Method for determining a hook spatial position, engineering machine, device and processor

Abstract

The embodiment of the application provides a method for determining the spatial position of a hook, a construction machine, a device and a processor. The method comprises: acquiring the horizontal distance between a sliding mechanism and the connection between a tower body and a lifting arm through an amplitude sensor; acquiring the article parameters of a hook target object; determining the amplitude value of the hook and the angle value of the end section rotation angle of the tower body according to the article parameters and the equipment parameters of the tower crane; determining the height deformation of the hook according to the article parameters, the angle value of the end section rotation angle and the equipment parameters; and determining the spatial position of the hook according to the amplitude value, the horizontal distance, the height deformation and the equipment parameters. The above technical solution can reduce the error of the position of the hook caused by the deformation of the tower body and the lifting arm, and can accurately control the position of the hook.

Description

Technical Field

[0001] This application relates to the field of engineering machinery control technology, specifically to a method for determining the spatial position of a hook, engineering machinery, processor, device, and storage medium. Background Technology

[0002] Tower cranes are an indispensable lifting equipment on construction sites, mainly used for the vertical and horizontal transport of materials during construction. They are characterized by their wide applicability, large slewing radius, high lifting height, and high construction efficiency. Tower cranes operate in diverse and complex construction environments, covering a wide area due to their high working height and large jib span. In actual use, construction sites often have multiple objects to be transported and obstacles, and deformation of the tower body and jib during actual handling can easily make it difficult for operators to accurately control the crane hook, hindering hook handling operations. Summary of the Invention

[0003] The purpose of this application is to provide a method, engineering machinery, processor, device, and storage medium for determining the spatial position of a hook.

[0004] To achieve the above objectives, the first aspect of this application provides a method for determining the spatial position of a crane hook, applied to construction machinery. The construction machinery includes a crane hook, a tower crane, and an amplitude sensor. The tower crane includes a tower body, a jib, and a sliding mechanism. The sliding mechanism includes an amplitude sensor. The method includes:

[0005] The horizontal distance between the sliding mechanism and the connection point between the tower body and the boom is obtained by an amplitude sensor;

[0006] Get the item parameters of the target object of the hook;

[0007] Determine the luffing value of the hook and the angle of the tower body's end section rotation based on the item parameters and the tower crane's equipment parameters;

[0008] Determine the height deformation of the hook based on the item parameters, the angle value of the end section rotation, and the equipment parameters.

[0009] The spatial position of the hook is determined based on the amplitude, horizontal distance, height deformation, and equipment parameters.

[0010] In this embodiment, the spatial position of the hook includes the radial distance and the vertical height between the hook and the ground. The radial distance refers to the distance between the hook and the tower crane base. The equipment parameters include the tower crane's suspension height and the length of the hook's lifting rope. Determining the spatial position of the hook based on the amplitude value, horizontal distance, height deformation, and equipment parameters includes: determining the radial distance by the sum of the amplitude value and the horizontal distance; and determining the vertical height by the difference between the tower crane's suspension height and the sum of the lifting rope length and height deformation.

[0011] In this embodiment, the spatial position of the hook also includes the azimuth angle of the hook. The construction machinery also includes a slewing angle sensor installed on the boom. Determining the spatial position of the hook based on the amplitude value, horizontal distance, height deformation, and equipment parameters further includes: obtaining the rotation angle of the boom through the slewing angle sensor; and determining the rotation angle as the azimuth angle of the hook.

[0012] In this embodiment of the application, determining the luffing value of the hook based on the item parameters and the tower crane equipment parameters includes calculating the luffing value of the hook according to formula (1):

[0013]

[0014] Where Δr is the amplitude of the hook, m is the total weight of the hook and the target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the connection between the tower body and the boom, h1 is the height of the tower crane, E1 is the elastic modulus of the tower body, and I1 is the moment of inertia of the tower body.

[0015] In this embodiment of the application, the rotation angle θ of the end section of the tower body is calculated according to formula (2):

[0016]

[0017] Where m is the total weight of the hook and the target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the tower body and the boom, h1 is the tower crane's suspension height, E1 is the tower body's elastic modulus, and I1 is the tower body's cross-sectional moment of inertia.

[0018] In this embodiment of the application, determining the height deformation of the hook based on the item parameters, the angle value of the end section rotation angle, and the equipment parameters includes calculating the height deformation according to formula (3):

[0019]

[0020] Where Δh is the height deformation, θ is the rotation angle of the tower body's end section, m is the total weight of the hook and the hook target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the connection point of the tower body and the boom, h1 is the tower crane's suspension height, E1 is the elastic modulus of the tower body, I1 is the moment of inertia of the tower body's section, E2 is the elastic modulus of the boom, and I2 is the moment of inertia of the boom's section.

