Apparatus and method for identifying a rotation angle of a turntable, processor and engineering device

Abstract

The embodiment of the present application provides a device and method for identifying the rotation angle of a rotary table, a processor and engineering equipment, and belongs to the field of engineering machinery. The device for identifying the rotation angle of the rotary table comprises: an image acquisition device; and a processor configured to: acquire an image collected by the image acquisition device under the condition that an arm support is in a half-folded state and the arm support enters the field of view of the image acquisition device, wherein the image comprises a contact surface on the arm support in contact with an arm support frame, the half-folded state is a state in which the remaining arm sections of the arm support except for one arm are folded and the arm support is not on the arm support frame, and the one arm is an arm section connected with the rotary table in the arm support; identify two edge lines of the contact surface; and identify the rotation angle of the rotary table according to the two edge lines to determine whether the rotation angle of the rotary table is at zero position. The embodiment of the present application can reduce the dependence on the rotary encoder.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery, and more specifically to a device and method, processor and engineering equipment for identifying the rotation angle of a turntable. Background Technology

[0002] After completing the concrete placement operation, construction equipment such as concrete pump trucks need to retract their booms back onto the boom support frame before they can safely move to another site. The boom retraction process is operated by the operator, requiring a high degree of concentration; otherwise, interference or collision accidents can easily occur. The main reason for interference is that during boom retraction, the boom is not directly above the boom support frame, resulting in a misalignment between the boom's and support frame positions.

[0003] Currently, the above-mentioned boom retraction process can be completed using automatic boom extension and retraction technology. This technology typically uses a rotary encoder to monitor the rotation angle of the turntable. When the rotation angle reaches a set value (usually 0° when the boom is retracted into its position, making this setting 0 and the position zero), the electronic control system determines that the boom is directly above the support frame, thus retracting the boom relatively accurately without accidents. However, if the rotary encoder malfunctions, the boom retraction process will fail, causing damage to the equipment. Therefore, existing technology suffers from a significant reliance on rotary encoders. Summary of the Invention

[0004] The purpose of this invention is to provide a device for identifying the rotation angle of a turntable, a method for identifying the rotation angle of a turntable, a control method for a boom, a calibration method for a rotary encoder, a fault identification method for a rotary encoder, a processor, engineering equipment, and a storage medium, so as to solve the problem of high dependence on rotary encoders in the prior art.

[0005] To achieve the above objectives, a first aspect of the present invention provides a device for identifying the rotation angle of a turntable, applied to engineering equipment. The engineering equipment includes a turntable, a boom, and a boom support frame. The boom is connected to the turntable, and the boom support frame is spaced at a predetermined distance from the turntable to support the boom. The device includes:

[0006] An image acquisition device is installed in the vertical plane defined by the axis of the turntable and the centerline of the boom support frame, and is used for image acquisition.

[0007] The processor is configured as follows:

[0008] When the boom is in a semi-retracted state and the boom enters the field of view of the image acquisition device, the image acquired by the image acquisition device is obtained. The image includes the contact surface on the boom that is in contact with the boom support frame. The semi-retracted state is the state in which all boom sections except one boom are folded and the boom is not on the boom support frame. One boom is the boom section that is connected to the turntable in the boom.

[0009] Identify the two edge lines of the contact surface;

[0010] The rotation angle of the turntable is identified by the two edge lines to determine whether the rotation angle of the turntable is at zero.

[0011] In this embodiment of the invention, the center line of the field of view of the image acquisition device is aligned with the center line of the boom support frame; the processor is configured to identify the rotation angle of the turntable based on the two edge lines to determine whether the rotation angle of the turntable is at zero, including: the processor is configured to: identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the center line of the image to determine whether the rotation angle of the turntable is at zero.

[0012] In this embodiment of the invention, the processor is configured to identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the center line of the image, so as to determine whether the rotation angle of the turntable is at zero. The processor is configured to: determine the center line of the two edge lines; determine the angle between the center line of the image and the center line of the two edge lines; and identify that the rotation angle of the turntable is at zero when the angle meets a preset angle range.

[0013] In this embodiment of the invention, the processor is configured to identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the center line of the image, so as to determine whether the rotation angle of the turntable is at zero. The processor is configured to: determine the intersection point of the extended two edge lines; determine the distance between the intersection point and the center line of the image; and identify that the rotation angle of the turntable is at zero if the distance meets a preset distance range.

[0014] In this embodiment of the invention, the centerline of the field of view of the image acquisition device is not aligned with the centerline of the boom support frame; the image includes the boom support frame; the processor is further configured to: identify the centerline of the boom support frame; the processor is configured to identify the rotation angle of the turntable based on the two edge lines to determine whether the rotation angle of the turntable is at zero, including: the processor is configured to: identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame to determine whether the rotation angle of the turntable is at zero.

[0015] In this embodiment of the invention, the processor is configured to identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame, so as to determine whether the rotation angle of the turntable is at zero. The processor is configured to: determine the centerline of the two edge lines; determine the included angle between the centerline of the boom support frame and the centerline of the two edge lines; and identify that the rotation angle of the turntable is at zero when the included angle meets a preset included angle range.

[0016] In this embodiment of the invention, the processor is configured to identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame, so as to determine whether the rotation angle of the turntable is at zero. The processor is configured to: determine the intersection point of the extended two edge lines; determine the distance between the intersection point and the centerline of the boom support frame; and identify that the rotation angle of the turntable is at zero if the distance meets the preset distance range.

[0017] In this embodiment of the invention, the processor is further configured to issue a zero-position prompt when it is identified that the rotation angle of the turntable is at zero.

[0018] A second aspect of this invention provides a method for identifying the rotation angle of a turntable, applied to engineering equipment. The engineering equipment includes a turntable, a boom, a boom support frame, and an image acquisition device. The boom is connected to the turntable, and the boom support frame is spaced a preset distance from the turntable to support the boom. The image acquisition device is positioned in a vertical plane defined by the axis of the turntable and the centerline of the boom support frame for image acquisition. The method includes:

[0019] When the boom is in a semi-retracted state and the boom enters the field of view of the image acquisition device, the image acquired by the image acquisition device is obtained. The image includes the contact surface on the boom that is in contact with the boom support frame. The semi-retracted state is the state in which all boom sections except one boom are folded and the boom is not on the boom support frame. One boom is the boom section that is connected to the turntable in the boom.

[0020] Identify the two edge lines of the contact surface;

[0021] The rotation angle of the turntable is identified by the two edge lines to determine whether the rotation angle of the turntable is at zero.

[0022] In this embodiment of the invention, the center line of the field of view of the image acquisition device is aligned with the center line of the boom support frame; the rotation angle of the turntable is identified based on the two edge lines to determine whether the rotation angle of the turntable is at zero, including: identifying the rotation angle of the turntable based on the positional relationship between the two edge lines and the center line of the image to determine whether the rotation angle of the turntable is at zero.

