of cantilever support plane by calculating C to the distance of described straight lineLower amount of deflection。
Preferably for the horizontal range of C point in luffing range of cantilever support plane and the variable quantity of height, except passing through to calculate
Measure the horizontal range before and after some C three-dimensional coordinate generation amount of deflection deformation and height difference obtains, it is also possible to by the brachium received
Data L1Calculate, such as:
As it has been described above, according to the three-dimensional coordinate of A, C point measured, can be calculated at luffing range of cantilever support plane inner arm end C
Horizontal range away from basic arm root A and being highly respectively as follows:
H=zC-zAFormula (6)
And by trigonometric function relation, calculate before generation amount of deflection deformation at luffing range of cantilever support plane inner arm end C away from basic arm
The horizontal range of root A and being highly respectively as follows:
R '=L1·cosα
H '=L1Sin α formula (7)
Afterwards, by comparing R, H and R ', H ', i.e. can get horizontal range and the change highly of C point in luffing range of cantilever support plane
Change amount is respectively as follows:
fLevel=R-R′
fHighly=H-H ' formula (8)
Can also be used in combination in combination it should be appreciated that above-mentioned numerous embodiments can independently use, this
Skilled person can select suitable computational methods according to practical situation and arrange controller with the most accurately, easily
Calculate deflection of arm support.
Correspondingly, Fig. 7 is the example flow diagram of the deflection of arm support measuring method according to one embodiment of the present invention, as
Shown in Fig. 7, the method can comprise the steps:
In step 1001, the root measurement point receiving the basic arm root being positioned at jib and the arbitrary arm joint being positioned at jib
Arm end measures the measurement data of point and for determining the jib attitude data of the theoretical position of jib；
In step 1002, the measurement data described arm end of calculating measuring point according to described root measurement point and described arm end is surveyed
Amount point physical location in coordinate plane, and measure the measurement data of point and described jib attitude data according to described root
Calculate described jib theoretical position in this coordinate plane；And
In step 1003, determine that jib exists according to the physical location of described arm end measurement point and the theoretical position of described jib
Amount of deflection in described coordinate plane.
According to one embodiment of the present invention, it is the three-dimensional that this root measures point that described root measures the measurement data of point
Coordinate, described arm end measure point measurement data be this arm end measure point three-dimensional coordinate, described jib attitude data include to
Basic arm on a few basic arm being positioned at jib measures the three-dimensional coordinate of point.
Wherein, described coordinate plane includes luffing range of cantilever support plane and jib plane of rotation, and described calculating arm end is measured point and existed
Physical location in coordinate plane includes: measure three-dimensional coordinate and the three-dimensional seat of described arm end measurement point of point according to described root
Mark, it is thus achieved that described root measures point and described arm end measures some two dimension seat in jib plane of rotation and luffing range of cantilever support plane
By described two-dimensional coordinate, mark, to determine that this arm end measures some actual bit in jib plane of rotation and luffing range of cantilever support plane
Put；
Described calculating jib theoretical position in coordinate plane includes: according to described root measure point three-dimensional coordinate and
At least one basic arm described measures the three-dimensional coordinate of point, determines that described root measures point and at least one basic arm described is measured
By this linear equation, the linear equation that point is constituted in jib plane of rotation and luffing range of cantilever support plane, to determine that jib is at arm
Theoretical position in frame plane of rotation and luffing range of cantilever support plane.
According to another embodiment of the invention, it is that this root measures the three of point that described root measures the measurement data of point
Dimension coordinate, it is the three-dimensional coordinate that this arm end measures point that described arm end measures the measurement data of point, and described jib attitude data includes
Jib argument α, wherein said jib argument α is the angle between the basic arm root of jib and ground.
Wherein, described coordinate plane includes luffing range of cantilever support plane, and described calculating arm end measures some reality in coordinate plane
Position, border includes: measure three-dimensional coordinate and the three-dimensional coordinate of described arm end measurement point of point according to described root, it is thus achieved that described
Point is measured in portion and described arm end measures some two-dimensional coordinate in luffing range of cantilever support plane, to determine this arm by described two-dimensional coordinate
End measures some physical location in luffing range of cantilever support plane；
Described calculating jib theoretical position in coordinate plane includes: according to described root measure point three-dimensional coordinate and
Described jib argument α determines that described root measures the straight line side that point is constituted in luffing range of cantilever support plane with described jib argument α
Journey, to determine jib theoretical position in luffing range of cantilever support plane by this linear equation.
