A method for establishing a characteristic point mapping model for tower crane body damage status and a method for quickly identifying damage

Abstract

A method for establishing a characteristic point mapping model of a tower crane body damage state and a method for quickly distinguishing damages, comprising: constructing a tower crane structure under different damage position combination states of the tower crane, and collecting a data set of the spatial position of the top of the tower body when the slewing arm of the tower crane rotates one circle under constant load conditions. Perform N times of function fitting on the spatial position data, and extract the characteristic vector sets of the amplitude, frequency, phase, etc. of the fitted sine function. The characteristic vector sets of the first three functions of the chord function with the smallest fitting error in the x-axis and y-axis directions under each damage state are used as triangle vertices to construct a characteristic plane set, and the characteristic plane in the intact state is used as a reference plane, and the angles between other planes and the reference plane in the directions of the two coordinate axes are calculated, and the angle values ​​are used to construct a point cloud map of each state in a two-dimensional plane, which is used as a basis for judging the damage state.

Description

Technical Field

[0001] The invention relates to a method for establishing a tower crane tower body damage state feature point mapping model and a method for quickly distinguishing damage, belonging to the technical field of intelligent monitoring of construction machinery. Background Art

[0002] As a modern lifting equipment, tower cranes are widely used in the construction industry. Because they work in high-risk places with heavy loads and large impact characteristics all year round, they are very easy to be damaged under the influence of their own gravity and the complex external environment, causing huge economic losses and casualties.

[0003] The tower body, as the main load-bearing structure, is one of the parts of the tower crane that is most prone to damage. In order to ensure the safe operation of the tower crane, a fast, effective and accurate identification method is urgently needed to monitor the operating status of the tower crane body. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention discloses a method for establishing a characteristic point mapping model of the damage state of a tower crane body. The present invention realizes rapid and accurate identification of the state of the tower crane body based on the distribution cloud map of a single characteristic point in the model: specifically, the spatial displacement of the top of the tower crane body is applied, and the high-dimensional characteristic vector of the tower crane body in the circumference is mapped to a two-dimensional plane point cloud model through parameterized model fitting and feature extraction, so as to establish a corresponding relationship between the single point feature and the damage state.

[0005] The invention also discloses a method for quickly distinguishing tower body damage by using the model.

[0006] The detailed technical scheme of the present invention is as follows:

[0007] A method for establishing a tower crane tower body damage state feature point mapping model, characterized by comprising:

[0008] 1) Collect tower crane status data sets under different conditions

[0009] 1-1) Build a tower crane structure with the tower body intact, a tower crane structure with a single damaged position on the tower body main limb, and a tower crane structure with multiple damaged positions on the tower body main limb. This construction can simulate the tower crane structure in I+1 different states: the tower body is intact, a single damaged tower body main limb, and multiple damaged tower limbs on the same or different floors.

[0010] 1-2) Establish a relative coordinate system: Take the intersection of the slewing bearing plane at the top of the tower crane and the center line of the tower as the coordinate origin o, the positive direction of the coordinate axis x is along the direction of the boom away from the tower body, the positive direction of the z axis is upward along the center line of the tower body perpendicular to the ground, the y direction is perpendicular to the axis of the boom and conforms to the right-hand screw rule with the x-axis and the z-axis. Relative to the tower body, the bending moment, pressure, and load are within the relative coordinate system;

[0011] 1-3) Obtain the data sets of the tower in intact and various damaged states:

[0012] According to the state of the tower body intact and different main limb damage, the tower crane slewing arm is made to rotate around the tower body under constant load conditions. Every time ω° is rotated, a spatial position point set (x i，w ,y i，w ), where I+1 is the number of intact and damaged states of the main limb of the tower body. When i=0, it represents the intact state of the tower body, and when i=1…I, it represents I different damage states of the tower body respectively; where W is the number of times the rotating arm rotates one circle, w=1, 2…W,

[0013] Obtain data sample sets (X, Y) under I+1 states, including the intact state of the tower body and the states of different main limb damage:

[0014]

[0015]

[0016] In the formula (1), X i Represents the x-coordinate point set of the top spatial position of the tower crane collected when the slewing arm rotates one circle in the i-th state;