[0023] In this embodiment of the invention, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the center line of the image, so as to determine whether the rotation angle of the turntable is at zero. This includes: determining the center line of the two edge lines; determining the angle between the center line of the image and the center line of the two edge lines; and identifying that the rotation angle of the turntable is at zero when the angle meets the preset angle range.

[0024] In this embodiment of the invention, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the center line of the image, so as to determine whether the rotation angle of the turntable is at zero. This includes: determining the intersection point of the extended two edge lines; determining the distance between the intersection point and the center line of the image; and identifying that the rotation angle of the turntable is at zero when the distance meets a preset distance range.

[0025] In this embodiment of the invention, the centerline of the field of view of the image acquisition device is not aligned with the centerline of the boom support frame; the image includes the boom support frame; the processor method further includes: identifying the centerline of the boom support frame; identifying the rotation angle of the turntable based on the two edge lines to determine whether the rotation angle of the turntable is at zero, including: identifying the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame to determine whether the rotation angle of the turntable is at zero.

[0026] In this embodiment of the invention, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the centerline of the boom support frame, so as to determine whether the rotation angle of the turntable is at zero. This includes: determining the centerline of the two edge lines; determining the included angle between the centerline of the boom support frame and the centerline of the two edge lines; and identifying the rotation angle of the turntable as being at zero when the included angle meets the preset included angle range.

[0027] In this embodiment of the invention, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the centerline of the boom support frame, so as to determine whether the rotation angle of the turntable is at zero. This includes: determining the intersection point of the extended two edge lines; determining the distance between the intersection point and the centerline of the boom support frame; and identifying that the rotation angle of the turntable is at zero when the distance meets the preset distance range.

[0028] In this embodiment of the invention, the method for identifying the rotation angle of the turntable further includes: issuing a zero-position prompt when the rotation angle of the turntable is identified to be at zero.

[0029] A third aspect of this invention provides a control method for a boom, applied to engineering equipment. The engineering equipment includes a turntable, a boom, a boom support frame, and an image acquisition device. The boom is connected to the turntable, and the boom support frame is spaced at a preset distance from the turntable to support the boom. The image acquisition device is positioned in a vertical plane defined by the axis of the turntable and the centerline of the boom support frame for image acquisition. The control method includes: identifying that the turntable's rotation angle is at zero according to the aforementioned method for identifying the turntable's rotation angle; and controlling the boom to descend until it is positioned on the boom support frame to achieve full boom retraction.

[0030] A fourth aspect of this invention provides a calibration method for a rotary encoder, applied to engineering equipment. The engineering equipment includes a turntable, a boom, a boom support frame, an image acquisition device, and a rotary encoder. The boom is connected to the turntable, and the boom support frame is spaced at a preset distance from the turntable to support the boom. The image acquisition device is positioned in a vertical plane defined by the axis of the turntable and the centerline of the boom support frame for image acquisition. The method includes: identifying that the rotation angle of the turntable is at zero according to the aforementioned method for identifying the rotation angle of the turntable; and performing zero-position calibration on the rotary encoder.

[0031] A fifth aspect of this invention provides a fault identification method for a rotary encoder, applied to engineering equipment. The engineering equipment includes a turntable, a boom, a boom support frame, an image acquisition device, and a rotary encoder. The boom is connected to the turntable, and the boom support frame is spaced at a preset distance from the turntable to support the boom. The image acquisition device is positioned in a vertical plane defined by the axis of the turntable and the centerline of the boom support frame for image acquisition. The method includes: identifying that the turntable's rotation angle is at zero according to the aforementioned method for identifying the turntable's rotation angle; acquiring a measured value of the rotary encoder's rotation angle; identifying a fault in the rotary encoder if the measured value is greater than a preset rotation angle threshold; and identifying that the rotary encoder is not faulty if the measured value is less than or equal to the preset rotation angle threshold.

[0032] A sixth aspect of the present invention provides a processor configured to execute the method for identifying the rotation angle of a turntable, the control method for a boom, the calibration method for a rotary encoder, or the fault identification method for a rotary encoder as described above.

[0033] A seventh aspect of the present invention provides an engineering device, comprising: a turntable; a boom connected to the turntable; a boom support frame spaced at a predetermined distance from the turntable for supporting the boom; and a device for identifying the rotation angle of the turntable according to any one of claims 1 to 6.

[0034] The eighth aspect of the present invention provides a machine-readable storage medium storing a program or instructions, which, when executed by a processor, implement the method for identifying the rotation angle of a turntable, the control method for a boom, the calibration method for a rotary encoder, or the fault identification method for a rotary encoder as described above.

[0035] The above technical solution acquires images using an image acquisition device. When the boom is in a semi-folded state and enters the field of view of the image acquisition device, the image acquired by the image acquisition device is obtained. The image includes the contact surface on the boom that contacts the boom support frame. The semi-folded state is when all boom sections except one boom are folded and the boom is not on the boom support frame. One boom is the boom section that connects to the turntable. Then, the two edge lines of the contact surface are identified, and the rotation angle of the turntable is identified based on the two edge lines to determine whether the rotation angle of the turntable is at zero. The aforementioned device eliminates the need for a rotary encoder to obtain the turntable's rotation angle, significantly reducing reliance on rotary encoders. By identifying whether the boom's rotation angle is at zero position through image recognition—that is, by identifying the turntable's rotation angle based on the two edge lines of the contact surface—it improves the accuracy of turntable rotation angle identification. It achieves redundant judgment of the zero position of the rotation angle, possessing high reliability and confidence. The zero position obtained through visual recognition is a more accurate zero position, avoiding the data distortion problems that may exist with sensors such as rotary encoders, further improving the safety of the boom retraction process of engineering equipment.

[0036] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0038] Figure 1 The diagram illustrates the structure of a device for identifying the rotation angle of a turntable in one embodiment of the present invention.

[0039] Figure 2 The schematic diagram illustrates a flowchart of a method for identifying the rotation angle of a turntable according to an embodiment of the present invention;

[0040] Figure 3 This schematic diagram illustrates a comparison of the original system and the new system for identifying the rotation angle of a turntable in one embodiment of the present invention.

[0041] Figure 4 The schematic diagram illustrates a specific implementation of the newly added system in one embodiment of the present invention;

[0042] Figure 5 The schematic diagram illustrates a process flow diagram of a method for identifying the rotation angle of a turntable in another embodiment of the present invention;

[0043] Figure 6(A) schematically illustrates an image diagram of a certain scene in an embodiment of the present invention;

[0044] Figure 6(B) schematically illustrates an image diagram of a certain scene in an embodiment of the present invention;

[0045] Figure 6(C) schematically illustrates an image diagram of a certain scene in an embodiment of the present invention;

[0046] Figure 6(D) schematically illustrates an image diagram of a certain scene in an embodiment of the present invention;

[0047] Figure 7 This illustration shows a schematic diagram of an image after the camera has been horizontally swung in one embodiment of the present invention.

