A method, device, equipment and medium for detecting the horizontal degree of a beam body during beam body hoisting

Abstract

The present application discloses a method, device, equipment and medium for detecting the levelness of a beam body during beam body hoisting, belonging to the technical field of beam body hoisting. The method includes: installing a detection device on the main beam of a bridge crane, the detection device being composed of a lidar and a level; when hoisting a target beam body, using the lidar to scan the target beam body and determining the beam body plane thereof in the lidar coordinate system; obtaining the beam body plane in the level coordinate system by using a target rotation matrix; obtaining the eigenvector matrix of the beam body plane in the level coordinate system and saving the angle output by the level; determining the target inclination angle of the target beam body relative to the geographical horizontal reference plane by using the eigenvector matrix and the angle output by the level, and performing horizontal adjustment on the hoisting state of the target beam body according to the target inclination angle. By this method, not only can the input cost of beam body hoisting be reduced, but also the horizontal accuracy of the beam body during hoisting can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of beam hoisting, and particularly relates to a method, device, equipment and medium for detecting the horizontal degree of a beam during beam hoisting and transportation. Background Art

[0002] Bridge construction is an important link in many infrastructure constructions, and the manufacturing and hoisting of beams during the construction process directly affect the construction quality and construction cost of the bridge. Due to the large mass of the beam itself, it is very easy for the beam to tilt during hoisting and placement, resulting in the inability of construction workers to accurately hoist the beam to the designated position.

[0003] In the prior art, in order to ensure that the beam is in a horizontal state during beam hoisting and lowering, one method is to guide the beam hoisting process through manual observation. However, it is impossible to ensure the horizontal accuracy between the beam and the geographical horizontal reference plane through human eye observation. Another method is to solve the above problems by improving the structure of the existing lifting tool. That is, by pre-setting a plurality of round steel lifting rings on the beam to ensure the horizontal degree of the beam during hoisting and transportation. However, the round steel lifting rings are not only easily damaged during use, leading to safety accidents, but also cannot be reused, which will greatly increase the input cost required for beam hoisting and transportation.

[0004] Therefore, how to reduce the input cost of beam hoisting and transportation while ensuring the horizontal accuracy of the beam during hoisting and transportation is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for detecting the horizontal degree of a beam during beam hoisting and transportation, so as to reduce the input cost of beam hoisting and transportation while ensuring the horizontal accuracy of the beam during hoisting and transportation. The specific scheme is as follows:

[0006] A method for detecting the horizontal degree of a beam during beam hoisting and transportation includes:

[0007] Install a detection device on the main beam of the bridge crane, and the detection device is composed of a lidar and a level gauge;

[0008] When hoisting the target beam, use the lidar to scan the target beam and determine the beam plane of the target beam in the lidar coordinate system;

[0009] Obtain the beam plane in the level gauge coordinate system by using the target rotation matrix; wherein, the target rotation matrix is the rotation matrix from the lidar coordinate system to the level gauge coordinate system;

[0010] Obtain the eigenvector matrix of the beam plane in the level coordinate system, and save the angles output by the level;

[0011] Use the eigenvector matrix and the angles output by the level to determine the target tilt angle of the target beam relative to the geographical horizontal reference plane, and perform horizontal adjustment on the lifting state of the target beam according to the target tilt angle.

[0012] Preferably, the process of determining the beam plane of the target beam in the lidar coordinate system includes:

[0013] Use the random sample consensus algorithm to determine the beam plane of the target beam in the lidar coordinate system.

[0014] Preferably, the process of obtaining the target rotation matrix includes:

[0015] Obtain the first rotation matrix from the lidar coordinate system to the target total station coordinate system, and obtain the second rotation matrix from the level coordinate system to the target total station coordinate system;

[0016] Obtain the target rotation matrix according to the first rotation matrix and the second torque matrix.

[0017] Preferably, the process of obtaining the first rotation matrix from the lidar coordinate system to the target total station coordinate system includes:

[0018] Use the lidar to scan multiple targets;

[0019] Obtain the coordinates of the centers of multiple targets in the lidar coordinate system, and form a first matrix with the coordinates of the centers of multiple targets in the lidar coordinate system;

[0020] Use the target total station to measure multiple target centers, and form a second matrix with the coordinates of the centers of multiple targets in the target total station coordinate system;

[0021] Obtain a third matrix according to the first matrix and the second matrix;

[0022] Perform singular value decomposition on the third matrix, and obtain the first rotation matrix according to the decomposition result.