[0017] In the formula (2), Y i Represents the y coordinate point set of the top spatial position of the tower crane collected when the slewing arm rotates one circle in the i-th state;

[0018] 2) Extract feature vector sets under different damage states

[0019] 2-1) normalizing the spatial position point set at the top of the tower crane body in step 1);

[0020] 2-2) Perform N-order sinusoidal function fitting to obtain the characteristic vector set of the spatial position point at the top of the tower crane, as shown in formulas (3) and (4):

[0021]

[0022]

[0023] Where j = 0, 1, 2, 3, ... N, N represents the number of sine functions fitted, a i，j and d i，j represents the amplitude of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions in the i-th state, b i，j and e i，j represents the frequency of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions in the i-th state, c i，j and f i，j It represents the phase of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions in the i-th state;

[0024] A i，j , d i，j , b i，j , e i，j , c i，j , f i，j As the feature vector set of the spatial position points at the top of the tower crane;

[0025] 3) Construct damage state feature mapping plane model

[0026] 3-1) Select the first three groups (j=0, 1, 2) of feature vector sets corresponding to the N-order sum function with the smallest fitting error to construct the feature mapping plane:

[0027] A three-dimensional coordinate system OXYZ is established. In the three-dimensional coordinate system OXYZ, the first three sets of characteristic vector sets (a i，0 , a i，1 , a i，2 )、(b i，0 , b i，1 , b i，2 )、(c i，0 , c i，1 , c i，2 ) Create a plane set m for the three vertices of the triangle i , the first three sets of characteristic vectors of the displacement of the top of the tower crane in the y direction under the i-th state (d i，0 , d i，1 , d i，2 )、(e i，0 , e i，1 , e i，2 )、(f i，0 , f i，1 , f i，2 ) Create a plane set n for the three vertices of the triangle i ;

[0028] m i(i=0,2,…I) represents the I+1 plane sets constructed by the spatial position data feature set of the tower crane body in the x direction in I+1 states, n i (i=0, 2, ...I) represents the I+1 plane sets constructed by the spatial position data feature set of the tower crane body in the y direction in I+1 states; wherein the obtained m0 and n0 are the planes constructed by the feature vector set when the tower crane body is in an intact state, and they are used as reference planes;

[0029] 3-2) Find the plane set m respectively i and n i The set of normal vectors for each plane in :

[0030] make

[0031]

[0032]

[0033]

[0034] in: are the unit normal vectors along the x-axis, y-axis and z-axis of the three-dimensional coordinate system OXYZ; i =(A i，1 , A i，2 , A i，3 );A i，1 =b i，0 -a i，0 ; A i，2 =b i，1 -a i，1 ; A i，3 =b i，2 -a i，2 ; B i =(B i，1 , B i，2 , B i，3 );B i，1 =b i，0 -c i，0 ; B i，2 =b i，1 -c i，1 ; B i，3 =b i，2 -c i，2 ;P i =(P i，1 , P i，2 , P i，3 );P i，1 =A i，2 B i，3 -A i，3 B i，2 ;P i，2=A i，3 B i，1 -A i，1 B i，3 ;P i，3 =A i，1 B i，2 -A i，2 B i，1 ;P i Represents the plane concentration m i The normal vector set corresponding to the plane;

[0035] make

[0036]

[0037]

[0038]

[0039] Where: C i =(C i，1 , C i，2 , C i，3 );C i，1 =e i，0 -d i，0 ; C i，2 =e i，1 -d i，1 ; C i，3 =e i，2 -d i，2 ;D i =(D i，1 , D i，2 , D i，3 );D i，1 =e i，0 -f i，0 ;D i，2 =e i，1 -f i，1 ;D i，3 =e i，2 -f i，2 ;Q i =(Q i，1 , Q i，2 , Q i，3 );Q i，1 =C i，2 D i，3 -C i，3 D i，2 ;Q i，2 =C i，3 D i，1 -C i，1 D i，3 ;Q i，3 =C i，1 Di，2 -C i，2 D i，1 ;Q i Represents the plane concentration n i The normal vector set corresponding to the plane;