[0048] Figure 8 The schematic diagram illustrates a process flow diagram of a method for identifying the rotation angle of a turntable in another embodiment of the present invention;

[0049] Figure 9(A) schematically illustrates an image diagram of a scene in another embodiment of the present invention;

[0050] Figure 9(B) schematically illustrates an image diagram of a scene in another embodiment of the present invention;

[0051] Figure 9(C) schematically illustrates an image diagram of a scene in another embodiment of the present invention;

[0052] Figure 9(D) schematically illustrates an image diagram of a scene in another embodiment of the present invention;

[0053] Figure 10 This illustration shows a schematic diagram of an image after the camera has been horizontally swung, according to another embodiment of the present invention.

[0054] Figure 11 The schematic diagram illustrates a process flow diagram of a method for identifying the rotation angle of a turntable in another embodiment of the present invention;

[0055] Figure 12 This diagram illustrates a change in the centerline of the boom support frame in one embodiment of the present invention.

[0056] Figure 13 A schematic diagram illustrating the determination of the included angle is shown in another embodiment of the present invention;

[0057] Figure 14The schematic diagram illustrates a process flow diagram of a method for identifying the rotation angle of a turntable in another embodiment of the present invention;

[0058] Figure 15 The schematic diagram illustrates a flow chart of a control method for a boom according to an embodiment of the present invention;

[0059] Figure 16 This illustration shows a flowchart of issuing a zero-position reminder in one embodiment of the present invention;

[0060] Figure 17 The schematic diagram illustrates a process flow diagram for a calibration method for a rotary encoder according to an embodiment of the present invention;

[0061] Figure 18 The illustration shows a flowchart of a fault identification method for a rotary encoder according to an embodiment of the present invention.

[0062] Explanation of reference numerals in the attached figures

[0063] 401 Turntable; 402 Image Acquisition Equipment

[0064] 403 boom; 404 boom support frame

[0065] 410 Turntable axis; 420 Boom support frame centerline

[0066] 430 Image Acquisition Equipment Centerline Detailed Implementation

[0067] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0068] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0069] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0070] Figure 1 The diagram illustrates the structure of a device for identifying the rotation angle of a turntable according to an embodiment of the present invention. Figure 1 As shown, in this embodiment of the invention, a device for identifying the rotation angle of a turntable is provided, applied to engineering equipment. The engineering equipment includes a turntable, a boom, and a boom support frame. The boom is connected to the turntable, and the boom support frame is spaced at a preset distance from the turntable to support the boom. The device for identifying the rotation angle of the turntable may include:

[0071] Image acquisition device 102 is installed in the vertical plane defined by the axis of the turntable and the centerline of the boom support frame, and is used for image acquisition.

[0072] It is understood that the image acquisition device 102 can be a camera or other device that can be used for image acquisition. The image acquisition device 102 is set in the vertical plane determined by the axis of the turntable and the centerline of the boom support frame, that is, on the line connecting the center of the turntable (i.e., the slewing platform) and the bottom center of the boom support frame, so as to acquire images of the contact surface between the boom and the boom support frame and / or the boom support frame, so that the field of view of the image acquisition device 102 can cover the boom (including the contact surface on the boom that is in contact with the boom support frame) in a lower position that is not on the boom support frame. The preset distance can be a pre-set interval distance between the boom support frame and the turntable, which can be determined according to the length of the boom and / or boom section, for example, taking 2 / 3 of the length of the first boom section as the preset distance.

[0073] The processor 104 is configured to: acquire an image captured by the image acquisition device 102 when the boom is in a semi-retracted state and the boom enters the field of view of the image acquisition device 102, wherein the image includes the contact surface on the boom that contacts the boom support frame, the semi-retracted state is the state in which all boom sections except one boom are folded and the boom is not on the boom support frame, and one boom is the boom section connected to the turntable; identify two edge lines of the contact surface; and identify the rotation angle of the turntable based on the two edge lines to determine whether the rotation angle of the turntable is at zero.

[0074] It can be understood that the field of view of the image acquisition device 102 is the image acquisition range of the image acquisition device 102, i.e., the viewing angle range. The semi-folded state is the state in which all the boom sections except one are folded and the boom is not on the boom support frame. One of the boom sections is the boom section connected to the turntable, i.e., the first boom section. In one embodiment, it can be understood that the boom may include multiple boom sections, and the boom sections may not move in the same plane. When the boom is in the semi-folded state, the image acquisition device 102 can acquire the support surface on the boom where the boom contacts the boom support frame. Understandably, in the semi-retracted state, each boom section is not necessarily in a straight line. The contact surface on the boom that contacts the boom support frame is the bottom surface of a certain boom section. This boom section can directly contact the boom support frame. When the boom is fully retracted (at this time, the first boom section is also in the retracted state and the entire boom is located on the boom support frame), this boom section contacts the boom support frame, and the contact surface on the boom that contacts the boom support frame is the bottom surface of this boom section.

[0075] Specifically, when the boom is in a semi-retracted state and enters the field of view of the image acquisition device 102, the processor can acquire the image acquired by the image acquisition device 102. The image may include the contact surface on the boom that contacts the boom support frame. Further, the processor 104 can recognize the image to identify the two edge lines (i.e., the longer edge lines located on both sides of the boom) of the contact surface on the boom that contacts the boom support frame. For example, the edge line object recognition can be performed based on the characteristics of the contact surface. The specific image recognition method will not be described in detail here. Then, the rotation angle of the turntable can be identified based on the two edge lines to determine whether the rotation angle of the turntable is at zero. For example, the rotation angle of the turntable can be identified based on the angular relationship between the two edge lines and a preset straight line in the image, or the rotation angle of the turntable can be identified based on the distance relationship between a point on the two edge lines and a preset straight line in the image.

[0076] The aforementioned device for identifying the turntable rotation angle acquires images through the image acquisition device 102. When the boom is in a semi-folded state and enters the field of view of the image acquisition device 102, the device acquires images captured by the image acquisition device 102. The images include the contact surface on the boom that contacts the boom support frame. The semi-folded state is when all boom sections except one boom are folded and the boom is not on the boom support frame. One boom is the boom section that connects to the turntable. The device then identifies two edge lines of the contact surface and identifies the rotation angle of the turntable based on the two edge lines to determine whether the rotation angle of the turntable is at zero. The aforementioned device eliminates the need for a rotary encoder to obtain the turntable's rotation angle, significantly reducing reliance on rotary encoders. By identifying whether the boom's rotation angle is at zero position through image recognition—that is, by identifying the turntable's rotation angle based on the two edge lines of the contact surface—it improves the accuracy of turntable rotation angle identification. It achieves redundant judgment of the zero position of the rotation angle, possessing high reliability and confidence. The zero position obtained through visual recognition is a more accurate zero position, avoiding the data distortion problems that may exist with sensors such as rotary encoders, further improving the safety of the boom retraction process of engineering equipment.

[0077] In one embodiment, the center line of the field of view of the image acquisition device 102 is aligned with the center line of the boom support frame; the processor 104 is configured to identify the rotation angle of the turntable based on the two edge lines to determine whether the rotation angle of the turntable is at zero, including: the processor 104 is configured to: identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the center line of the image to determine whether the rotation angle of the turntable is at zero.

