CN116216530A - A crane jib length recognition system and method based on differential positioning - Google Patents

Abstract

The invention discloses a crane jib length identification system and method based on differential positioning. The system includes a data detection unit, a data analysis unit, a vehicle-mounted computing unit, and a result output unit; the data detection unit includes a positioning terminal G1 on the jib, a vehicle The positioning terminal G2 and the data sending module; the data analysis unit includes a data entry unit and a data retrieval unit; the calculation unit includes a data processing unit and a checking unit. When the present invention identifies the length of the jib, it constructs a database and builds a jib length identification model based on differential positioning, generates software running on a designated on-board computing unit and connects the positioning of the jib system to the data sending module, and connects the data sending module The output results are connected to the on-board computing unit; the built database and calculation model are imported into the on-board computing unit, and the on-board computing unit calculates the length of the jib of the crane according to the input signal and the computing model. The invention realizes the precise measurement of the length of the jib of the crane through the differential positioning technology.

Description

A crane jib length recognition system and method based on differential positioning

technical field

The invention relates to a crane jib, in particular to a system and method for identifying the length of a crane jib based on differential positioning.

Background technique

Crane is a large and complicated special equipment, which is difficult to operate and has high requirements on the user's operating ability. Improper operation may cause major safety accidents such as crane tipping and structural parts damage. This also puts forward higher safety requirements for crane manufacturers, and often higher safety represents more complex operation methods. Therefore, the need for intelligent cranes is becoming more and more urgent.

The jib system of the crane is a truss arm structure that can be combined and disassembled on the jib head, providing a wider working space for the crane. The traditional jib system is a truss arm structure with a variety of fixed lengths. The jib system with different lengths will have different rated loads. The selection of the jib operating conditions has always been based on the user's independent choice, choosing the wrong jib operating conditions The rated load calculated by the crane control system is often wrong, resulting in the failure of the operation safety protection function, resulting in overload and serious safety accidents. And in order to meet the diverse needs of the market, the jib system has more and more structural combinations of different lengths, and the error rate of users in the installation and selection process is getting higher and higher.

The application publication number is CN104176643A "A Method for Selecting Working Conditions of Crane Main and Auxiliary Booms, Control Device and Crane" provides a method and device for judging the working conditions of crane jibs based on proximity switches. Its basic principle is:

(1) Obtain the position of the auxiliary arm through the proximity switch arranged on the main arm and the spring pin fixed on the auxiliary arm. The proximity switch can detect the auxiliary arm when the auxiliary arm is not stretched out. After the auxiliary arm is extended, the distance between the proximity switch and the auxiliary arm is greater than the detection range of the proximity switch and cannot detect the auxiliary arm.

(2) The selection of the working condition is determined by the working state of the auxiliary arm acquired by the control device. When the auxiliary arm is in the working state, the control device prohibits the selection of the main arm working condition, and only allows the selection of the auxiliary arm working condition. When the jib is not in working condition, the control device provides the working condition of the main boom and the working condition of the jib for the user to choose.

(3) When the auxiliary arm is in the working state, when the operating condition of the main arm is manually selected on the control device, the control device sends out an alarm. Wherein the alarm is an audible alarm and/or a light alarm.

(4) The application publication number is CN215666701U "Jib Work Condition Detection System and Crane" provides a method and device for judging the crane jib working condition based on the jib area image. Its basic principle is:

(a) Obtain an image of the sub-arm area through the camera device installed on the arm head, and input the image of the sub-arm area to the controller;

(b) Collect a large number of images of the sample jib area, and determine the detection results of the sample jib working conditions through manual annotation. Then the initial model is trained based on the image of the sample jib area and the detection results of the working condition of the sample jib, so as to obtain the working condition detection model.

(c) Count the number of image frames with the same initial working condition detection result, and the result determination module is used to use the initial working condition detection result corresponding to the maximum number of image frames as the jib working condition detection result.

At present, the force limiter calculates the rated load based on the working conditions and jib length independently selected by the user, and the existing technology only identifies whether the jib is working, and the method cannot identify all jib types, so it cannot fully describe the actual jib length of the crane.

Contents of the invention

Purpose of the invention: Aiming at the current force limiter to calculate the rated load according to the working conditions independently selected by the user, the length of the jib, etc., in order to ensure the accuracy of the calculation of the rated load of the crane and reduce the difficulty of the user's operation, the present invention proposes a differential positioning based The system and method for identifying the length of the jib of a crane realizes automatic identification of the length of the installed jib by using differential positioning technology, and automatically checks the working conditions of the jib and provides safety reminders when the user operates the crane, reducing the number of accidents caused by the wrong working conditions for the user. reduce safety accidents and improve the operability and safety of the crane.