[0040] 3-3) Calculate the plane set m separately i The angle between each plane in (i=1, 2, ...I) and the reference plane m0 and the plane set n i The angle between each plane in (i=1, 2, ...I) and the reference plane n0:

[0041]

[0042]

[0043]

[0044]

[0045] in, Represents the plane set m i The angle between each plane in (i=1, 2, ...I) and the reference plane m0; Represents a plane set n i The angle between each plane in (i=1, 2, ...I) and the reference plane n0;

[0046] 3-4) Establish a plane coordinate system o′x′y′. Draw a straight line through the origin and along the horizontal direction as the x′ axis, with the right direction as the positive direction. Draw a straight line through the origin and perpendicular to the x′ axis as the y′ axis, with the upward direction as the positive direction. is the x′ axis coordinate value, The y′ axis coordinate value is used to establish a mapping point cloud of the characteristics of the I damage state in a two-dimensional plane, forming a tower damage state characteristic point mapping model, and mapping high-dimensional data to low-dimensional plane single-point features. The advantage of this design is that the degree of tower damage can be objectively seen through the obtained model.

[0047] The method for quickly identifying tower body damage using the above model is characterized by comprising:

[0048] According to step 3), calculate the angle between the feature mapping plane and the reference plane in the x' and y' directions of the I state and To determine the damage status of the tower crane:

[0049] Preset the angle thresholds θ1 and θ2 between the feature mapping plane and the reference plane in the x′ axis and y′ axis directions of I states, wherein the values ​​of the thresholds θ1 and θ2 are mainly based on the state of the tower crane when it leaves the factory and the main technical parameters, which are not the technical contents to be protected by the present invention;

[0050] When satisfied and When , the tower is judged to be in good condition;

[0051] when or When the tower body is damaged, the damage status of the main limb is judged.

[0052] The technical advantages of the present invention are:

[0053] The present invention constructs the combined states of different damaged parts of the tower crane, collects the spatial position coordinate values ​​of multiple tower body tops in the x-axis and y-axis directions when the slewing arm rotates one circle in each state of the tower crane, and uses N-order sum functions for fitting to obtain the amplitude, frequency and phase N groups of characteristic vectors of the fitted sine function. The first three groups of characteristic vectors with the smallest fitting error are respectively taken as the vertices of the triangle to construct a characteristic plane, and the plane constructed in the intact state of the tower crane is used as the reference plane to calculate the angle between other types of damage states and the reference plane. The values ​​of each angle are used as the basis for judging the damage state, and the operating state of the tower crane can be quickly and accurately identified. The present invention realizes the simplification of the characteristic dimension of the tower crane tower state data, establishes the corresponding relationship between the damage state and the single characteristic value, and provides a reliable parameter index for the tower crane tower state monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a flow chart of a method for establishing a tower crane tower body damage state feature point mapping model of the present invention;

[0055] Figure 2 is to use Figure 1 Flow chart of the method for quickly identifying damage by using the method;

[0056] Figure 3 The combined state description table of the tower crane tower body damage position of the present invention;

[0057] Figure 4-1 , 4-2 4-3 and 4-4 are characteristic plane relationship diagrams of four kinds of damage states and intact states according to the embodiments of the present invention, respectively;

[0058] Figure 5 This is the single-point feature mapping plane point cloud map described in the present invention, wherein the safety area is determined by a preset horizontal coordinate value θ1 and a vertical coordinate value θ2. DETAILED DESCRIPTION

[0059] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but is not limited thereto.

[0060] like Figure 1 shown.

[0061] The following embodiment takes the QTZ40 tower crane as an example, and calculates the relationship between the angles between the characteristic mapping planes in various damage states of the tower crane of the same model and the characteristic mapping reference planes in the intact state, so as to quickly and accurately identify the damage state of the tower crane of this model.

