Method and device for determining posture of boom, monitoring method and device and engineering machinery

Abstract

The invention relates to the field of engineering machinery, and discloses a method and device for determining the posture of a cantilever crane, a monitoring method and device and engineering machinery. The method comprises the following steps that whether included angle detection modules corresponding to a continuous arm section of the cantilever crane run normally or not is judged; the inclination angle of any one of all the arm sections from the problem arm section to the tail end arm section is detected on the basis of the inclination angle detection module which operates normally under the condition that the included angle detection module which operates abnormally exists and the number of the included angle detection module which operates abnormally is 1; the included angle of the arm section corresponding to the included angle detection module which operates abnormally is determined on the basis of the included angle detected by the included angle detection module which operates normally, the inclination angle of any one and a preset formula; and the posture of the cantilever crane is determined on the basis of the determined included angle of the arm section corresponding to the included angle detection module which operates abnormally and the included angle detected by the included angle detection module which operate normally. Therefore, the correct posture of the whole cantilever crane can be determined.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a method and device for determining the attitude of a boom, a monitoring method and device, and engineering machinery. Background technique [0002] For multi-arm construction machinery, in order to realize the function of preventing tipping or complex comparison control during operation, it is necessary to detect the attitude of the boom. In the prior art, the attitude of the boom can be detected by detecting the included angle of the boom. Among them, the direct detection of the included angle can use a rotary encoder, rotary potentiometer, etc., and the indirect detection of the included angle can use the stroke of the oil cylinder, the difference of the inclinometer of the adjacent arm, etc. ; It is also possible to characterize the attitude of the boom by detecting the tilt angle of the boom and directly using the tilt angle. In the prior art, when detecting the attitud...

AI Technical Summary

Problems solved by technology

When one sensor or a group or one sensor in a group is damaged, the jib attitude detection will fail, resulting in the inability to obtain the correct attitude of the entire jib attitude

At this time, some control algorithms (especially safety control algorithms) based on boom attitude will fail, affecting the robustness and practicability of these control functions

Images