Wherein, the theoretical position of the physical location and described jib of measuring point according to described arm end determines that jib is at described seat
Amount of deflection in mark plane includes: determine that jib is at described coordinate by the distance of calculating described arm end measurement point to described straight line
Amount of deflection in plane.
Said method step is measured the measurement data of point, the setting of jib attitude data etc. for arm end, selected, calculates
The embodiment of method etc. is not as it has been described above, repeat them here.
Fig. 8 is the schematic diagram that the example deflection of arm support according to one embodiment of the present invention measures system, such as Fig. 8 institute
Showing, this system includes:
Multiple GPS measurement apparatus 300a-300d, are arranged on arm joint end and the jib basic arm of arbitrary arm joint of jib
On, the arm end of the root measurement point being positioned at the basic arm root of jib for measurement and the arbitrary arm joint being positioned at jib measures point
Measurement data and for determining the jib attitude data of theoretical position of jib；And
Measuring equipment 100 according to deflection of arm support provided by the present invention, wherein said GPS measurement apparatus 300a-300d is led to
Cross radio set to communicate with one another, and at least one GPS measurement apparatus 300a-300d in the plurality of GPS measurement apparatus with
This deflection of arm support is measured equipment 100 and is connected, so that described root to be measured the measurement data of point, the measurement number of described arm end measurement point
According to and described jib attitude data be sent to this deflection of arm support measure equipment 100 receptor 10, to calculate deflection of arm support.
Calculate the embodiment of deflection of arm support corresponding to above-mentioned employing angle-data, described jib attitude data includes jib
Basic arm root and ground between angle, i.e. jib argument α, therefore, said system is in addition to including multiple GPS measurement apparatus
Jib angular transducer can also be included, for measuring angle-data.I.e. present invention also offers another kind of deflection of arm support to survey
Amount system, this system includes: multiple GPS measurement apparatus, is arranged on arm joint end and the base of jib of arbitrary arm joint of jib
On this arm, the arm end of the root measurement point being positioned at the basic arm root of jib for measurement and the arbitrary arm joint being positioned at jib is measured
The measurement data of point；Jib angular transducer, for measuring the jib attitude data of the theoretical position determining jib；And according to
Deflection of arm support provided by the present invention measures equipment, and wherein said GPS measurement apparatus is communicated with one another by radio set, Yi Jisuo
State at least one the GPS measurement apparatus in multiple GPS measurement apparatus and described jib angular transducer is scratched with described jib respectively
Degree measurement equipment connects, so that described root to be measured the measurement data of point, the measurement data of described arm end measurement point and described arm
Frame attitude data is sent to described deflection of arm support and measures the receptor of equipment.
Can also be used in combination in combination it should be appreciated that above-mentioned numerous embodiments can independently use, this
Skilled person can come suitable selection and setting according to practical situation, and the most above-mentioned jib deflection metrology system can root
Configure said elements according to needs (such as fund or crane type etc.), or use deflection of arm support provided by the present invention to measure
Method carries out deflection of arm support calculating.
Correspondingly, present invention also offers a kind of crane, this crane includes scratching according to jib provided by the present invention
Degree measurement system.
Use deflection of arm support measuring method, equipment, system and crane that the present invention provides, can be by being positioned at jib
Basic arm root root measure point and be positioned at jib arbitrary arm joint arm end measure point measurement data calculate arm end survey
Amount point physical location in coordinate plane, and utilize described root to measure the measurement data of point and for determining the theory of jib
The jib attitude data of position calculates jib theoretical position in described coordinate plane, measures the reality of point afterwards according to arm end
The theoretical position of position and jib calculates jib (such as luffing range of cantilever support plane and plane of rotation) in described coordinate plane
Amount of deflection, thus can realize to deflection of arm support dynamic, measure continuously, and the deflection of arm support precision that calculates is high.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
Execute the detail in mode, in the technology concept of the present invention, technical scheme can be carried out multiple letter
Monotropic type, these simple variant belong to protection scope of the present invention.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, at not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to various can
The compound mode of energy illustrates the most separately.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as it is without prejudice to this
The thought of invention, it should be considered as content disclosed in this invention equally.