[0078] Specifically, when the center line of the field of view of the image acquisition device 102 is aligned with the center line of the boom support frame, the center line of the image acquired by the image acquisition device 102 coincides with the center line of the boom support frame. At this time, the rotation angle of the turntable can be identified based on the positional relationship between the two edge lines and the center line of the image. For example, based on the pre-stored relationship between the position of the two edge lines relative to the center line of the image and the rotation angle of the turntable, the rotation angle of the turntable can be determined according to the positional relationship between the two edge lines and the center line of the image, thereby determining whether the rotation angle of the turntable is at zero.

[0079] In this embodiment of the application, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the center line of the image, which can improve the accuracy of the turntable rotation angle identification.

[0080] In one embodiment, the processor 104 is configured to identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the center line of the image, in order to determine whether the rotation angle of the turntable is at zero, including: the processor 104 is configured to: determine the center line of the two edge lines; determine the angle between the center line of the image and the center line of the two edge lines; and identify that the rotation angle of the turntable is at zero if the angle meets a preset angle range.

[0081] It is understandable that when two edge lines are determined, the midline between them can also be determined accordingly based on their positions. The preset angle range is a small pre-set range, such as 0° to 2°.

[0082] Specifically, after the two edge lines are determined, the processor 104 can determine the midline of the two edge lines based on the two edge lines. The midline of the image can be determined after the image is obtained. Then, the angle between the midline of the image and the midline of the two edge lines can be determined. If the angle is within a preset angle range, the processor 104 can identify that the rotation angle of the turntable is at zero. Furthermore, if the angle is not within the preset angle range, the processor 104 can identify that the rotation angle of the turntable is at a non-zero position.

[0083] In this embodiment of the application, by determining the midline of the two edge lines, and then identifying whether the rotation angle of the turntable is at zero based on the angle between the midline of the two edge lines and the midline of the image, the accuracy of the turntable rotation angle identification can be improved.

[0084] In one embodiment, the processor 104 is configured to identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the center line of the image, in order to determine whether the rotation angle of the turntable is at zero, including: the processor 104 is configured to: determine the intersection point of the extended two edge lines; determine the distance between the intersection point and the center line of the image; and identify that the rotation angle of the turntable is at zero if the distance meets a preset distance range.

[0085] As can be understood from the image, the two edge lines on the contact surface can intersect at a certain point after being extended, i.e., the intersection point after extension. The preset distance range is a small range of distances between the pre-set intersection point and the center line of the image, such as 0 to 5 centimeters, which can be set according to the actual application scenario.

[0086] Specifically, after the two edge lines are determined, the processor 104 can extend the two edge lines in the same direction to obtain the intersection point of the extended edge lines, and then determine the distance between the intersection point and the center line of the image. If the distance is within a preset distance range, the processor 104 can identify that the rotation angle of the turntable is at zero. Furthermore, if the distance is not within a preset angle range, the processor 104 can identify that the rotation angle of the turntable is at a non-zero position.

[0087] In this embodiment of the application, by determining the intersection point of two extended edges, and then identifying whether the rotation angle of the turntable is at zero based on the distance between the intersection point and the center line of the image, the accuracy of the turntable rotation angle identification can be improved.

[0088] In one embodiment, the centerline of the field of view of the image acquisition device 102 is not aligned with the centerline of the boom support frame; the image includes the boom support frame; the processor 104 is further configured to: identify the centerline of the boom support frame; the processor is configured to identify the rotation angle of the turntable based on the two edge lines to determine whether the rotation angle of the turntable is at zero, including: the processor 104 is configured to: identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame to determine whether the rotation angle of the turntable is at zero.

[0089] Specifically, when the centerline of the field of view of the image acquisition device 102 is not aligned with the centerline of the boom support frame, that is, the centerline of the image acquired by the image acquisition device 102 does not coincide with the centerline of the boom support frame, the image acquired by the image acquisition device 102 at this time may include not only the contact surface on the boom that contacts the boom support frame, but also the boom support frame itself. Thus, the processor can identify the centerline of the boom support frame in the image, and then identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame. For example, the rotation angle of the turntable can be determined based on the pre-stored relationship between the positions of the two edge lines relative to the centerline of the boom support frame and the rotation angle of the turntable. This allows the processor to determine whether the rotation angle of the turntable is at zero.

[0090] In this embodiment of the application, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the centerline of the boom support frame, which can improve the accuracy of the turntable rotation angle identification.

[0091] In one embodiment, the processor 104 is configured to identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame, in order to determine whether the rotation angle of the turntable is at zero, including: the processor 104 is configured to: determine the centerline of the two edge lines; determine the angle between the centerline of the boom support frame and the centerline of the two edge lines; and identify that the rotation angle of the turntable is at zero if the angle meets a preset angle range.

[0092] Specifically, after the two edge lines are determined, the processor 104 can determine the center line of the two edge lines based on the two edge lines, and then determine the angle between the center line of the boom support frame and the center line of the two edge lines. If the angle is within a preset angle range, the processor 104 can identify that the rotation angle of the turntable is at zero. Furthermore, if the angle is not within the preset angle range, the processor 104 can identify that the rotation angle of the turntable is at a non-zero position.

[0093] In this embodiment of the application, by determining the center line of the two edge lines, and then identifying whether the rotation angle of the turntable is at zero based on the angle between the center line of the two edge lines and the center line of the boom support frame, the accuracy of the turntable rotation angle identification can be improved.

[0094] In one embodiment, the processor 104 is configured to identify the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame, in order to determine whether the rotation angle of the turntable is at zero, including: the processor 104 is configured to: determine the intersection point of the extended two edge lines; determine the distance between the intersection point and the centerline of the boom support frame; and identify that the rotation angle of the turntable is at zero if the distance meets a preset distance range.

[0095] Specifically, after the two edge lines are determined, the processor 104 can extend the two edge lines in the same direction to obtain the intersection point of the extended edge lines, and then determine the distance between the intersection point and the centerline of the boom support frame. If the distance is within a preset distance range, the processor 104 can identify that the rotation angle of the turntable is at zero. Furthermore, if the distance is not within a preset angle range, the processor 104 can identify that the rotation angle of the turntable is at a non-zero position.

[0096] In this embodiment of the application, by determining the intersection point of the two extended edges, and then identifying whether the rotation angle of the turntable is at zero based on the distance between the intersection point and the centerline of the boom support frame, the accuracy of the turntable rotation angle identification can be improved.

[0097] In one embodiment, the angle of the image acquisition device can be fixed so that the centerline of the image acquisition device's field of view always coincides with the centerline of the boom support frame. That is, the centerline of the acquired image coincides with the centerline of the boom support frame. In this case, the image acquisition device only needs to acquire the image of the support surface where the boom contacts the boom support frame, without covering the boom support frame itself. This means the turntable's rotation angle can be directly identified based on the positional relationship (e.g., angle or distance) between the two edge lines of the support surface and the centerline of the image, thus determining whether the turntable's rotation angle is at zero. Understandably, when the turntable's rotation angle is at zero, the turntable is in its initial position.