[0062] Embodiment 1,

[0063] A method for establishing a tower crane tower damage state feature point mapping model, comprising:

[0064] 1) Collect tower crane status data sets under different conditions

[0065] 1-1) Build the tower crane structure when the tower body is intact, build the tower crane structure when the main limb of the tower body is damaged in a single position, and build the tower crane structure when the main limb of the tower body is damaged in multiple positions;

[0066] In the attached Figure 3 In the figure, a combined state diagram of the damaged position of the tower crane body is given. The "0-30" listed on the left is the state number, where 0 represents the intact state of the tower body, and 1-30 represents 30 damaged states of the tower body. In the figure, "one, two, three, four, five" represent the number of layers of the standard section of the tower crane body. The horizontal numbers "1-4" represent the main limbs on each standard section, which are numbered counterclockwise, and "√" indicates that the corresponding main limb is damaged.

[0067] 1-2) Establish a relative coordinate system: take the intersection of the slewing bearing plane at the top of the tower crane and the center line of the tower as the coordinate origin o, the positive direction of the coordinate axis x is along the direction of the boom away from the tower body, the positive direction of the z axis is upward along the direction of the tower body center line perpendicular to the ground, and the y direction is perpendicular to the boom axis and conforms to the right-hand screw rule with the x-axis and z-axis;

[0068] 1-3) Obtain the status data sets of the tower:

[0069] According to the different states of the tower body, the tower crane slewing arm is made to rotate around the tower body under constant load conditions. Every time it rotates ω°, a spatial position point set (x i，w ,y i，w ), where I is the number of types of damage states of the main limbs of the tower body, in this embodiment, I is 30, when i=0, it represents the intact state of the tower body, and when i=1...I, it represents I different damage states of the tower body respectively; where W is the number of times the slewing arm rotates one circle, w=1, 2...W, In this embodiment, ω is 15°

[0070] Get the data sample set (X, Y) under I+1 states:

[0071]

[0072]

[0073] In the formula (1), X i Represents the x-coordinate point set of the spatial position of the top of the tower crane collected when the slewing arm rotates one circle under different tower states of the i-th tower;

[0074] In the formula (2), Y i Represents the set of y coordinate points of the spatial position of the top of the tower crane collected when the slewing arm rotates one circle under different tower states of the i-th tower;

[0075] 2) Extract feature vector sets under different damage states

[0076] 2-1) normalizing the spatial position point set at the top of the tower crane body in step 1);

[0077] 2-2) Perform N-order sinusoidal function fitting to obtain the characteristic vector set of the spatial position point at the top of the tower crane, as shown in formulas (3) and (4):

[0078]

[0079]

[0080] Where j = 0, 1, 2, 3, ... N, N represents the number of sine functions fitted, a i，j and d i，j represents the amplitude of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions in the i-th state, b i，j and e i，j represents the frequency of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions in the i-th state, c i，j and f i，j It represents the phase of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions under the i-th damage state;

[0081] A i，j , d i，j , b i，j , e i，j , c i，j , f i，j As the feature vector set of the spatial position points at the top of the tower crane;

[0082] 3) Construct damage state feature mapping plane model

[0083] 3-1) Select the first three groups (j=0, 1, 2) of feature vector sets corresponding to the N-order sum function with the smallest fitting error to construct the feature mapping plane:

[0084] A three-dimensional coordinate system OXYZ is established. In the three-dimensional coordinate system OXYZ, the first three sets of characteristic vector sets (a i，0 , a i，1 , a i，2 )、(b i，0 , b i，1 , b i，2 )、(c i，0 , c i，1 , c i，2 ) Create a plane set m for the three vertices of the triangle i , the first three sets of characteristic vectors of the displacement of the top of the tower crane in the y direction under the i-th state (d i，0 , d i，1 , d i，2 )、(e i，0 , e i，1 , e i，2 )、(f i，0 , f i，1 , f i，2 ) Create a plane set n for the three vertices of the triangle i ;