Claims (11)
1. a deflection of arm support measuring method, it is characterised in that the method includes:
The arm end of the root measurement point receiving the basic arm root being positioned at jib and the arbitrary arm joint being positioned at jib measures the survey of point
Measure data and for determining the jib attitude data of the theoretical position of jib；
The measurement data described arm end of calculating measuring point according to described root measurement point and described arm end measures point at coordinate plane
In physical location, and according to described root measure point measurement data and described jib attitude data calculate described jib exist
Theoretical position in this coordinate plane；And
Physical location and the theoretical position of described jib according to described arm end measurement point determine that jib is in described coordinate plane
Amount of deflection, wherein said root measure point measurement data be this root measure point three-dimensional coordinate, described arm end measure point
Measurement data is the three-dimensional coordinate that this arm end measures point, and described jib attitude data includes that at least one is positioned at the basic arm of jib
On basic arm measure point three-dimensional coordinate；
Wherein said coordinate plane includes luffing range of cantilever support plane and jib plane of rotation, and described calculating arm end is measured point and put down at coordinate
Physical location in face includes:
Three-dimensional coordinate and the three-dimensional coordinate of described arm end measurement point of point is measured, it is thus achieved that described root measures point according to described root
Point two-dimensional coordinate in jib plane of rotation and luffing range of cantilever support plane is measured, with true by described two-dimensional coordinate with described arm end
This arm end fixed measures some physical location in jib plane of rotation and luffing range of cantilever support plane；
Described calculating jib theoretical position in coordinate plane includes:
Measure three-dimensional coordinate and the three-dimensional coordinate of at least one basic arm described measurement point of point according to described root, determine described
It is straight with what at least one basic arm described measurement point was constituted in jib plane of rotation and luffing range of cantilever support plane that root measures point
Line equation, to determine jib theoretical position in jib plane of rotation and luffing range of cantilever support plane by this linear equation.
Method the most according to claim 1, it is characterised in that it is that this root is measured that described root measures the measurement data of point
The three-dimensional coordinate of point, it is the three-dimensional coordinate that this arm end measures point that described arm end measures the measurement data of point, described jib attitude number
According to including jib argument α, wherein said jib argument α is the angle between the basic arm root of jib and ground.
Method the most according to claim 2, it is characterised in that described coordinate plane includes luffing range of cantilever support plane, described meter
Calculate arm end measurement point physical location in coordinate plane to include:
Three-dimensional coordinate and the three-dimensional coordinate of described arm end measurement point of point is measured, it is thus achieved that described root measures point according to described root
Point two-dimensional coordinate in luffing range of cantilever support plane is measured, to determine that this arm end measures point by described two-dimensional coordinate with described arm end
Physical location in luffing range of cantilever support plane；
Described calculating jib theoretical position in coordinate plane includes:
Three-dimensional coordinate and described jib argument α according to described root measurement point determine that described root measures point and described jib width
By this linear equation, the linear equation that angle α is constituted in luffing range of cantilever support plane, to determine that jib is in luffing range of cantilever support plane
Theoretical position.
4. according to the method described in claim 1 or 3, it is characterised in that measure physical location and the institute of point according to described arm end
The theoretical position stating jib determines that jib amount of deflection in described coordinate plane includes:
Determine that jib is at described seat by the distance of calculating described arm end measurement point to the straight line represented by described linear equation
Amount of deflection in mark plane.