[0098] In one embodiment, the processor 104 is configured to determine the angle between the centerline of the boom support and the centerlines of the two edge lines, which may include: the processor 104 being configured to: determine a first angle between the centerline of the boom support and the centerline of the image, and a second angle between the centerlines of the two edge lines and the centerline of the image; when the centerline of the boom support and the centerlines of the two edge lines are both located on the same side of the centerline of the image, determine the absolute value of the difference between the first angle and the second angle to obtain the angle between the centerline of the boom support and the centerlines of the two edge lines; when the centerline of the boom support and the centerlines of the two edge lines are located on different sides of the centerline of the image, determine the sum of the first angle and the second angle to obtain the angle between the centerline of the boom support and the centerlines of the two edge lines.

[0099] In this embodiment, when the centerline of the boom support frame does not coincide with the centerline of the image, the angle between the centerline of the two edge lines and the centerline of the boom support frame can be obtained based on the angle between the centerline of the boom support frame and the centerline of the two edge lines and the centerline of the image, respectively. At this time, the image includes the boom support frame. In this embodiment, the image includes the boom support frame, so it is necessary to identify the boom support frame and then identify the centerline of the boom support frame.

[0100] In one embodiment, the processor 104 is further configured to issue a zero-position alert when it is recognized that the rotation angle of the turntable is at zero.

[0101] Specifically, when the processor 104 recognizes that the rotation angle of the turntable is at zero, it can issue a zero-position prompt, which can be done by light, text, or sound to inform the customer that the turntable is at zero.

[0102] Figure 2 The illustration schematically shows a flowchart of a method for identifying the rotation angle of a turntable according to an embodiment of the present invention. Figure 2 As shown, in this embodiment of the invention, a method for identifying the rotation angle of a turntable is provided, applied to engineering equipment. The engineering equipment includes a turntable, a boom, a boom support frame, and an image acquisition device. The boom is connected to the turntable, and the boom support frame is spaced at a preset distance from the turntable to support the boom. The image acquisition device is positioned in a vertical plane defined by the axis of the turntable and the centerline of the boom support frame for image acquisition. Taking the application of this method to a processor as an example, the method may include the following steps:

[0103] Step S202: When the boom is in a semi-retracted state and the boom enters the field of view of the image acquisition device, acquire the image acquired by the image acquisition device. The image includes the contact surface on the boom that is in contact with the boom support frame. The semi-retracted state is the state in which all boom sections except one boom are folded and the boom is not on the boom support frame. One boom is the boom section that is connected to the turntable.

[0104] Step S204: Identify the two edge lines of the contact surface.

[0105] Step S206: Identify the rotation angle of the turntable based on the two edge lines to determine whether the rotation angle of the turntable is at zero.

[0106] It is understood that the image acquisition device can be a camera or other device capable of image acquisition. The image acquisition device is positioned within the vertical plane defined by the axis of the turntable and the centerline of the boom support frame, specifically on the line connecting the center of the turntable (i.e., the slewing platform) and the bottom center of the boom support frame. This allows for image acquisition of the contact surface between the boom and the boom support frame, and / or the boom support frame itself. The field of view of the image acquisition device should cover the boom at a lower position that is not directly on the boom support frame (including the contact surface of the boom that is in contact with the boom support frame). The preset distance can be a pre-set interval between the boom support frame and the turntable, specifically determined based on the length of the boom and / or boom segments. For example, 2 / 3 of the length of the first boom segment could be used as the preset distance.

[0107] The field of view of the image acquisition device refers to the image acquisition range, i.e., the viewing angle range. The semi-retracted state is the state where all boom sections except one are folded and the boom is not resting on the boom support frame. One of the boom sections is the one connected to the turntable, i.e., the first boom section. In one embodiment, it is understood that the boom may include multiple boom sections, and these sections may not move in the same plane. When the boom is in the semi-retracted state, the image acquisition device can capture the support surface of the boom section that contacts the boom support frame. It is understood that in the semi-retracted state, each boom section is not necessarily all in a straight line. The contact surface on the boom that contacts the boom support frame is the bottom surface of a certain boom section. This boom section may directly contact the boom support frame. When the boom is fully retracted (at which point the first boom section is also retracted and the entire boom is on the boom support frame), this boom section contacts the boom support frame, and the contact surface on the boom section that contacts the boom support frame is the bottom surface of this boom section.

[0108] Specifically, when the boom is in a semi-retracted state and enters the field of view of the image acquisition device, the processor can acquire the image captured by the image acquisition device. This image may include the contact surface on the boom that contacts the boom support frame. Furthermore, the processor can recognize the image to identify the two edge lines of the contact surface on the boom that contacts the boom support frame (i.e., the longer edge lines located on both sides of the boom). For example, object recognition of the edge lines can be performed based on the characteristics of the contact surface. The specific image recognition method will not be elaborated here. Then, the rotation angle of the turntable can be identified based on the two edge lines to determine whether the rotation angle of the turntable is at zero. For example, the rotation angle of the turntable can be identified based on the angular relationship between the two edge lines and a preset straight line in the image, or the rotation angle of the turntable can be identified based on the distance relationship between a point on the two edge lines and a preset straight line in the image.

[0109] The above-mentioned method for identifying the turntable rotation angle involves acquiring images using an image acquisition device. When the boom is in a semi-folded state and enters the field of view of the image acquisition device, the image acquired by the device is obtained. The image includes the contact surface on the boom that contacts the boom support frame. The semi-folded state is when all boom sections except one boom are folded and the boom is not resting on the boom support frame. One boom refers to the boom section that connects to the turntable. The method then identifies two edge lines of the contact surface and determines the turntable rotation angle based on these two edge lines to determine whether the turntable rotation angle is at zero. The aforementioned device eliminates the need for a rotary encoder to obtain the turntable's rotation angle, significantly reducing reliance on rotary encoders. By identifying whether the boom's rotation angle is at zero position through image recognition—that is, by identifying the turntable's rotation angle based on the two edge lines of the contact surface—it improves the accuracy of turntable rotation angle identification. It achieves redundant judgment of the zero position of the rotation angle, possessing high reliability and confidence. The zero position obtained through visual recognition is a more accurate zero position, avoiding the data distortion problems that may exist with sensors such as rotary encoders, further improving the safety of the boom retraction process of engineering equipment.

[0110] In one embodiment, the centerline of the field of view of the image acquisition device is aligned with the centerline of the boom support frame; the rotation angle of the turntable is identified based on the two edge lines to determine whether the rotation angle of the turntable is at zero position, including: identifying the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the image to determine whether the rotation angle of the turntable is at zero position.

[0111] Specifically, when the centerline of the field of view of the image acquisition device is aligned with the centerline of the boom support frame, the centerline of the image acquired by the image acquisition device coincides with the centerline of the boom support frame. At this time, the rotation angle of the turntable can be identified based on the positional relationship between the two edge lines and the centerline of the image. For example, based on the pre-stored relationship between the positions of the two edge lines relative to the centerline of the image and the rotation angle of the turntable, the rotation angle of the turntable can be determined according to the positional relationship between the two edge lines and the centerline of the image, thereby determining whether the rotation angle of the turntable is at zero.