[0023] Preferably, the process of obtaining the second rotation matrix from the level coordinate system to the target total station coordinate system includes:

[0024] Fix the level and the cross laser together, and control the level and the cross laser to move simultaneously in different postures;

[0025] Under different motion postures, obtain the cross laser emitted by the cross laser and save the angle output by the level;

[0026] Select the target measurement point of the cross laser, measure the coordinates of the target measurement point of the cross laser by using the target total station, and obtain the third rotation matrix from the cross laser coordinate system to the target total station coordinate system;

[0027] Represent the fourth rotation matrix from the level coordinate system to the cross laser coordinate system according to the Rodriguez method;

[0028] Based on the chain rule of coordinate transformation, establish the second rotation matrix from the level coordinate system to the target total station coordinate system according to the third rotation matrix and the fourth rotation matrix;

[0029] Establish a mathematical model for solving the fourth rotation matrix by using the angle output by the level and the second rotation matrix from the level coordinate system to the target total station coordinate system;

[0030] Solve the mathematical model to obtain the fourth rotation matrix from the level coordinate system to the cross laser coordinate system, and calculate the second rotation matrix in combination with the third rotation matrix from the cross laser coordinate system to the target total station coordinate system.

[0031] Preferably, the process of solving the mathematical model includes:

[0032] Use the L-M algorithm to optimize and solve the mathematical model.

[0033] Correspondingly, the present invention also discloses a beam level detection device for hoisting a beam body, including:

[0034] A device installation module for installing a detection device on the main beam of a bridge crane, where the detection device is composed of a lidar and a level;

[0035] A first determination module for scanning the target beam body by using the lidar and determining the beam body plane in the lidar coordinate system when hoisting the target beam body;

[0036] A second determination module for obtaining the beam body plane in the level coordinate system by using a target rotation matrix; where the target rotation matrix is the rotation matrix from the lidar coordinate system to the level coordinate system;

[0037] An angle saving module for obtaining the eigenvector matrix of the beam body plane in the level coordinate system and saving the angle output by the level;

[0038] A state adjustment module, configured to determine a target inclination angle of the target beam relative to the geographical horizontal reference plane by using the feature vector matrix and the angle output by the spirit level, and perform horizontal adjustment on the lifting state of the target beam according to the target inclination angle.

[0039] Correspondingly, the present invention also discloses a beam horizontal degree detection device for beam lifting, including:

[0040] A memory, configured to store a computer program;

[0041] A processor, configured to implement the steps of a beam horizontal degree detection method for beam lifting as disclosed above when executing the computer program.

[0042] Correspondingly, the present invention also discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of a beam horizontal degree detection method for beam lifting as disclosed above are implemented.

[0043] It can be seen that in the present invention, a detection device is installed on the main beam of a bridge crane. The detection device is composed of a lidar and a spirit level, and a target rotation matrix from the lidar coordinate system to the spirit level coordinate system is calculated in advance; when lifting a target beam, the lidar is used to scan the target beam, and the beam plane of the target beam in the coordinate system where the lidar is located is determined; then, the feature vector matrix in the spirit level coordinate system is obtained by using the target rotation matrix; finally, the target inclination angle of the beam plane relative to the geographical horizontal reference plane is determined according to the feature vector matrix and the angle output by the spirit level, and the lifting state of the target beam is horizontally adjusted according to the target inclination angle. Compared with the prior art, since this method does not require embedding non-reusable round steel lifting rings in the beam, the lifting input cost of the beam can be significantly reduced by this method. Moreover, this method is not affected by the observation results of the human eye, so the horizontal accuracy of the beam during lifting can be further ensured. Correspondingly, a beam horizontal degree detection device, equipment and medium for beam lifting provided by the present invention also have the above beneficial effects. Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0045] Figure 1 It is a flowchart of a beam horizontal degree detection method for beam lifting provided by an embodiment of the present invention;

[0046] Figure 2 Schematic diagram of a detection device provided in an embodiment of the present invention on the main girder of a bridge crane;

[0047] Figure 3 Structural diagram of a beam level detection device provided in an embodiment of the present invention;