[0021] A second aspect of this application provides a processor configured to perform the above-described method for determining the spatial position of a hook.

[0022] A third aspect of this application provides an apparatus for determining the spatial position of a hook, including a processor.

[0023] A fourth aspect of this application provides an engineering machinery, which includes:

[0024] Tower cranes include the tower body, jib, and sliding mechanism;

[0025] A hook, connected to a sliding mechanism, is used to suspend a target object;

[0026] An amplitude sensor, installed on the sliding mechanism, is used to obtain the horizontal distance between the sliding mechanism and the connection point between the tower body and the boom;

[0027] A device used to determine the spatial position of a hook.

[0028] In this embodiment of the application, the construction machinery further includes: a rotation angle sensor, installed on the boom, for acquiring the rotation angle of the boom.

[0029] A fifth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned method for determining the spatial position of a hook.

[0030] The above technical solution allows for the determination of the hook's amplitude and height deformation by using the object parameters of the target object and the tower crane's equipment parameters. Incorporating these values ​​into the hook's position determination process yields precise hook coordinates. This reduces errors in hook position caused by tower and boom deformation, achieving accurate hook position control.

[0031] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0032] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0033] Figure 1 A schematic flowchart illustrating a method for determining the spatial position of a hook according to an embodiment of this application is shown.

[0034] Figure 2 This illustration schematically shows an application environment diagram of a method for determining the spatial position of a hook according to an embodiment of this application;

[0035] Figure 3 A schematic diagram illustrating a first structural block diagram of an engineering machine according to an embodiment of this application is shown.

[0036] Figure 4 A schematic diagram illustrating a second structural block diagram of an engineering machinery according to an embodiment of this application is shown.

[0037] Figure 5 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0039] Figure 1 A schematic flowchart illustrating a method for determining the spatial position of a hook according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a method for determining the spatial position of a crane hook is provided, applied to construction machinery. The construction machinery includes a crane hook, a tower crane, and an amplitude sensor. The tower crane includes a tower body, a lifting boom, and a sliding mechanism. The sliding mechanism includes an amplitude sensor. The method includes the following steps:

[0040] Step 101: Obtain the horizontal distance between the sliding mechanism and the connection point between the tower body and the lifting arm using an amplitude sensor.

[0041] Step 102: Obtain the item parameters of the target object of the hook.

[0042] Step 103: Determine the luffing value of the hook and the angle value of the end section rotation of the tower body based on the item parameters and the tower crane equipment parameters.

[0043] Step 104: Determine the height deformation of the hook based on the item parameters, the angle value of the end section rotation angle, and the equipment parameters.

[0044] Step 105: Determine the spatial position of the hook based on the amplitude value, horizontal distance, height deformation, and equipment parameters.

[0045] Construction machinery is an important component of the equipment manufacturing industry. It refers to the mechanical equipment necessary for comprehensive mechanized construction projects, including earthmoving, road construction and maintenance, mobile lifting and loading operations, and various building projects. Construction machinery can include hooks, tower cranes, and amplitude sensors. A tower crane can be a type of tower crane, comprising a tower body, a jib, and a sliding mechanism. The sliding mechanism can be mounted on the jib, and a processor controls its movement along the jib. The sliding mechanism may also include an amplitude sensor, which acquires the horizontal distance between the sliding mechanism and the connection point between the tower body and the jib. The connection point between the tower body and the jib can be the operator's cab of the tower crane.

[0046] The hook can suspend the target object to be lifted, and the processor can obtain the object's parameters. The object parameters may include the weight of the hook and the target object, and the distance between the hook and the lower surface of the target object. The tower crane's equipment parameters may include the tower crane's height, the tower's elastic modulus, the tower's section moment of inertia, the jib's elastic modulus, and the jib's section moment of inertia. The processor can determine the hook's luffing value and the tower's end section rotation angle based on the object parameters and equipment parameters. In one embodiment, the hook's luffing value can be calculated using formula (1):

[0047]

[0048] Where Δr is the amplitude of the hook, m is the total weight of the hook and the target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the connection between the tower body and the boom, h1 is the height of the tower crane, E1 is the elastic modulus of the tower body, and I1 is the moment of inertia of the tower body.