[0112] In this embodiment of the application, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the center line of the image, which can improve the accuracy of the turntable rotation angle identification.

[0113] In one embodiment, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the center line of the image, in order to determine whether the rotation angle of the turntable is at zero, including: determining the center line of the two edge lines; determining the angle between the center line of the image and the center line of the two edge lines; and identifying that the rotation angle of the turntable is at zero when the angle meets a preset angle range.

[0114] It is understandable that when two edge lines are determined, the midline between them can also be determined accordingly based on their positions. The preset angle range is a small pre-set range, such as 0° to 2°.

[0115] Specifically, after the two edge lines are determined, the processor can determine the midline of the two edge lines based on the two edge lines. The midline of the image can be determined after the image is obtained. Then, the angle between the midline of the image and the midline of the two edge lines can be determined. If the angle is within a preset angle range, the processor can identify that the rotation angle of the turntable is at zero. Furthermore, if the angle is not within the preset angle range, the processor can identify that the rotation angle of the turntable is at a non-zero position.

[0116] In this embodiment of the application, by determining the midline of the two edge lines, and then identifying whether the rotation angle of the turntable is at zero based on the angle between the midline of the two edge lines and the midline of the image, the accuracy of the turntable rotation angle identification can be improved.

[0117] In one embodiment, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the center line of the image, in order to determine whether the rotation angle of the turntable is at zero, including: determining the intersection point of the extended two edge lines; determining the distance between the intersection point and the center line of the image; and identifying that the rotation angle of the turntable is at zero if the distance meets a preset distance range.

[0118] As can be understood from the image, the two edge lines on the contact surface can intersect at a certain point after being extended, i.e., the intersection point after extension. The preset distance range is a small range of distances between the pre-set intersection point and the center line of the image, such as 0 to 5 centimeters, which can be set according to the actual application scenario.

[0119] Specifically, after the two edge lines are determined, the processor can extend the two edge lines in the same direction to obtain the intersection point of the extended edge lines, and then determine the distance between the intersection point and the center line of the image. If the distance is within a preset distance range, the processor can identify that the rotation angle of the turntable is at zero. Furthermore, if the distance is not within a preset angle range, the processor can identify that the rotation angle of the turntable is at a non-zero position.

[0120] In this embodiment of the application, by determining the intersection point of two extended edges, and then identifying whether the rotation angle of the turntable is at zero based on the distance between the intersection point and the center line of the image, the accuracy of the turntable rotation angle identification can be improved.

[0121] In one embodiment, the centerline of the field of view of the image acquisition device is not aligned with the centerline of the boom support frame; the image includes the boom support frame; the processor method further includes: identifying the centerline of the boom support frame; identifying the rotation angle of the turntable based on two edge lines to determine whether the rotation angle of the turntable is at zero, including: identifying the rotation angle of the turntable based on the positional relationship between the two edge lines and the centerline of the boom support frame to determine whether the rotation angle of the turntable is at zero.

[0122] Specifically, when the centerline of the field of view of the image acquisition device is not aligned with the centerline of the boom support frame, that is, the centerline of the image acquired by the image acquisition device does not coincide with the centerline of the boom support frame, the image acquired by the image acquisition device may include not only the contact surface on the boom that contacts the boom support frame, but also the boom support frame itself. The processor can then identify the centerline of the boom support frame in the image and, based on the positional relationship between the two edge lines and the centerline of the boom support frame, determine the rotation angle of the turntable. For example, based on a pre-stored relationship between the positions of the two edge lines relative to the centerline of the boom support frame and the rotation angle of the turntable, the rotation angle of the turntable can be determined, thus allowing the processor to determine whether the rotation angle of the turntable is at zero.

[0123] In this embodiment of the application, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the centerline of the boom support frame, which can improve the accuracy of the turntable rotation angle identification.

[0124] In one embodiment, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the centerline of the boom support frame to determine whether the rotation angle of the turntable is at zero. This includes: determining the centerline of the two edge lines; determining the angle between the centerline of the boom support frame and the centerline of the two edge lines; and identifying that the rotation angle of the turntable is at zero when the angle meets a preset angle range.

[0125] Specifically, after the two edge lines are determined, the processor can determine the center line of the two edge lines based on the two edge lines, and then determine the angle between the center line of the boom support frame and the center line of the two edge lines. If the angle is within the preset angle range, the processor can identify that the rotation angle of the turntable is at zero. Furthermore, if the angle is not within the preset angle range, the processor can identify that the rotation angle of the turntable is at a non-zero position.

[0126] In this embodiment of the application, by determining the center line of the two edge lines, and then identifying whether the rotation angle of the turntable is at zero based on the angle between the center line of the two edge lines and the center line of the boom support frame, the accuracy of the turntable rotation angle identification can be improved.

[0127] In one embodiment, the rotation angle of the turntable is identified based on the positional relationship between the two edge lines and the centerline of the boom support frame in order to determine whether the rotation angle of the turntable is at zero. This includes: determining the intersection point of the extended two edge lines; determining the distance between the intersection point and the centerline of the boom support frame; and identifying that the rotation angle of the turntable is at zero if the distance meets a preset distance range.

[0128] Specifically, after the two edge lines are determined, the processor can extend the two edge lines in the same direction to obtain the intersection point of the extended edge lines, and then determine the distance between the intersection point and the center line of the boom support frame. If the distance is within a preset distance range, the processor 104 can identify that the rotation angle of the turntable is at zero. Furthermore, if the distance is not within a preset angle range, the processor can identify that the rotation angle of the turntable is at a non-zero position.

[0129] In this embodiment of the application, by determining the intersection point of the two extended edges, and then identifying whether the rotation angle of the turntable is at zero based on the distance between the intersection point and the centerline of the boom support frame, the accuracy of the turntable rotation angle identification can be improved.

[0130] In one embodiment, the angle of the image acquisition device can be fixed so that the centerline of the image acquisition device's field of view always coincides with the centerline of the boom support frame. That is, the centerline of the acquired image coincides with the centerline of the boom support frame. In this case, the image acquisition device only needs to acquire the image of the support surface where the boom contacts the boom support frame, without covering the boom support frame itself. This means the turntable's rotation angle can be directly identified based on the positional relationship (e.g., angle or distance) between the two edge lines of the support surface and the centerline of the image, thus determining whether the turntable's rotation angle is at zero. Understandably, when the turntable's rotation angle is at zero, the turntable is in its initial position.

[0131] In one embodiment, determining the angle between the centerline of the boom support frame and the centerlines of the two edge lines may include: determining a first angle between the centerline of the boom support frame and the centerline of the image, and a second angle between the centerlines of the two edge lines and the centerline of the image; when the centerline of the boom support frame and the centerlines of the two edge lines are both located on the same side of the centerline of the image, determining the absolute value of the difference between the first angle and the second angle to obtain the angle between the centerline of the boom support frame and the centerlines of the two edge lines; when the centerline of the boom support frame and the centerlines of the two edge lines are located on different sides of the centerline of the image, determining the sum of the first angle and the second angle to obtain the angle between the centerline of the boom support frame and the centerlines of the two edge lines.