[0048] Figure 4 Schematic diagram for obtaining the first rotation matrix from the lidar coordinate system to the target total station coordinate system;

[0049] Figure 5 Schematic diagram for obtaining the second rotation matrix from the level coordinate system to the target total station coordinate system;

[0050] Figure 6 Schematic diagram of three measurement points on the cross laser;

[0051] Figure 7 Structural diagram of a beam level detection device for beam hoisting provided in an embodiment of the present invention;

[0052] Figure 8 Structural diagram of a beam level detection device for beam hoisting provided in an embodiment of the present invention. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0054] Please refer to Figure 1 , Figure 1 Flowchart of a beam level detection method for beam hoisting provided in an embodiment of the present invention. The method includes:

[0055] Step S11: Install a detection device on the main girder of the bridge crane. The detection device is composed of a lidar and a level;

[0056] Step S12: When hoisting the target beam, use the lidar to scan the target beam and determine the beam plane of the target beam in the lidar coordinate system;

[0057] Step S13: Use the target rotation matrix to obtain the beam plane in the level coordinate system; wherein, the target rotation matrix is the rotation matrix from the lidar coordinate system to the level coordinate system;

[0058] Step S14: Obtain the eigenvector matrix of the beam body plane in the spirit level coordinate system, and save the angle output by the spirit level.

[0059] Step S15: Determine the target inclination angle of the target beam body relative to the geographical horizontal reference plane by using the eigenvector matrix and the angle output by the spirit level, and horizontally adjust the lifting state of the target beam body according to the target inclination angle.

[0060] In this embodiment, a method for detecting the levelness of a beam body during hoisting is provided. By this method, not only can the horizontal accuracy of the beam body during hoisting be guaranteed, but also the cost required for hoisting the beam body can be reduced.

[0061] In this detection method, it is necessary to pre-determine the target rotation matrix between the lidar and the spirit level, then install the lidar and the spirit level inside the detection device, and set the detection device on the main beam of the bridge crane for realizing the detection of the levelness of the beam body during hoisting.

[0062] In practical applications, the spirit level can be set as an electronic differential spirit level, a digital spirit level, an inductive spirit level, etc., as long as it can achieve the purpose of horizontally detecting the target beam body. The detection module is installed under the main beam of the bridge crane through a connecting seat. Please refer to Figure 2 and Figure 3 , Figure 2 is a schematic diagram of setting a detection device on the main beam of the bridge crane provided by the embodiment of the present invention, Figure 3 is a structural diagram of a beam body levelness detection device provided by the embodiment of the present invention. Specifically, the detection device 1 includes a spirit level 2 and a lidar 3. The detection device 1 is installed on the main beam of the bridge crane through a connecting seat 4, and a transparent glass panel 101 and a metal panel 102 are provided at the bottom of the detection device 1. The lidar 3 provided on the main beam of the bridge crane can scan the target beam body 5 in real time.

[0063] Here, specific descriptions are made on the installation requirements of the lidar and the spirit level in the detection device. Combining Figure 3 with the beam body levelness detection device shown, in practical applications, the bottom of the detection device is divided into two parts, one side is a transparent glass panel, and the other side is a metal panel. The spirit level and the lidar are both installed on the same bracket, and the bracket is connected to the metal panel at the bottom of the detection device through bolts. It can be imagined that by installing the spirit level and the lidar on the same bracket, during the disassembly and assembly of the detection device, the bracket, the spirit level and the lidar can be regarded as a whole component. After calibrating the spirit level and the lidar, it is not necessary to further calibrate them during use, thereby reducing the workload of the staff.

[0064] Among them, the lidar will be installed on the left side of the bracket and above the glass panel. In practical applications, the lidar will be fixedly connected to a connecting plate with rotating shafts on both sides by bolts. The connecting plate is connected to the bracket through the rotating shafts. There are upper and lower rotating shafts respectively arranged on both sides of the connecting plate. The upper rotating shaft is installed in the connecting hole of the bracket, and the lower rotating shaft is installed in the U-shaped groove. In this installation method, the lidar can rotate around the fixed axis of the connecting hole of the bracket, and its rotation range is related to the length of the U-shaped groove. Moreover, by adjusting the position of the lower rotating shaft in the U-shaped groove, the scanning range of the lidar can be expanded. When it is rotated to the optimal position, the lidar can be fixed by tightening the nut, thus ensuring that the lidar can be in the optimal position and optimal viewing angle for scanning, and further ensuring the integrity of the data collected from the target beam. Specifically, when the detection device is in the initial state, the transparent glass panel of the lidar is parallel to the bottom of the detection device, and the lidar can scan the target beam through the transparent glass panel of the detection device. By rotating the lidar, the optimal scanning viewing angle of the lidar can be obtained. This not only facilitates the collection of the surface data of the target beam, but also can expand the scanning range of the lidar.