Technical solution: The crane jib length identification system based on differential positioning in the present invention includes a data detection unit, a data analysis unit, a vehicle-mounted calculation unit and a result output unit;

The data detection unit includes the positioning terminal G1 installed on the head of the jib, the positioning terminal G2 of the vehicle and the data sending module;

The data analysis unit includes a data entry unit and a data retrieval unit;

The arithmetic unit includes a data processing unit and a checking unit.

The data retrieval unit is a stand-alone programming electronics, display or master controller.

The crane jib length identification method based on differential positioning in the present invention comprises the following steps:

(1) Build a database and record the frame structure parameters; record the coordinate difference of the positioning terminal position detected under different jib lengths;

(2) Construct a jib length identification model based on differential positioning, search in the database according to the coordinate difference of the positioning terminal position detected by the real vehicle, and perform ambiguity mathematical modeling according to the constructed membership function to obtain the position of the positioning terminal The length of the jib corresponding to the coordinate difference, so as to build a model of the mathematical relationship between the detected position coordinate difference of the positioning terminal and the actual jib length of the vehicle;

(3) software implementation, the model generated in step (2) is programmed and developed to generate software running on the designated vehicle computing unit, and the software is implanted into the designated vehicle computing unit to run;

(4) Connect the positioning terminal of the jib system to the data sending module, and connect the output result of the data sending module to the on-board computing unit; import the constructed database and calculation model into the on-board computing unit, and the on-board computing unit is based on the input The signal and calculation model calculates the jib length of the crane.

In step (4), the calculated crane jib length is applied to crane status display, working condition recommendation, user-selected working condition check, alarm or crane safety protection.

In step (2), the construction process of the jib length recognition model based on differential positioning is as follows:

(1) Install the positioning terminal G1 on the head of the jib to detect the position coordinates of the head of the jib; install the positioning terminal G2 of the vehicle in the cab for positioning;

(2) The data transmission module collects the real vehicle data, collects and processes the position coordinate information detected by the positioning terminal, and transmits the information to the calculation unit and the data entry unit through the CAN network;

(3) The data entry unit collects the coordinate information of the GPS positioning terminal and the frame structure parameters transmitted by the data sending module in the information collection stage, and builds a database; corresponds the positioning information to different jib lengths;

(4) The data retrieval unit performs data retrieval according to the real vehicle GPS positioning terminal coordinate value sent by the data sending module, and constructs a fuzzy set;

(5) The data processing unit performs ambiguity analysis in the fuzzy set according to the membership function, and obtains the jib length value with high reliability;

(6) The checking unit analyzes the jib length value according to the actual vehicle working condition data, and checks the jib length value based on differential positioning according to the result;

(7) The result output unit outputs the calculation result and checks it according to the working condition of the jib. If the working condition of the jib selected by the user does not match the information automatically recognized, an alarm will be issued.

In step (5), the data processing unit performs ambiguity analysis in the fuzzy set according to the membership function to obtain the jib length value.

The real vehicle working condition data in step (6) is the length L of the main boom, the angle θ of the main boom and the working range M.

In step (6), if it is within the allowable range of error, the jib length value calculated by the crane jib length identification system based on differential positioning is applied to the working condition check, otherwise, the membership function is re-corrected for calculation.

Working principle: The present invention builds and solves the identification model of jib length based on differential positioning technology, and realizes intelligent acquisition and identification of jib length. The present invention uses the position information obtained by the differential positioning technology as the main data source, and conducts comparative analysis of real vehicle data through a database, thereby obtaining the length of the installed jib system. The model describes the mathematical relationship between the measured data and the actual length of the jib under different jibs of the crane, and meets the requirements of working condition recommendation and working condition verification under different jibs of the crane. Specifically, a positioning device is installed on the arm head of the jib, which is combined with the original on-board positioning device to form a positioning system. The calculation unit calculates the current jib length according to the set algorithm based on the analyzed position information and other working condition data. Wherein, the positioning device is GPS, Beidou positioning system or other forms.

Among them, the crane jib length identification model based on differential positioning is based on the GPS terminal position coordinates detected by the real vehicle and the structural parameters of the vehicle itself retrieved through the database, and the ambiguity analysis is performed to obtain the input set (the detected terminal position coordinates) and the output set (actual jib length value) between the mathematical description.

Beneficial effect: compared with the prior art, the present invention has the following advantages:

(1) By using the differential positioning technology to automatically identify the length of the installed jib, the accurate measurement of the jib length of the crane is realized, and the jib working condition is automatically checked and safety reminders are performed when the user operates the crane, reducing the user's mistakes in selection Safety accidents caused by working conditions, improve the operability and safety of the crane.

