Included angle measuring and calculating method, device and system and machine readable storage medium

Abstract

The invention relates to the technical field of construction machinery, and discloses an included angle measuring and calculating method, device and system and a machine readable storage medium. A pull rope pulls a hoisted object through a fixed pulley on a tower crane, and a weight sensor is installed at a pin shaft of the fixed pulley. The method comprises the steps of obtaining the load borne by the tower crane along the vertical direction and the pull force borne by the pull rope; and calculating an included angle between the hoisted object and a vertical plane according to the load and the tension. According to the present invention, an economical and practical data information acquisition scheme can be provided for the technical researches, such as tower crane rotation anti-swing andcable-stayed inclined hoisting working condition identification, etc., and when the method is applied to the tower crane, no special power supply requirement exists, and the implementation performance is high.

Description

technical field [0001] The invention relates to the technical field of construction machinery, in particular to a method, device, system and machine-readable storage medium for measuring and calculating an included angle. Background technique [0002] In the existing tower crane construction, there is a phenomenon of swing when the hanging object is running. The industry is focusing on the control research of tower crane anti-swing, anti-cable and inclined hanging, etc. Most of the technical solutions need to use the hanging object and lead The angle between the vertical lines (hereinafter referred to as the angle for short) is used as a key parameter for control. [0003] There is no method in the industry to calculate the swing angle based on direct measurement information, and even the detection methods mentioned in some research literature rely on state estimation by kinematic equations. [0004] The existing technology estimates based on theoretical kinematic equations...

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Problems solved by technology

[0005] Aiming at the deficiencies in the above-mentioned prior art, the present invention provides a method, device, system and machine-readable storage medium for measuring and calculating the included angle, which can solve the problem of the included angle between the hanging object of the tower crane and the vertical plane in the prior art. technical problems with inaccurate calculations

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