[0065] The level will be installed on the other side of the bracket. It can be imagined that through such a connection method, not only the rigid connection between the level and the lidar is ensured, avoiding the deformation between the two, but also the detection accuracy of the detection device is ensured.

[0066] When hoisting the target beam, in order to ensure that the target beam can maintain a horizontal state during the hoisting process, first, the lidar needs to be used to scan the target beam, and the beam plane of the target beam in the coordinate system where the lidar is located is determined according to the scanned point cloud data. In this case, the beam plane of the target beam can be transformed to the coordinate system where the level is located through the target rotation matrix between the lidar coordinate system and the level coordinate system.

[0067] When the beam plane of the target beam is transformed to the coordinate system where the level is located through the target rotation matrix, the eigenvector matrix of the beam plane of the target beam in the coordinate system where the level is located can be calculated. It can be understood that because the level can accurately measure the inclination angle of the object relative to the geographical horizontal reference plane, the target inclination angle of the beam plane of the target beam relative to the geographical horizontal reference plane can be determined through the eigenvector matrix of the target beam in the coordinate system where the level is located and the angle output by the level.

[0068] It is conceivable that, after determining the target inclination angle of the target beam body relative to the geographic horizontal reference plane, the lifting state of the target beam body can be adjusted according to the target inclination angle between the target beam body and the geographic horizontal reference plane, so that the target beam body can always maintain a horizontal state relative to the geographic horizontal reference plane. Specifically, in the process of leveling the target beam body, a motor and a reducer can be installed on the target beam body, and the motor and the reducer can be controlled according to the calculated target inclination angle between the target beam body and the geographic horizontal reference plane to drive the winch to level the target beam body.

[0069] Obviously, through the detection method provided in this embodiment, the staff only needs to perform simple operations to monitor the level of the beam after lifting and automatically level it. There is no need to repeatedly disassemble and adjust the laser radar and level on the main beam of the bridge crane, which can further improve the construction efficiency of the staff. At the same time, the method does not need to embed non-reusable round steel lifting rings on the target beam, which not only does not damage the structure of the beam itself, but also greatly reduces the cost of lifting the beam. Moreover, in the process of leveling the beam using this method, it will not be affected by the results of human eye observation, thereby further ensuring the horizontal accuracy of the beam during the lifting process.

[0070] It can be seen that in this embodiment, a detection device is installed on the main beam of the bridge crane. The detection device is composed of a laser radar and a level meter, and the target rotation matrix from the laser radar coordinate system to the level meter coordinate system is pre-calculated; when the target beam is hoisted, the laser radar is used to scan the target beam, and the beam plane of the target beam in the laser radar coordinate system is determined; then, the target rotation matrix is ​​used to obtain the eigenvector matrix in the level meter coordinate system; finally, the target inclination angle of the beam plane relative to the geographic horizontal reference plane is determined according to the eigenvector matrix and the angle output by the level meter, and the hoisting state of the target beam is adjusted horizontally according to the target inclination angle. Compared with the prior art, since this method does not require the pre-embedded non-reusable round steel lifting rings in the beam, the hoisting investment cost of the beam can be significantly reduced by this method. In addition, this method will not be affected by the results of human eye observation, thereby further ensuring the horizontal accuracy of the beam during the hoisting process.

[0071] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation, the above step: the process of determining the beam plane of the target beam in the laser radar coordinate system includes:

[0072] The random sampling consistency algorithm is used to determine the beam plane of the target beam in the lidar coordinate system.

[0073] When determining the beam plane of the target beam in the coordinate system where the lidar is located, it is necessary to first use the lidar installed inside the detection device on the main beam of the bridge crane to scan the target beam and read the point cloud data of the target beam in the lidar. Then, the random sample consensus algorithm (RANSAC) is used to segment the beam plane of the target beam in the coordinate system where the lidar is located from the read point cloud data.