[0132] In one embodiment, the method for identifying the rotation angle of the turntable may further include: issuing a zero-position prompt when the rotation angle of the turntable is identified to be at zero.

[0133] Specifically, when the processor recognizes that the rotation angle of the turntable is at zero, it can issue a zero-position prompt, which can be done through lights, text, or sound to inform the customer that the turntable is at zero.

[0134] This invention provides a control method for a boom, applied to engineering equipment. The engineering equipment includes a turntable, a boom, a boom support frame, and an image acquisition device. The boom is connected to the turntable, and the boom support frame is spaced at a preset distance from the turntable to support the boom. The image acquisition device is positioned in a vertical plane defined by the axis of the turntable and the centerline of the boom support frame for image acquisition. The control method may include: identifying that the turntable's rotation angle is at zero according to the method for identifying the turntable's rotation angle described in the above embodiments; and controlling the boom to descend until it is positioned on the boom support frame to achieve full boom retraction.

[0135] It is understandable that when the turntable's rotation angle is at zero, the processor can control the boom to fall until it is on the boom support frame. At this time, one boom (i.e., the first boom section) is also in the retracted state, which can realize the full retraction of the boom. By recognizing the turntable's rotation angle, the boom can be automatically retracted. Controlling the full retraction of the boom when the turntable's rotation angle is at zero can improve the safety of the boom retraction process.

[0136] This invention provides a calibration method for a rotary encoder, applied to engineering equipment. The engineering equipment includes a turntable, a boom, a boom support frame, an image acquisition device, and a rotary encoder. The boom is connected to the turntable, and the boom support frame is spaced at a preset distance from the turntable to support the boom. The image acquisition device is positioned in a vertical plane defined by the axis of the turntable and the centerline of the boom support frame for image acquisition. The calibration method may include: identifying that the turntable's rotation angle is at zero according to the method for identifying the turntable's rotation angle described in the above embodiments; and performing zero-position calibration on the rotary encoder.

[0137] It is understandable that when engineering equipment includes a rotary encoder (i.e., a rotary angle sensor), if the rotary angle of the turntable is identified as being at zero using the method described above for identifying the rotary angle, the rotary encoder can be zeroed, i.e., cleared, to complete the zero-position calibration (or zero-position correction) of the rotary encoder. By identifying the rotary angle of the turntable, the calibration accuracy of the rotary encoder is improved.

[0138] This invention provides a fault identification method for a rotary encoder, applied to engineering equipment. The engineering equipment includes a turntable, a boom, a boom support frame, an image acquisition device, and a rotary encoder. The boom is connected to the turntable, and the boom support frame is spaced a preset distance from the turntable to support the boom. The image acquisition device is positioned in a vertical plane defined by the axis of the turntable and the centerline of the boom support frame for image acquisition. The method includes: identifying that the turntable's rotation angle is at zero according to the method for identifying the turntable's rotation angle described in the above embodiment; acquiring the measured value of the rotation angle of the rotary encoder; identifying a fault in the rotary encoder if the measured value is greater than a preset rotation angle threshold; and identifying that the rotary encoder is not faulty if the measured value is less than or equal to the preset rotation angle threshold.

[0139] It is understandable that the preset rotation angle threshold is an angle value that is close to 0°, such as 4°.

[0140] Specifically, if the rotation angle of the turntable is identified as zero using the method described above, the rotation angle measurement value of the rotary encoder can be obtained. If this measurement value is greater than a preset rotation angle threshold, the rotary encoder is identified as faulty; otherwise, the rotary encoder is identified as not faulty. By identifying the rotation angle of the turntable, the fault identification of the rotary encoder can be accurately achieved.

[0141] The method and apparatus for identifying the rotation angle of a turntable provided in this invention use visual identification to determine whether the rotation angle of the turntable is at zero. Applications of this method may include: 1. calibrating the rotary encoder; 2. automatically retracting the boom. This method can be applied to engineering equipment (e.g., a concrete pump truck) that includes this apparatus. It is worth noting that the rotary encoder in this document can refer broadly to sensors and detection devices in the prior art that can continuously detect the rotation angle of a turntable. Figure 3 The diagram schematically illustrates a comparison of the original system and the new system for identifying the rotation angle of a turntable in one embodiment of the present invention. Figure 3 As shown, the existing system for identifying the turntable rotation angle includes a rotation encoder and a controller. The new system for identifying the turntable rotation angle in this embodiment adds a camera and an image processor to the original system. This adds a camera and image processor to the existing electrical control system of engineering equipment with turntables (including pump trucks, cranes, boom lifts, boom fire trucks, and boom sanitation equipment—all of which require rotation angle detection regardless of their underframe type). The new system identifies the zero position of the turntable boom, thereby achieving the aforementioned functional applications. The implementation method of the new system is described in [link to documentation]. Figure 4 Diagram.

[0142] like Figure 4 As shown, the image acquisition device (e.g., a camera) 402 is fixed outside the turntable 401, between the axis 410 of the turntable 401 and the centerline 420 of the boom support frame 404, with the boom 403 vertically falling into the vertical motion plane of the boom support frame 404. Simply put, it should be directly below the boom 403. The camera's field of view should cover the boom support frame 404 and the boom 403 (at a lower position but not directly on the support), which is easily satisfied. The specific procedure for determining the rotation angle of the turntable 401 (i.e., whether the turntable is at zero position) can be found in [reference needed]. Figure 5 As shown, deta is the angle between the centerline of the boom bottom surface (i.e., the centerline of the two edge lines on the contact surface) and the vertical line (the centerline of the boom support frame, the centerline of the image, or a straight line parallel to the centerline of the image). A is a preset angle threshold, which is a very small quantity that can be determined by actual experimental data.

[0143] The program begins when the boom enters the camera's field of view and ends when it detects whether the rotation angle is at zero. This program is continuously called during equipment operation. Typical data for each part can be obtained through... Figures 6(A) to 6(D) The image example diagrams are as follows: In Figure 6(A), the boom enters the camera's field of view, and the illustrated position is located in the upper left corner; In Figure 6(B), the bottom edge lines L and R of the boom are obtained, and then the center line M of L and R is calculated, and the angle deta between M and the vertical line is calculated; In Figure 6(C), when deta = 0, the rotation angle of the boom and the turntable is at zero, but at this time the boom does not need to be lowered very low (to a position where interference is likely to occur); In Figure 6(D), the falling of the boom does not affect the calculation of the center line M and the angle deta. If the zero position is accurately identified, the boom can be accurately placed on the boom support frame, where the center line of the image can coincide with the center line of the boom support frame.

[0144] The above method has good adaptability to the camera's elevation angle and can accommodate horizontal camera movement. See Figure 7 At this point, the centerline of the image is parallel to but does not coincide with the centerline of the boom support frame. This makes it well-suited for equipment where the support point features on the support surface of the boom are not obvious.