(2) When the present invention detects the length of the jib of the crane, based on the differential positioning technology, starting from the data obtained by the sensor of the actual crane, and facing the working conditions of the jib of the crane, the relationship between the status data of the crane and the actual jib length of the crane can be completely described. Different from the simple situation of simply judging whether the jib is working in the past, the length of the working jib is accurately distinguished, and more intelligent working condition checks, working condition recommendations and safety reminders are carried out to avoid accidents due to work conditions. The selection of conditions does not conform to the actual safety accidents, so as to more reliably guarantee the safe operation of the crane.

Description of drawings

Fig. 1 is the block diagram of the crane jib length identification system based on differential positioning in the present invention;

Fig. 2 is the construction method diagram of the crane jib length identification model based on differential positioning in the present invention;

Fig. 3 is a flow chart of the implementation of the method for identifying the length of the jib of a crane based on differential positioning in the present invention.

Detailed ways

As shown in FIG. 1 , the crane jib length identification system based on differential positioning in the present invention includes a data detection unit, a data analysis unit, a calculation unit, and a result output unit. The data detection unit includes the GPS positioning terminal G1 installed on the head of the jib, the GPS positioning terminal G2 of the vehicle itself, and the data sending module. The data analysis unit includes a data entry unit and a data retrieval unit. The arithmetic unit includes a data processing unit and a checking unit. The data analysis unit and calculation unit are used to run the jib length identification technology model based on differential positioning, which is an independent programmable electronic device called a force limiter or a torque limiter, or it is integrated in a vehicle-mounted device, such as a display or a main controller.

The generation method of crane jib length identification model based on differential positioning is shown in Figure 2:

(1) Install the GPS positioning terminal G1 on the head of the jib to detect the position coordinates of the head of the jib; the GPS positioning terminal G2 of the vehicle itself is installed on the head of the cab or other positions for vehicle positioning.

(2) The data transmission module collects the real vehicle data, collects the position coordinate information detected by the GPS positioning terminal, and performs simple processing on the information, and finally transmits the information to the calculation unit and data entry unit through the CAN network.

(3) The data input unit is used to collect the coordinate information of the GPS positioning terminal and the structural parameters of the vehicle frame transmitted by the data sending module in the information collection stage, and to build a database. One-to-one correspondence between positioning information and different jib lengths.

(4) Data retrieval unit In terms of system application, data retrieval is carried out in the database according to the coordinate value of the real vehicle GPS positioning terminal sent by the data transmission module, and a data-related set (fuzzy set) is constructed. This unit is an independent programmable electronic device , known as a force limiter or a torque limiter, or integrate it into a vehicle-mounted device, such as a display or a main controller.

(5) The data processing unit performs fuzzy analysis in the fuzzy set according to the membership function, and obtains the jib length value with high reliability. The unit is a stand-alone programmable electronic device called a force limiter or torque limiter, or it can be integrated in an on-board unit such as a display or master controller.

(6) The checking unit analyzes the jib length value based on the actual vehicle working condition data (main arm length L, main arm angle θ, and working range M), and checks the jib length value based on differential positioning according to the results, if Within the allowable range of error, the jib length value calculated by the jib length identification system based on differential positioning is used to check the working conditions, otherwise, the membership function is re-corrected for calculation. The calibration work of the calibration unit is verified during the product debugging process, and it is not necessary to participate in the calibration every time after selecting the correct membership function.

(7) The result output unit outputs the calculation result and checks it according to the jib working condition selected by the user. If the jib working condition information selected by the user does not match the information automatically identified, a prompt alarm is issued and the user is required to confirm the Check whether the working conditions are correct. Working conditions can also be recommended according to user needs.

As shown in Figure 3, the crane jib length identification method based on differential positioning in the present invention comprises the following steps:

(1) Build a database; record the frame structure parameters; record the position coordinate difference of the GPS positioning terminal detected under different jib lengths.

(2) Model construction; search in the database according to the GPS positioning terminal position coordinate difference detected by the real vehicle, and carry out ambiguity mathematical modeling according to the constructed membership function, and obtain the vice corresponding to the GPS positioning terminal position coordinate difference Arm length, so as to build a highly reliable model that can describe the mathematical relationship between the input signal (the detected position coordinate difference of the GPS positioning terminal) and the output signal (the actual length of the auxiliary arm of the vehicle).

(3) Software implementation: program the generated model to generate software that runs on the designated on-board computing unit, and implant the software into the designated on-board computing unit to run.