[0074] It can be understood that since the random sample consensus algorithm has high robustness when estimating model parameters, when using the random sample consensus algorithm to determine the beam plane of the target beam in the coordinate system where the lidar is located, the accuracy and reliability of the extracted beam plane can be guaranteed.

[0075] Based on the above embodiments, the technical solution is further described and optimized in this embodiment. As a preferred implementation manner, the process of obtaining the target rotation matrix includes:

[0076] Obtain the first rotation matrix from the lidar coordinate system to the target total station coordinate system, and obtain the second rotation matrix from the level coordinate system to the target total station coordinate system;

[0077] Obtain the target rotation matrix according to the first rotation matrix and the second torque matrix.

[0078] In this embodiment, when determining the target rotation matrix between the lidar coordinate system and the level coordinate system, a target total station is introduced between the lidar and the level. Then, the target total station is used to determine the target rotation matrix between the lidar and the level.

[0079] That is, when calculating the target rotation matrix between the lidar coordinate system and the level coordinate system, first obtain the first rotation matrix from the lidar coordinate system to the target total station coordinate system. Then, calculate the second rotation matrix from the level coordinate system to the target total station coordinate system. Finally, perform a transformation on the first rotation matrix from the lidar coordinate system to the target total station coordinate system and the second rotation matrix between the level coordinate system and the target total station coordinate system, and the target rotation matrix from the lidar coordinate system to the level coordinate system can be determined.

[0080] As a preferred implementation manner, the above step: the process of obtaining the first rotation matrix from the lidar coordinate system to the target total station coordinate system includes:

[0081] Use the lidar to scan multiple targets;

[0082] Obtain the coordinates of the centers of multiple targets in the lidar coordinate system, and form the coordinates of the centers of multiple targets in the lidar coordinate system into a first matrix;

[0083] Measure the centers of multiple targets using a target total station, and form a second matrix with the coordinates of the centers of multiple targets in the target total station coordinate system;

[0084] Obtain a third matrix based on the first matrix and the second matrix;

[0085] Perform singular value decomposition on the third matrix, and obtain the first rotation matrix according to the decomposition result.

[0086] Please refer to Figure 4 , Figure 4 For a schematic diagram of obtaining the first rotation matrix from the lidar coordinate system to the target total station coordinate system. In Figure 4 , 3 is the lidar, 6 is the target, and 7 is the target total station. When obtaining the first rotation matrix from the lidar coordinate system to the target total station coordinate system, multiple targets need to be placed in front of the lidar in advance. Specifically, 3 - 5 targets can be placed at a distance of 6 - 10 meters in front of the lidar. Use the lidar to scan multiple targets, obtain the coordinates of the centers of these targets in the coordinate system where the lidar is located, and form the first matrix A. At the same time, use the target total station to measure the centers of each target, obtain the coordinates of the centers of these targets in the coordinate system where the target total station is located, and form the second matrix B.

[0087] After that, calculate the third matrix C based on the first matrix A and the second matrix B. Among them, the calculation expression of the third matrix C is:

[0088] C = (A - mean(A, 1)) T * (B - mean(B, 1))

[0089] In the formula, A is the first matrix, B is the second matrix, C is the third matrix, and mean represents the mean value.

[0090] When the third matrix C is obtained, perform singular value (SVD) decomposition on the third matrix C to get [D E F] = svd(C); where C is the third matrix, and D, E, and F are the matrices after singular value decomposition respectively.

[0091] When the third matrix C is a full - rank matrix, the first rotation matrix from the lidar to the target total station is: R1 = D * F T , where R1 is the first rotation matrix, and D and F are the matrices after singular value decomposition of the third matrix C respectively; if det(R1) = 1, then record R1 as the optimal value, if det(R1) = - 1, then record - R1 as the optimal value.

[0092] As a preferred implementation manner, the above step: the process of obtaining the second rotation matrix from the level instrument coordinate system to the target total station coordinate system includes:

[0093] Fix the spirit level and the cross laser together and control the spirit level and the cross laser to move simultaneously in different postures.

[0094] Under different moving postures, obtain the cross laser emitted by the cross laser and save the angle output by the spirit level.

[0095] Select the target measurement point of the cross laser, measure the coordinates of the target measurement point of the cross laser with the target total station, and obtain the third rotation matrix from the cross laser coordinate system to the target total station coordinate system.