5. a deflection of arm support measures equipment, it is characterised in that this equipment includes:
The arm end of receptor, the root measurement point being positioned at the basic arm root of jib for reception and the arbitrary arm joint being positioned at jib
Measure the measurement data of point and for determining the jib attitude data of the theoretical position of jib；
Controller, measures point for measuring the measurement data described arm end of calculating of point according to described root measurement point and described arm end
Physical location in coordinate plane, and measurement data and the calculating of described jib attitude data of point is measured according to described root
Described jib theoretical position in this coordinate plane；And measure the physical location of point and described jib according to described arm end
Theoretical position determines jib amount of deflection in described coordinate plane, and it is that this root is surveyed that wherein said root measures the measurement data of point
The three-dimensional coordinate of amount point, it is the three-dimensional coordinate that this arm end measures point that described arm end measures the measurement data of point, described jib attitude
Data include that at least one basic arm being positioned on the basic arm of jib measures the three-dimensional coordinate of point；
Wherein said coordinate plane includes jib plane of rotation and luffing range of cantilever support plane, and described calculating arm end is measured point and put down at coordinate
Physical location in face includes:
Three-dimensional coordinate and the three-dimensional coordinate of described arm end measurement point of point is measured, it is thus achieved that described root measures point according to described root
Point two-dimensional coordinate in jib plane of rotation and luffing range of cantilever support plane is measured, with true by described two-dimensional coordinate with described arm end
This arm end fixed measures some physical location in jib plane of rotation and luffing range of cantilever support plane；
Described calculating jib theoretical position in coordinate plane includes:
Measure three-dimensional coordinate and the three-dimensional coordinate of at least one basic arm described measurement point of point according to described root, determine described
It is straight with what at least one basic arm described measurement point was constituted in jib plane of rotation and luffing range of cantilever support plane that root measures point
Line equation, to determine jib theoretical position in jib plane of rotation and luffing range of cantilever support plane by this linear equation.
Equipment the most according to claim 5, it is characterised in that it is that this root is measured that described root measures the measurement data of point
The three-dimensional coordinate of point, it is the three-dimensional coordinate that this arm end measures point that described arm end measures the measurement data of point, described jib attitude number
According to including jib argument α, wherein said jib argument α is the angle between the basic arm root of jib and ground.
Equipment the most according to claim 6, it is characterised in that described coordinate plane includes luffing range of cantilever support plane, described meter
Calculate arm end measurement point physical location in coordinate plane to include:
Three-dimensional coordinate and the three-dimensional coordinate of described arm end measurement point of point is measured, it is thus achieved that described root measures point according to described root
Point two-dimensional coordinate in luffing range of cantilever support plane is measured, to determine that this arm end measures point by described two-dimensional coordinate with described arm end
Physical location in luffing range of cantilever support plane；
Described calculating jib theoretical position in coordinate plane includes:
Three-dimensional coordinate and described jib argument α according to described root measurement point determine that described root measures point and described jib width
By this linear equation, the linear equation that angle α is constituted in luffing range of cantilever support plane, to determine that jib is in luffing range of cantilever support plane
Theoretical position.
8. according to the equipment described in claim 5 or 7, it is characterised in that measure physical location and the institute of point according to described arm end
The theoretical position stating jib determines that jib amount of deflection in described coordinate plane includes:
Determine that jib is at described seat by the distance of calculating described arm end measurement point to the straight line represented by described linear equation
Amount of deflection in mark plane.
9. a deflection of arm support measures system, it is characterised in that this system includes:
Multiple GPS measurement apparatus, are arranged on the arm joint end of arbitrary arm joint of jib and the basic arm of jib, are used for measuring
Be positioned at jib basic arm root root measure point and be positioned at jib arbitrary arm joint arm end measure point measurement data with
And for determining the jib attitude data of the theoretical position of jib；And
Deflection of arm support according to claim 5 measures equipment, and wherein said GPS measurement apparatus is led to each other by radio set
Believe, and at least one the GPS measurement apparatus in the plurality of GPS measurement apparatus measured equipment with described deflection of arm support and is connected,
Described root to be measured the measurement data of point, the measurement data of described arm end measurement point and the transmission of described jib attitude data
The receptor of equipment is measured to described deflection of arm support.
10. a deflection of arm support measures system, it is characterised in that this system includes:
Multiple GPS measurement apparatus, are arranged on the arm joint end of arbitrary arm joint of jib and the basic arm of jib, are used for measuring
The arm end of the root measurement point being positioned at the basic arm root of jib and the arbitrary arm joint being positioned at jib measures the measurement data of point；
Jib angular transducer, for measuring the jib attitude data of the theoretical position determining jib；And
Equipment, wherein said GPS measurement apparatus is measured according to the deflection of arm support described in claim any one of claim 6-8
Communicated with one another by radio set, and at least one the GPS measurement apparatus in the plurality of GPS measurement apparatus and described jib
Angular transducer is measured equipment with described deflection of arm support respectively and is connected, so that described root to be measured the measurement data of point, described arm
The measurement data of end measurement point and described jib attitude data are sent to described deflection of arm support and measure the receptor of equipment.
11. 1 kinds of cranes, it is characterised in that this crane includes measuring according to the deflection of arm support described in claim 9 or 10
System.
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