(4) System realization; the GPS positioning terminal of the auxiliary arm system is connected to the data transmission module, and the output result of the data transmission module is connected to the vehicle-mounted computing unit; the database and the calculation model constructed are imported into the vehicle-mounted computing unit; The on-board computing unit calculates the actual length of the on-board jib according to the input signal and calculation model.

(5) System application: The actual length of the crane jib calculated by the system is used in crane status display, working condition recommendation, user-selected working condition check, alarm or crane safety protection.

Claims (8)

1. Crane auxiliary boom length recognition system based on differential positioning, which is characterized in that: the system comprises a data detection unit, a data analysis unit, a vehicle-mounted operation unit and a result output unit;

the data detection unit comprises a positioning terminal G1 installed on the head of the auxiliary arm, a positioning terminal G2 of the vehicle and a data transmission module;

the data analysis unit comprises a data input unit and a data retrieval unit;

the operation unit comprises a data processing unit and a checking unit.

2. The differential positioning based crane jib length recognition system of claim 1, wherein: the data retrieval unit is a separate programming electronics, display or master controller.

3. A crane auxiliary arm length identification method based on differential positioning is characterized by comprising the following steps of: the method comprises the following steps:

(1) Constructing a database and recording frame structure parameters; recording the position coordinate difference values of the positioning terminals detected under different auxiliary arm lengths;

(2) Constructing a sub-arm length identification model based on differential positioning, searching in a database according to the position coordinate difference of a positioning terminal detected by a real vehicle, performing fuzzy digital modeling according to a constructed membership function, and acquiring the sub-arm length corresponding to the position coordinate difference of the positioning terminal, thereby constructing a model of mathematical relationship between the detected position coordinate difference of the positioning terminal and the vehicle-mounted actual sub-arm length;

(3) The software implementation, the model generated in the step (2) is programmed and developed to generate software running on the appointed vehicle-mounted operation unit, and the software is implanted into the appointed vehicle-mounted operation unit to run;

(4) Connecting a positioning terminal of the auxiliary arm system to a data transmission module, and accessing an output result of the data transmission module to a vehicle-mounted operation unit; and importing the constructed database and the calculation model into a vehicle-mounted operation unit, and calculating the length of the crane auxiliary arm by the vehicle-mounted operation unit according to the input signals and the calculation model.

4. The differential positioning-based crane jib length recognition method according to claim 3, wherein the method comprises the following steps of: in the step (4), the calculated crane auxiliary boom length is applied to crane state display, working condition recommendation, user selected working condition check, alarm or crane safety protection.

5. The differential positioning-based crane jib length recognition method according to claim 3, wherein the method comprises the following steps of: in the step (2), the construction process of the auxiliary arm length recognition model based on differential positioning is as follows:

(1) The positioning terminal G1 is arranged on the head of the auxiliary arm to detect the position coordinate of the head of the auxiliary arm; the positioning terminal G2 of the vehicle is installed in a cab to perform positioning;

(2) The data transmitting module is used for acquiring real vehicle data, collecting and processing position coordinate information detected by the positioning terminal, and transmitting the information to the operation unit and the data input unit through the CAN network;

(3) The data input unit collects the GPS positioning terminal coordinate information and the frame structure parameters transmitted by the data transmitting module in the information acquisition stage, and builds a database; the positioning information is corresponding to different auxiliary arm lengths;

(4) The data retrieval unit performs data retrieval according to the real vehicle GPS positioning terminal coordinate values sent by the data sending module, and a fuzzy set is constructed;

(5) The data processing unit performs ambiguity analysis in the ambiguity set according to the membership function to obtain a sub-arm length value with high reliability;

(6) The checking unit analyzes the length value of the auxiliary arm according to the real vehicle working condition data, and checks the length value of the auxiliary arm based on differential positioning according to the result;

(7) And the result output unit outputs a calculation result, checks according to the working condition of the auxiliary arm, and alarms if the working condition of the auxiliary arm selected by the user does not accord with the automatically identified information.

6. The differential positioning-based crane jib length recognition method according to claim 5, wherein the method comprises the following steps of: in the step (5), the data processing unit performs ambiguity analysis in the ambiguity set according to the membership function to obtain the length value of the auxiliary arm.

7. The differential positioning-based crane jib length recognition method according to claim 5, wherein the method comprises the following steps of: the actual vehicle working condition data in the step (6) are the main arm length L, the main arm angle theta and the working amplitude M.

8. The differential positioning-based crane jib length recognition method according to claim 5, wherein the method comprises the following steps of: in the step (6), if the error is within the allowable range, the auxiliary arm length value calculated by the auxiliary arm length recognition system of the crane based on differential positioning is applied to working condition checking, otherwise, the membership function is revised again for calculation.

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