[0096] Represent the fourth rotation matrix from the spirit level coordinate system to the cross laser coordinate system according to the Rodriguez method.

[0097] Based on the chain rule of coordinate transformation, establish the second rotation matrix from the spirit level coordinate system to the target total station coordinate system according to the third rotation matrix and the fourth rotation matrix.

[0098] Use the angle output by the spirit level and the second rotation matrix from the spirit level coordinate system to the target total station coordinate system to establish a mathematical model for solving the fourth rotation matrix.

[0099] Solve the mathematical model to obtain the fourth rotation matrix from the spirit level coordinate system to the cross laser coordinate system, and calculate the second rotation matrix in combination with the third rotation matrix from the cross laser coordinate system to the target total station coordinate system.

[0100] Please refer to Figure 5 , Figure 5 which is a schematic diagram for obtaining the second rotation matrix from the spirit level coordinate system to the target total station coordinate system. In Figure 5 , 2 is the spirit level, 7 is the target total station, and 8 is the cross laser. When obtaining the second rotation matrix from the spirit level coordinate system to the target total station coordinate system, the spirit level, the cross laser, and the target total station are required. In the actual operation process, the spirit level and the cross laser can be fixed together and controlled to move simultaneously in different postures.

[0101] Select the target measurement point of the cross laser emitted by the cross laser. By measuring the target measurement point of the cross laser with the target total station, the third rotation matrix from the cross laser coordinate system to the target total station coordinate system can be obtained. Please refer to Figure 6 , Figure 6 which is a schematic diagram of three measurement points on the cross laser. Specifically, if the coordinates of the three measurement points 1, 2, and 3 of the cross laser are s1, s2, and s3 respectively, then the third rotation matrix G from the cross laser coordinate system to the target total station coordinate system is:

[0102] G = [w1, w4, w3];

[0103] Where w1 = (s2 - s1) / norm(s2 - s1), w2 = (s3 - s1) / norm(s3 - s1), w3 = cross(w1, w2), w4 = cross(w1, w3), norm represents the modulus, and cross represents the vector cross product.

[0104] Then, use the Rodriguez method to describe the fourth rotation matrix from the level to the cross laser, that is, a vector is used to represent the rotation around the coordinate axis, and the vector length represents the rotation angle. Assume this vector is u = (u x , u y , u z ). Then, the fourth rotation matrix H from the level coordinate system to the cross laser coordinate system can be expressed as:

[0105]

[0106] After that, establish a mathematical model for solving the fourth rotation matrix H from the level to the cross laser. Specifically, it is necessary to first obtain the angle data of the level in different motion postures, and represent the angle with the vector s4. Then, use the chain rule of coordinate transformation to establish a mathematical model for solving the rotation matrix from the level coordinate system to the cross laser coordinate system according to the third rotation matrix and the fourth rotation matrix. Among them, the expression of the mathematical model is:

[0107]

[0108] When the mathematical model is obtained, the L-M algorithm (Levenberg-Marquardt method) can be used to optimize and solve the mathematical model. Because compared with other algorithms, the L-M algorithm can more accurately find the optimal solution in the mathematical model. When the optimal solution of the mathematical model is solved by the L-M algorithm, the fourth rotation matrix H from the level coordinate system to the cross laser coordinate system can be obtained. After that, according to R2 = G * H, the second rotation matrix R2 from the level to the target total station can be calculated.

[0109] When the first rotation matrix R1 from the lidar to the target total station and the second rotation matrix R2 from the level to the target total station are calculated, the target rotation matrix R3 between the lidar and the level can be calculated by R3 = R2 -1 *R1.

[0110] When lifting the target beam, first use the lidar inside the detection device to determine the beam plane of the target beam in the lidar coordinate system; secondly, determine the beam plane in the spirit level coordinate system according to the target rotation matrix R3; then, obtain the eigenvector matrix I of the beam plane in the spirit level coordinate system; finally, combine the angle output by the spirit level to obtain the eigenvector matrix I' of the beam plane in the geographical horizontal reference coordinate system, and then the inclination angle of the beam plane relative to the geographical horizontal reference coordinate system can be determined, that is:

[0111]

[0112] In the formula, α represents the inclination angle of the beam plane of the target beam relative to the geographical horizontal reference plane in the front-back direction, β represents the inclination angle of the beam plane of the target beam relative to the geographical horizontal reference plane in the left-right direction, I'(3,2) represents the element corresponding to the 3rd row and 2nd column in the matrix I', I'(3,3) represents the element corresponding to the 3rd row and 3rd column in the matrix I', and I'(3,1) represents the element corresponding to the 3rd row and 1st column in the matrix I'.