[0049] In one embodiment, the rotation angle θ of the end section of the tower can be calculated using formula (2):

[0050]

[0051] Where m is the total weight of the hook and the target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the tower body and the boom, h1 is the tower crane's suspension height, E1 is the tower body's elastic modulus, and I1 is the tower body's cross-sectional moment of inertia.

[0052] The hook's height deformation can be determined based on the angle value of the tower's end section rotation, the item parameters, and the equipment parameters. The hook's amplitude variation and the angle value of the tower's end section rotation are mainly caused by the tower crane's tower deformation, while the hook's height deformation is primarily caused by the deformation of the tower crane's tower and jib. The processor can determine the hook's spatial position based on the amplitude variation, horizontal distance, height deformation, and equipment parameters.

[0053] In one embodiment, the height deformation of the hook can be calculated using formula (3):

[0054]

[0055] Where Δh is the height deformation, θ is the rotation angle of the tower body's end section, m is the total weight of the hook and the hook target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the connection point of the tower body and the boom, h1 is the tower crane's suspension height, E1 is the elastic modulus of the tower body, I1 is the moment of inertia of the tower body's section, E2 is the elastic modulus of the boom, and I2 is the moment of inertia of the boom's section.

[0056] In one embodiment, the spatial location of the hook may include a radial distance and a vertical distance between the hook and the ground. The radial distance refers to the distance between the hook and the base of the tower crane. The processor can determine the radial distance by summing the luffing value and the horizontal distance. The radial distance can be calculated according to formula (4):

[0057] R = r + Δr (4)

[0058] Where R is the radial distance, r is the horizontal distance between the sliding mechanism and the connection between the tower body and the boom, and Δr is the amplitude of the hook.

[0059] Equipment parameters may also include the length of the lifting rope of the hook, which can be connected to the sliding mechanism via the lifting rope. The processor can determine the vertical height by subtracting the sum of the length and height deformation of the lifting rope from the tower crane's suspended height. The vertical height can be calculated according to formula (5):

[0060] H=h1-h2-Δh (5)

[0061] Where H is the vertical height, h1 is the tower crane's suspended height, h2 is the length of the hoisting rope, and Δh is the height deformation of the hook.

[0062] In one embodiment, the spatial position of the hook may further include the azimuth angle of the hook. The azimuth angle of the hook can be determined by the rotation angle of the boom. A slewing angle sensor may be installed on the boom. The processor can obtain the rotation angle of the boom through the slewing angle sensor. For example, the rotation angle of the boom obtained by the slewing angle sensor is 30°. The hook is connected to a sliding mechanism via a lifting rope. The sliding mechanism is located on the boom and is parallel to the boom. The azimuth angle of the hook can be determined based on the rotation angle of the boom, and the azimuth angle of the hook can be 30°.

[0063] In one embodiment, the processor can obtain the horizontal distance r between the sliding mechanism and the connection point between the tower body and the boom using an amplitude sensor. It can also determine the amplitude value Δr of the hook and the angle θ of the tower body's end section rotation based on the total weight m of the hook and the object being lifted, the tower crane's suspension height h1, the tower body's elastic modulus E1, the tower body's moment of inertia I1, and the gravitational acceleration g. The amplitude value Δr of the hook can be calculated using formula (1):

[0064]

[0065] The angle θ of the end section rotation of the tower can be calculated using formula (2):

[0066]

[0067] The processor can also determine the hook height deformation Δh based on the angle θ of the tower body's end section rotation, the horizontal distance r between the sliding mechanism and the connection between the tower body and the boom, the total weight m of the hook and the object in the hook target object parameters, the tower crane's suspension height h1, the boom's elastic modulus E2, the boom's section moment of inertia I2, and the gravitational acceleration g in the tower crane equipment parameters. The hook height deformation Δh can be calculated using formula (3):

[0068]

[0069] The radial distance R and vertical height H of the hook can be determined based on the horizontal distance r between the sliding mechanism and the connection point of the tower body and the boom, the amplitude Δr of the hook, the suspended height h1 of the tower crane, the length h2 of the hook's hoisting rope, and the height deformation Δh of the hook. The radial distance R refers to the distance between the hook and the tower crane base, which can be expressed as the sum of the amplitude Δr of the hook and the horizontal distance r between the sliding mechanism and the connection point of the tower body and the boom. The radial distance R can be calculated using formula (4):

[0070] R = r + Δr (4).

[0071] The vertical height H is the difference between the tower crane's suspended height h1 and the sum of the length of the hoisting rope h2 and the height deformation Δh. The vertical height H can be calculated using formula (5):

[0072] H = h1 - h2 - Δh (5).