[0085] m i (i=0,2,…I) represents the I+1 plane sets constructed by the spatial position data feature set of the tower crane body in the x direction in I+1 states, n i (i=0,2,…I) represents the I+1 plane sets constructed by the spatial position data feature set of the tower crane body in the y direction in I+1 kinds of damage states; the obtained m0 and n0 are the planes constructed by the feature vector set of the tower crane body in the intact state, and they are used as reference planes; the relationship between the data feature planes and the reference planes in the damage states numbered 1-30 is shown in Figure 4-1 , 4-2 , 4-3, and 4-4, where simx (i=0, 1, 2, ...30) represents the characteristic plane of the displacement of the top of the tower crane in the x-direction, siny (i=0, 1, 2, ...30) represents the characteristic plane of the displacement of the top of the tower crane in the y-direction, and s0mx and s0ny are reference planes. Figure 4-1 , 4-2 4-3 and 4-4 are schematic diagrams showing the relationship between the four damage states and the reference plane when i=1, 2, 3, and 4, respectively;

[0086] 3-2) Find the plane set m respectively i and n i The set of normal vectors for each plane in :

[0087] make

[0088]

[0089]

[0090] in: are the unit normal vectors along the x-axis, y-axis and z-axis of the three-dimensional coordinate system OXYZ; i =(A i，1 , A i，2 , A i，3 );A i，1 =b i，0 -a i，0 ; A i，2 =b i，1 -a i，1 ; A i，3 =b i，2 -a i，2 ; B i =(B i，1 , B i，2 , B i，3 );B i，1 =b i，0 -c i，0 ; B i，2 =b i，1 -c i，1 ; B i，3 =b i，2 -c i，2 ;P i =(P i，1 , P i，2 , P i，3 );P i，1 =A i，2 B i，3 -A i，3 B i，2 ;P i，2 =A i，3 B i，1 -A i，1 B i，3 ;P i，3 =A i，1 B i，2 -A i，2 B i，1 ;P i Represents the plane concentration m i The normal vector set corresponding to the plane;

[0091] make

[0092]

[0093]

[0094] Where: C i =(C i，1 , C i，2 , C i，3 );C i，1 =e i，0 -d i，0 ; C i，2 =e i，1 -d i，1 ; C i，3 =e i，2 -d i，2 ;D i =(D i，1 , D i，2 , D i，3 );D i，1 =e i，0 -f i，0 ;D i，2 =e i，1 -f i，1 ;D i，3 =e i，2 -f i，2 ;Q i =(Q i，1 , Q i，2 , Q i，3 );Q i，1 =C i，2 D i，3 -C i，3 D i，2 ;Q i，2 =C i，3 D i，1 -C i，1 D i，3 ;Q i，3 =C i，1 D i，2 -C i，2 D i，1 ;Q i Represents the plane concentration n i The normal vector set corresponding to the plane;

[0095] 3-3) Calculate the plane set m separately i The angle between each plane in (i=1, 2, ...I) and the reference plane m0 and the plane set n i The angle between each plane in (i=1, 2, ...I) and the reference plane n0:

[0096]

[0097]

[0098]

[0099]

[0100] in, Represents the plane set m i The angle between each plane in (i=1, 2, ...I) and the reference plane m0; Represents a plane set n i The angle between each plane in (i=1, 2, ...I) and the reference plane n0;

[0101] 3-4) Establish a plane coordinate system o′x′y′. Draw a straight line through the origin and along the horizontal direction as the x′ axis, with the right direction as the positive direction. Draw a straight line through the origin and perpendicular to the x′ axis as the y′ axis, with the upward direction as the positive direction. is the x′ axis coordinate value, As the y′ axis coordinate value, a mapping point cloud of the characteristics of the I state in the two-dimensional plane is established to form a tower damage state characteristic point mapping model. The advantage of this design is that the degree of tower damage can be objectively seen through the obtained model. Figure 5 As shown in the figure, the horizontal axis represents the angle between the plane constructed by the feature of the data set of the spatial position coordinates of the tower body top in the x-axis direction and the reference plane, and the vertical axis represents the angle between the plane constructed by the feature of the data set of the spatial position coordinates of the tower body top in the y-axis direction and the reference plane. Figure 3 The data set of damage combination states numbered 1-30 is a single point feature obtained by the feature point mapping model described in the present invention.