[0113] Obviously, after determining the target inclination angle of the target beam relative to the geographical horizontal reference plane, the lifting state of the target beam can be adjusted, so that the target beam can always maintain a horizontal state relative to the geographical horizontal reference plane, thus ensuring the horizontal accuracy of the target beam during lifting.

[0114] Please refer to Figure 7 , Figure 7 which is the structural diagram of a beam horizontal detection device for beam lifting provided by an embodiment of the present invention. The device includes:

[0115] A device installation module 21 for installing the detection device on the main beam of the bridge crane. The detection device consists of a lidar and a spirit level;

[0116] A first determination module 22 for scanning the target beam with the lidar and determining the beam plane of the target beam in the lidar coordinate system when lifting the target beam;

[0117] A second determination module 23 for obtaining the beam plane in the spirit level coordinate system by using the target rotation matrix; wherein, the target rotation matrix is the rotation matrix from the lidar coordinate system to the spirit level coordinate system;

[0118] An angle storage module 24 for obtaining the eigenvector matrix of the beam plane in the spirit level coordinate system and storing the angle output by the spirit level;

[0119] A state adjustment module 25 is configured to determine a target inclination angle of the target beam relative to the geographical horizontal reference plane by using the feature vector matrix and the angle output by the spirit level, and horizontally adjust the lifting state of the target beam according to the target inclination angle.

[0120] The beam level detection device for beam lifting provided by the embodiment of the present invention has the beneficial effects of the beam level detection method for beam lifting disclosed above.

[0121] Please refer to Figure 8 , Figure 8 FIG. is a structural diagram of the beam level detection device for beam lifting provided by the embodiment of the present invention. The device includes:

[0122] A memory 31 is configured to store a computer program;

[0123] A processor 32 is configured to implement the steps of the beam level detection method for beam lifting disclosed above when executing the computer program.

[0124] The control device for beam lifting provided by the embodiment of the present invention has the beneficial effects of the beam level detection method for beam lifting disclosed above.

[0125] Correspondingly, the embodiment of the present invention further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the beam level detection method for beam lifting disclosed above are implemented.

[0126] The computer-readable storage medium provided by the embodiment of the present invention has the beneficial effects of the beam level detection method for beam lifting disclosed above.

[0127] In this specification, the embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0128] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0129] The above has introduced in detail a beam level detection method, device, equipment and medium for hoisting a beam body provided by the present invention. Specific examples are used in this text to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for detecting the horizontal degree of a beam body during hoisting of the beam body, characterized in that, Including: Install a detection device on the main girder of the overhead crane, and the detection device is composed of a lidar and a level; When hoisting the target beam body, use the lidar to scan the target beam body and determine the beam body plane of the target beam body in the lidar coordinate system; Obtain the beam body plane in the level coordinate system by using the target rotation matrix; wherein, the target rotation matrix is the rotation matrix from the lidar coordinate system to the level coordinate system; Obtain the eigenvector matrix of the beam body plane in the level coordinate system and save the angle output by the level; Determine the target tilt angle of the target beam body relative to the geographical horizontal reference plane by using the eigenvector matrix and the angle output by the level, and perform horizontal adjustment on the hoisting state of the target beam body according to the target tilt angle; The process of obtaining the target rotation matrix includes: Obtain the first rotation matrix from the lidar coordinate system to the target total station coordinate system, and obtain the second rotation matrix from the level coordinate system to the target total station coordinate system; Obtain the target rotation matrix according to the first rotation matrix and the second rotation matrix; The process of obtaining the second rotation matrix from the level coordinate system to the target total station coordinate system includes: Fix the level and the cross laser together, and control the level and the cross laser to move simultaneously in different postures; In different motion postures, obtain the cross laser emitted by the cross laser and save the angle output by the level; Select the target measurement point of the cross laser, measure the target measurement point coordinates of the cross laser by using the target total station, and obtain the third rotation matrix from the cross laser coordinate system to the target total station coordinate system; Represent the fourth rotation matrix from the level coordinate system to the cross laser coordinate system according to the Rodriguez method; Based on the chain rule of coordinate transformation, establish the second rotation matrix from the level coordinate system to the target total station coordinate system according to the third rotation matrix and the fourth rotation matrix; Establish a mathematical model for solving the fourth rotation matrix by using the angle output by the level and the second rotation matrix from the level coordinate system to the target total station coordinate system; Solve the mathematical model to obtain the fourth rotation matrix from the level coordinate system to the cross laser coordinate system, and calculate the second rotation matrix in combination with the third rotation matrix from the cross laser coordinate system to the target total station coordinate system.