[0073] The processor can also obtain the boom rotation angle Φ through the slewing angle sensor and determine the rotation angle Φ as the hook azimuth angle. This gives the spatial position of the hook (r+Δr, h1-h2-Δh). ).

[0074] The above technical solutions can reduce the error in hook position caused by the deformation of the tower and the boom, and enable precise control of the hook position.

[0075] Figure 2 This diagram schematically illustrates an application environment for a method of determining the spatial position of a hook according to an embodiment of this application. For example... Figure 2 As shown, the equipment parameters of a tower crane can include the tower crane's suspended height h1 and the length of the hook's lifting rope h2. The tower crane's equipment parameters can also include the tower's elastic modulus E1, the tower's section moment of inertia I1, the jib's elastic modulus E2, and the jib's section moment of inertia I2. The parameters of the object to be lifted can include the total weight m of the hook and the object. For example, the amplitude sensor measures a horizontal distance r of 2m between the sliding mechanism and the connection point between the tower and the jib. In the tower crane's equipment parameters, the suspended height h1 is 4m, the tower's elastic modulus E1 is 10, and the tower's section moment of inertia I1 is 16. The total weight m of the hook and the object is 1kg. Therefore, the hook's amplitude variation Δr is 0.98, and the angle θ of the tower's end section rotation is 0.49. In the tower crane's equipment parameters, the jib's elastic modulus E2 is 12, and the jib's section moment of inertia I2 is 8. Therefore, the hook's height deformation Δh is 0.29m. The tower crane's equipment parameters specify a rope length h2 of 0.5m. Based on the amplitude of 0.98m and the horizontal distance of 2m, the hook's radial distance is 2.98m. Given the tower crane's suspended height of 4m, the rope length of 0.5m, and the height deformation of 0.29m, the hook's vertical height is 3.21m. The slewing angle sensor detects a jib rotation angle of 20°, allowing determination of the hook's azimuth angle. The angle is 20°. The final spatial position of the hook can be determined as (r + Δr, h1 - h2 - Δh). ), that is, (2.98, 3.21, 20°). In the prior art, the spatial position of the hook is represented as (r, h1-h2, ...). The coordinates are (2, 3.5, 20°). This design takes into account the deformation of the tower and the boom, resulting in a more precise spatial position of the hook, which allows for accurate control of the hook's movement.

[0076] Figure 1 This is a flowchart illustrating a method for determining the spatial position of a hook in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0077] In one embodiment, such as Figure 3 As shown, an engineering machinery 200 is provided, which includes a tower crane 201, a hook 202, an amplitude sensor 203, and a device 204 for determining the spatial position of the hook, wherein:

[0078] Tower crane 201 includes the tower body, lifting boom and sliding mechanism.

[0079] Hook 202 is connected to the sliding mechanism and is used to suspend the target object.

[0080] Amplitude sensor 203 is installed on the sliding mechanism to obtain the horizontal distance between the sliding mechanism and the connection between the tower body and the boom.

[0081] Device 204 for determining the spatial position of a hook.

[0082] In one embodiment, such as Figure 4 As shown, the construction machinery 200 also includes a slewing angle sensor 205, which is installed on the boom and used to obtain the rotation angle of the boom.

[0083] This application provides a processor for running a program, wherein the program executes the above-described method for determining the spatial position of a hook.

[0084] This application provides an apparatus for determining the spatial position of a hook, including the processor described above.

[0085] This application provides a storage medium storing a program that, when executed by a processor, implements the above-described method for determining the spatial position of a hook.

[0086] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile 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 the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data on item parameters and equipment parameters. The network interface A02 communicates with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements a method for determining the spatial position of a hook.

[0087] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0088] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: acquiring the horizontal distance between the sliding mechanism and the connection point between the tower body and the boom using an amplitude sensor; acquiring the object parameters of the target object of the hook; determining the amplitude value of the hook and the angle value of the end section rotation angle of the tower body based on the object parameters and the equipment parameters of the tower crane; determining the height deformation of the hook based on the object parameters, the angle value of the end section rotation angle, and the equipment parameters; and determining the spatial position of the hook based on the amplitude value, the horizontal distance, the height deformation, and the equipment parameters.