[0102] Embodiment 2,

[0103] The method for quickly identifying tower body damage using the model described in Example 1 comprises:

[0104] According to step 3), calculate the angle between the feature mapping plane and the reference plane in the x' and y' directions of the I state and To determine the damage status of the tower crane:

[0105] Preset the angle thresholds θ1 and θ2 between the feature mapping plane and the reference plane in the x′ axis and y′ axis directions of I states, wherein the values ​​of the thresholds θ1 and θ2 are mainly based on the state of the tower crane when it leaves the factory and the main technical parameters, which are not the technical contents to be protected by the present invention;

[0106] When satisfied and When the tower is in good condition,

[0107] when or When the tower body is damaged, the damage status of the main limb is judged.

[0108] like Figure 5 As shown, the lower side of the dotted box is defined as a safe area, that is, if the feature points fall within this range, the tower crane tower is considered to be in good condition, otherwise it is considered to be damaged.

[0109] Calculate the two angles between the characteristic plane and the reference plane in the x-axis and y-axis directions of the damage state numbered 1-30 and To determine the damage status of the tower crane. Figure 5 As shown in the figure, the angle between the plane of the tower crane body in each damage state and the reference plane If all angles are distributed outside the safe area in the feature mapping plane, it is determined that the tower crane tower is Figure 3 Damage occurred under the working conditions with bid numbers 1-30, and this result is consistent with the actual situation.