2. The beam level detection method according to claim 1, characterized in that The process of determining the beam body plane of the target beam body in the lidar coordinate system includes: Use the random sample consensus algorithm to determine the beam body plane of the target beam body in the lidar coordinate system.

3. The beam levelness detection method according to claim 1, characterized in that, The process of obtaining the first rotation matrix from the lidar coordinate system to the target total station coordinate system includes: Use the lidar to scan multiple targets; Obtain the coordinates of the centers of multiple targets in the lidar coordinate system, and form a first matrix with the coordinates of the centers of multiple targets in the lidar coordinate system; Measure the centers of multiple targets using the target total station, and form a second matrix with the coordinates of the centers of multiple targets in the coordinate system of the target total station; Obtain a third matrix based on the first matrix and the second matrix; Perform singular value decomposition on the third matrix, and obtain the first rotation matrix according to the decomposition result.

4. The beam levelness detection method according to claim 1, characterized in that, The process of solving the mathematical model includes: Use the L-M algorithm to optimize and solve the mathematical model.

5. A beam level detection device for hoisting a beam body, characterized in that, Including: A device installation module for installing a detection device on the main girder of a bridge crane, where the detection device consists of a lidar and a level; A first determination module for scanning the target beam body using the lidar and determining the beam body plane of the target beam body in the lidar coordinate system when hoisting the target beam body; A second determination module for obtaining the beam body plane in the level coordinate system using a target rotation matrix; where the target rotation matrix is the rotation matrix from the lidar coordinate system to the level coordinate system; An angle storage module for obtaining the eigenvector matrix of the beam body plane in the level coordinate system and storing the angle output by the level; A state adjustment module for determining the target tilt angle of the target beam body relative to the geographical horizontal reference plane using the eigenvector matrix and the angle output by the level, and horizontally adjusting the hoisting state of the target beam body according to the target tilt angle; The process of obtaining the target rotation matrix includes: Obtain the first rotation matrix from the lidar coordinate system to the target total station coordinate system, and obtain the second rotation matrix from the level coordinate system to the target total station coordinate system; Obtain the target rotation matrix according to the first rotation matrix and the second rotation matrix; The process of obtaining the second rotation matrix from the level coordinate system to the target total station coordinate system includes: Fix the level and the cross laser together, and control the level and the cross laser to move simultaneously in different postures; In different motion postures, obtain the cross laser emitted by the cross laser, and store the angle output by the level; Select the target measurement point of the cross laser, measure the coordinates of the target measurement point of the cross laser using the target total station, and obtain the third rotation matrix from the cross laser coordinate system to the target total station coordinate system; Represent the fourth rotation matrix from the level coordinate system to the cross laser coordinate system according to the Rodriguez method; Based on the chain rule of coordinate transformation, establish the second rotation matrix from the level coordinate system to the target total station coordinate system according to the third rotation matrix and the fourth rotation matrix; Establish a mathematical model for solving the fourth rotation matrix using the angle output by the level and the second rotation matrix from the level coordinate system to the target total station coordinate system; Solve the mathematical model to obtain the fourth rotation matrix from the level coordinate system to the cross laser coordinate system, and calculate the second rotation matrix in combination with the third rotation matrix from the cross laser coordinate system to the target total station coordinate system.

6. A beam level detection device for hoisting a beam body, characterized in that, Including: A memory for storing a computer program; A processor for implementing the steps of a beam level detection method for beam hoisting as described in any one of claims 1 to 4 when executing the computer program.

7. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of a beam level detection method for beam hoisting as described in any one of claims 1 to 4 are implemented.

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