[0089] In one embodiment, the spatial position of the hook includes the radial distance and the vertical height between the hook and the ground. The radial distance refers to the distance between the hook and the tower crane base. The equipment parameters include the tower crane's suspension height and the length of the hook's lifting rope. Determining the spatial position of the hook based on the amplitude value, horizontal distance, height deformation, and equipment parameters includes: determining the radial distance by the sum of the amplitude value and the horizontal distance; and determining the vertical height by the difference between the tower crane's suspension height and the sum of the lifting rope length and height deformation.

[0090] In one embodiment, the spatial position of the hook also includes the azimuth angle of the hook. The construction machinery also includes a slewing angle sensor installed on the boom. Determining the spatial position of the hook based on the amplitude value, horizontal distance, height deformation, and equipment parameters further includes: obtaining the rotation angle of the boom through the slewing angle sensor; and determining the rotation angle as the azimuth angle of the hook.

[0091] In one embodiment, determining the luffing value of the hook based on the item parameters and the tower crane's equipment parameters includes calculating the luffing value of the hook according to formula (1):

[0092]

[0093] Where Δr is the amplitude of the hook, m is the total weight of the hook and the target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the connection between the tower body and the boom, h1 is the height of the tower crane, E1 is the elastic modulus of the tower body, and I1 is the moment of inertia of the tower body.

[0094] In one embodiment, the rotation angle θ of the end section of the tower is calculated according to formula (2):

[0095]

[0096] Where m is the total weight of the hook and the target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the tower body and the boom, h1 is the tower crane's suspension height, E1 is the tower body's elastic modulus, and I1 is the tower body's cross-sectional moment of inertia.

[0097] In one embodiment, determining the height deformation of the hook based on the item parameters, the angle value of the end section rotation angle, and the equipment parameters includes calculating the height deformation according to formula (3):

[0098]

[0099] Where Δh is the height deformation, θ is the rotation angle of the tower body's end section, m is the total weight of the hook and the hook target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the connection point of the tower body and the boom, h1 is the tower crane's suspension height, E1 is the elastic modulus of the tower body, I1 is the moment of inertia of the tower body's section, E2 is the elastic modulus of the boom, and I2 is the moment of inertia of the boom's section.

[0100] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program with the following method steps: acquiring the horizontal distance between the sliding mechanism and the connection point between the tower body and the boom via an amplitude sensor; acquiring the object parameters of the target object of the hook; determining the amplitude value of the hook and the angle value of the end section rotation angle of the tower body based on the object parameters and the tower crane's equipment parameters; determining the height deformation of the hook based on the object parameters, the angle value of the end section rotation angle, and the equipment parameters; and determining the spatial position of the hook based on the amplitude value, the horizontal distance, the height deformation, and the equipment parameters.

[0101] In one embodiment, the spatial position of the hook includes the radial distance and the vertical height between the hook and the ground. The radial distance refers to the distance between the hook and the tower crane base. The equipment parameters include the tower crane's suspension height and the length of the hook's lifting rope. Determining the spatial position of the hook based on the amplitude value, horizontal distance, height deformation, and equipment parameters includes: determining the radial distance by the sum of the amplitude value and the horizontal distance; and determining the vertical height by the difference between the tower crane's suspension height and the sum of the lifting rope length and height deformation.

[0102] In one embodiment, the spatial position of the hook also includes the azimuth angle of the hook. The construction machinery also includes a slewing angle sensor installed on the boom. Determining the spatial position of the hook based on the amplitude value, horizontal distance, height deformation, and equipment parameters further includes: obtaining the rotation angle of the boom through the slewing angle sensor; and determining the rotation angle as the azimuth angle of the hook.

[0103] In one embodiment, determining the luffing value of the hook based on the item parameters and the tower crane's equipment parameters includes calculating the luffing value of the hook according to formula (1):

[0104]

[0105] Where Δr is the amplitude of the hook, m is the total weight of the hook and the target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the connection between the tower body and the boom, h1 is the height of the tower crane, E1 is the elastic modulus of the tower body, and I1 is the moment of inertia of the tower body.

[0106] In one embodiment, the rotation angle θ of the end section of the tower is calculated according to formula (2):

[0107]

[0108] Where m is the total weight of the hook and the target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the tower body and the boom, h1 is the tower crane's suspension height, E1 is the tower body's elastic modulus, and I1 is the tower body's cross-sectional moment of inertia.