Claims

1. A method for establishing a tower crane tower damage state feature point mapping model, characterized in that: include: 1) Collect tower crane status data sets under different conditions 1-1) Build the tower crane structure when the tower body is intact, build the tower crane structure when the main limb of the tower body is damaged in a single position, and build the tower crane structure when the main limb of the tower body is damaged in multiple positions; 1-2) Establish a relative coordinate system: take the intersection of the slewing plane of the slewing bearing at the top of the tower crane and the center line of the tower as the coordinate origin o, the positive direction of the coordinate axis x is along the direction of the boom away from the tower body, the positive direction of the z axis is upward along the center line of the tower body perpendicular to the ground, and the y direction is perpendicular to the axis of the boom and conforms to the right-hand screw rule with the x-axis and z-axis; 1-3) Obtain the data sets of the tower in intact and various damaged states: According to the state of the tower body intact and different main limb damage, the tower crane slewing arm is made to rotate around the tower body under constant load conditions. Every time ω° is rotated, a spatial position point set (x i,n ,y i,n ), where I is the number of intact and damaged states of the main limb of the tower body, when i = 0, it represents the intact state of the tower body, and when i = 1...I, it represents I different damage states of the tower body; where N is the number of times the rotating arm rotates one circle, n = 1, 2...N, N = "360 / ω"; Get the data sample set (X,Y) under I+1 states, including the intact state of the tower body and the states of different main limb damage: In the formula (1), X i Represents the x-coordinate point set of the top spatial position of the tower crane collected when the slewing arm rotates one circle in the i-th state; In the formula (2), Y i Represents the set of y coordinate points of the top spatial position of the tower crane collected when the slewing arm rotates one circle in the i-th state; 2) Extract feature vector sets under different damage states 2-1) normalizing the spatial position point set at the top of the tower crane body in step 1); 2-2) Perform sine N1-order and function fitting to obtain the characteristic vector set of the spatial position points at the top of the tower crane, as shown in formulas (3) and (4): Where j = 0, 1, 2, 3, ... N1, N1 represents the number of sine functions fitted, a i,j and d i,j represents the amplitude of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions in the i-th state, b i,j and e i,j represents the frequency of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions in the i-th state, c i,j and f i,j It represents the phase of the jth sine function obtained by fitting the spatial position point set of the top of the tower crane in the x and y directions in the i-th state; A i,j , d i,j , b i,j , e i,j , c i,j , f i,j As the feature vector set of the spatial position points at the top of the tower crane; 3) Construct damage state feature mapping plane model 3-1) Select the first three groups of j=0, 1, 2 feature vector sets corresponding to the N1-order sum function with the smallest fitting error to construct the feature mapping plane: A three-dimensional coordinate system OXYZ is established. In the three-dimensional coordinate system OXYZ, the first three sets of characteristic vector sets (a i,0 ,a i,1 ,a i,2 )、(b i,0 ,b i,1 ,b i,2 )、(c i,0 ,c i,1 ,c i,2 ) Create a plane set m for the three vertices of the triangle i , the first three sets of characteristic vectors of the displacement of the top of the tower crane in the y direction under the i-th state (d i,0 ,d i,1 ,d i,2 )、(e i,0 ,e i,1 ,e i,2 )、(f i,0 ,f i,1 ,f i,2 ) Create a plane set n for the three vertices of the triangle i ; m i , i=0,2,…I represents the I+1 plane sets constructed by the spatial position data feature set of the tower crane in the x direction in I+1 states, n i , i=0,2,…I represents the I+1 plane sets constructed by the spatial position data feature sets of the tower crane body in the y direction in I+1 states; among them, the obtained m0 and n0 are the planes constructed by the feature vector sets when the tower crane body is in good condition, and they are used as reference planes; 3-2) Find the plane set m respectively i and n i The set of normal vectors for each plane in : make in: are the unit normal vectors along the x-axis, y-axis and z-axis of the three-dimensional coordinate system OXYZ; i =(A i,1 ,A i,2 ,A i,3 );A i,1 =b i,0 -a i,0 ; A i,2 =b i,1 -a i,1 ; A i,3 =b i,2 -a i,2 ; B i =(B i,1 ,B i,2 ,B i,3 );B i,1 =b i,0 -c i,0 ; B i,2 =b i,1 -c i,1 ; B i,3 =b i,2 -c i,2 ;P i =(P i,1 ,P i,2 ,P i,3 );P i,1 =A i,2 B i,3 -A i,3 B i,2 ;P i,2 =A i,3 B i,1 -A i,1 B i,3 ;P i,3 =A i,1 B i,2 -A i,2 B i,1 ; Pi represents the plane concentration m i The normal vector set corresponding to the plane; make Where: C i =(C i,1 ,C i,2 ,C i,3 );C i,1 =e i,0 -d i,0 ; C i,2 =e i,1 -d i,1 ; C i,3 =e i,2 -d i,2 ;D i =(D i,1 ,D i,2 ,D i,3 );D i,1 =e i,0 -f i,0 ;D i,2 =e i,1 -f i,1 ;D i,3 =e i,2 -f i,2 ;Q i =(Q i,1 ,Q i,2 ,Q i,3 );Q i,1 =C i, 2D i,3 -C i,3 D i,2 ;Q i,2 =C i,3 D i,1 -C i,1 D i,3 ;Q i,3 =C i,1 D i,2 -C i,2 D i,1 ; Qi represents the plane concentration n i The normal vector set corresponding to the plane; 3-3) Calculate the plane set m separately i , i=1,2,…I, the angle between each plane and the reference plane m0 and the plane set n i , the angle between each plane in i=1,2,…I and the reference plane n0: in, Represents the plane set m i , the angle between each plane in i=1,2,…I and the reference plane m0; Represents a plane set n i , the angle between each plane in i=1,2,…I and the reference plane n0; 3-4) Establish plane coordinate system o ′ x ′ y ′ , draw a straight line through the origin and along the horizontal direction as x ′ Axis, with the right direction as the positive direction, passes through the origin and is perpendicular to the x ′ Draw a straight line as the y axis ′ Axis, with the positive direction as the upward direction, and the angles For x ′ Axis coordinate values, in for y ′ Axis coordinate values ​​are calculated, and a mapping point cloud of the characteristics of the I damage state in a two-dimensional plane is established to form a tower body damage state characteristic point mapping model.

2. A method for quickly identifying tower body damage, characterized in that: Using the model established by the model establishment method as claimed in claim 1 to identify tower damage, including: According to step 3), calculate the I state at x ′ Axis and y ′ The angle between the feature mapping plane and the reference plane in the axial direction and To determine the damage status of the tower crane: Preset I state at x ′ Axis and y ′ The angle thresholds θ1 and θ2 between the feature mapping plane and the reference plane in the axial direction; When satisfied and When , the tower is judged to be in good condition; when or When the tower body is damaged, the damage status of the main limb is judged.

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