[0109] In one embodiment, determining the height deformation of the hook based on the item parameters, the angle value of the end section rotation angle, and the equipment parameters includes calculating the height deformation according to formula (3):

[0110]

[0111] Where Δh is the height deformation, θ is the rotation angle of the tower body's end section, m is the total weight of the hook and the hook target object, g is the gravitational acceleration, r is the horizontal distance between the sliding mechanism and the connection point of the tower body and the boom, h1 is the tower crane's suspension height, E1 is the elastic modulus of the tower body, I1 is the moment of inertia of the tower body's section, E2 is the elastic modulus of the boom, and I2 is the moment of inertia of the boom's section.

[0112] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can 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, etc.) containing computer-usable program code.

[0113] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can 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, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0114] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0115] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0116] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0117] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0118] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0119] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0120] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for determining the spatial position of a hook, characterized in that Applied to construction machinery, the construction machinery includes a hook, a tower crane, and an amplitude sensor. The tower crane includes a tower body, a lifting boom, and a sliding mechanism. The sliding mechanism includes an amplitude sensor. The method includes: The horizontal distance between the sliding mechanism and the connection point between the tower body and the lifting arm is obtained by the amplitude sensor; Obtain the item parameters of the target object of the hook; The amplitude value of the hook and the angle value of the end section rotation of the tower body are determined based on the item parameters and the tower crane equipment parameters; The height deformation of the hook is determined based on the item parameters, the angle value of the end section rotation angle, and the equipment parameters. The spatial position of the hook is determined based on the amplitude value, the horizontal distance, the height deformation, and the equipment parameters. The amplitude variation value of the hook is calculated according to formula (1): （1） wherein, is the amplitude of the hook, is the total weight of the hook and the target object of the hook, g is the acceleration of gravity, is the horizontal distance between the sliding mechanism and the connection of the tower body and the jib, is the overhang height of the tower crane, is the elastic modulus of the tower body, is the cross-sectional moment of inertia of the tower body; calculating the end section rotation angle of the tower body according to formula (2) : （2） wherein, is the total weight of the hook and the hook target object, g is the acceleration of gravity, is the horizontal distance of the sliding mechanism from the tower body and the connection of the tower body and the jib, is the overhang of the tower crane, is the elastic modulus of the tower body, is the cross-sectional moment of inertia of the tower body; The height deformation is calculated according to formula (3): （3） wherein, is the height deformation amount, is the end section corner of the tower body, is the total weight of the hook and the hook target object, g is the acceleration of gravity, is the horizontal distance of the sliding mechanism from the tower body and the connection of the jib, is the overhang height of the tower crane, is the elastic modulus of the tower body, is the cross-sectional moment of inertia of the tower body, is the elastic modulus of the jib, is the cross-sectional moment of inertia of the jib.

2. The method for determining the spatial position of a hook according to claim 1, characterized in that, The spatial position of the hook includes the radial distance and the vertical height between the hook and the ground. The radial distance refers to the distance between the hook and the tower crane base. The equipment parameters include the tower crane's suspension height and the length of the hook's lifting rope. Determining the spatial position of the hook based on the amplitude value, the horizontal distance, the height deformation, and the equipment parameters includes: The sum of the amplitude value and the horizontal distance is determined as the radial distance; The vertical height is determined by subtracting the sum of the length of the hoisting rope and the height deformation from the suspended height of the tower crane.

3. The method for determining the spatial position of a hook according to claim 2, characterized in that, The spatial position of the hook also includes the azimuth angle of the hook. The construction machinery also includes a slewing angle sensor installed on the boom. Determining the spatial position of the hook based on the amplitude value, the horizontal distance, the height deformation, and the equipment parameters further includes: The rotation angle of the lifting boom is obtained through the rotation angle sensor; The rotation angle is determined as the azimuth angle of the hook.

4. A processor, comprising: It is configured to perform the method for determining the spatial position of a hook as described in any one of claims 1 to 3.

5. A device for determining the spatial position of a hook, characterized in that Includes the processor according to claim 4.

6. A working machine, characterized in that The engineering machinery includes: Tower cranes include the tower body, jib, and sliding mechanism; A hook, connected to the sliding mechanism, is used to suspend the target object; An amplitude sensor, installed on the sliding mechanism, is used to obtain the horizontal distance between the sliding mechanism and the connection point between the tower body and the lifting boom; The device for determining the spatial position of a hook according to claim 5.

7. A working machine according to claim 6, characterised in that The engineering machinery also includes: A rotation angle sensor is installed on the lifting boom to obtain the rotation angle of the lifting boom.

8. A machine-readable storage medium having stored thereon instructions, the instructions being executable by a machine to cause the machine to: When executed by a processor, this instruction causes the processor to be configured to perform the method for determining the spatial position of a hook according to any one of claims 1 to 3.

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