[0145] In one embodiment, features of the boom support frame can be identified, the edge line of the boom's bottom surface can be identified, and the intersection of the edge lines can be obtained. When the intersection point is located on the center line of the support frame, the turntable is at the zero position. The logic flowchart can be seen... Figure 8 For specific image examples and illustrations, please refer to [link / reference]. Figures 9(A) to 9(D) This method is adaptable to different camera angles, but it is not yet suitable for camera tilting from side to side.

[0146] To accommodate the camera's left and right tilting, this can also be achieved; see [link / reference]. Figure 10 This requires the addition of features to identify the boom support frame. A detailed flowchart can be found here. Figure 11 As shown. This adds the identification (marking) of the boom support frame, the identification of the support frame angle, and the calculation of the support frame's perpendicular bisector. This method can adapt to changes in the camera's elevation angle, lateral sway, and lateral height (because of the added support frame identification, the perpendicular bisector of the boom support frame will change with the rotation of the camera's axis, see...). Figure 12 Similarly, this can also be achieved by adding the identification of the boom support frame and its angle to the main method. An application effect diagram of this solution can be found in [reference needed]. Figure 13 As shown, since both centerlines are located on one side of a straight line parallel to the centerline of the image, the difference between beta and beta0 is the angle between the centerline of the boom support frame and the centerlines of the two edge lines on the support surface. See the flowchart. Figure 14 As shown, A is the judgment threshold.

[0147] By visually determining the zero point of the rotation angle of the turntable and boom, the application of automatic boom retraction can be reliably supported, thus avoiding interference accidents caused by inaccurate rotation angle measurement, because this state is "seeing is believing".

[0148] This invention also provides a control method for a boom, used to control the boom to automatically retract, so that the boom rests on the boom support frame. The specific control process is as follows: Figure 15 As shown.

[0149] In some embodiments, zero-position detection can also be applied to pump trucks without automatic boom retraction function to provide zero-position reminders to the operator. A specific flowchart is shown below. Figure 16 As shown.

[0150] In some embodiments, zero-position determination can also be applied to pump trucks for zero-position calibration of the rotary encoder, as shown in the flowchart below. Figure 17 As shown.

[0151] In some embodiments, zero-position detection can also be applied to pump trucks for fault identification of the rotary encoder, as shown in the flowchart below. Figure 18 As shown in the figure. Here, theta0 is the judgment threshold, for example, 2°. This solution can also be used in other situations where there are special rotation angle requirements for the working position and high reliability requirements. In addition to the above technical solutions, this solution can also protect the visual rotation zero-position detection and judgment system, and the engineering equipment using this system (the scope is described above).

[0152] In summary, the method for identifying the rotation angle of a turntable provided by the embodiments of the present invention has the following advantages:

[0153] 1. Redundant judgment of the zero position of the rotation angle is achieved, and it is a redundant judgment based on different principles, which has high reliability. Existing technologies can only judge through a single sensor such as a rotary encoder (as mentioned above, this is a general term).

[0154] 2. The zero position of visual recognition is the true zero position, while the data from sensors such as rotary encoders may be distorted. Therefore, using visual methods for automatic arm retraction control has sufficient safety, reliability, and confidence to promote the practical implementation of automatic arm extension and retraction.

[0155] 3. This solution (including alternative solutions) discloses multiple detection methods, all of which are based on the installation characteristics of the image acquisition equipment itself (such as...). Figure 4 As shown, the constraints of this installation feature can ensure the accuracy of the judgment.

[0156] This invention provides a processor configured to execute a method for identifying the rotation angle of a turntable according to the above embodiments, or a control method for a boom according to the above embodiments, or a calibration method for a rotary encoder according to the above embodiments, or a fault identification method for a rotary encoder according to the above embodiments.

[0157] This invention provides an engineering device, including: a turntable; a boom connected to the turntable; a boom support frame spaced at a preset distance from the turntable for supporting the boom; and a device for identifying the turntable rotation angle according to the above embodiments.

[0158] This invention provides a machine-readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the method for identifying the rotation angle of a turntable according to the above embodiments, the control method for a boom according to the above embodiments, the calibration method for a rotary encoder according to the above embodiments, or the fault identification method for a rotary encoder according to the above embodiments.

[0159] 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.

[0160] 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.

[0161] 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 1The function specified in one or more boxes.

[0162] 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.

[0163] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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 device for identifying a rotation angle of a turntable, applied to engineering equipment, characterized in that, The engineering equipment comprises a rotary table, an arm support frame and an arm support frame support frame, the arm support frame is connected with the rotary table, the arm support frame support frame is spaced apart from the rotary table by a preset distance and is used for supporting the arm support frame, and the device comprises: An image acquisition device is arranged in a vertical plane determined by an axis of the rotary table and a middle line of the arm support frame support frame, and is used for image acquisition; A processor is configured to: In a case where the arm support frame is in a half-folded state and the arm support frame enters a field of view of the image acquisition device, an image acquired by the image acquisition device is acquired, wherein the image comprises a contact surface on the arm support frame in contact with the arm support frame support frame, the half-folded state is a state in which all arm segments of the arm support frame except one arm are folded and the arm support frame does not fall on the arm support frame support frame, and the one arm is an arm segment of the arm support frame connected with the rotary table; Two edge lines of the contact surface are identified; A rotation angle of the rotary table is identified according to the two edge lines, so as to determine whether the rotation angle of the rotary table is at a zero position; wherein a middle line of a field of view of the image acquisition device is aligned with a middle line of the arm support frame support frame; the processor is configured to identify the rotation angle of the rotary table according to the two edge lines and a position relationship between the middle line of the image, so as to determine whether the rotation angle of the rotary table is at the zero position, including that the processor is configured to identify the rotation angle of the rotary table according to the two edge lines and the position relationship between the middle line of the image, so as to determine whether the rotation angle of the rotary table is at the zero position; or The middle line of the field of view of the image acquisition device is not aligned with the middle line of the arm support frame support frame; the image comprises the arm support frame support frame; the processor is further configured to identify the middle line of the arm support frame support frame; the processor is configured to identify the rotation angle of the rotary table according to the two edge lines, so as to determine whether the rotation angle of the rotary table is at the zero position, including that the processor is configured to identify the rotation angle of the rotary table according to the two edge lines and a position relationship between the middle line of the arm support frame support frame, so as to determine whether the rotation angle of the rotary table is at the zero position.

2. The apparatus of claim 1, wherein, The processor is configured to identify the rotation angle of the rotary table according to the two edge lines and the position relationship between the middle line of the image, so as to determine whether the rotation angle of the rotary table is at the zero position, including that the processor is configured to: A middle line of the two edge lines is determined; An included angle between the middle line of the image and the middle line of the two edge lines is determined; In a case where the included angle satisfies a preset included angle range, the rotation angle of the rotary table is identified to be at the zero position.

3. The apparatus of claim 1, wherein, The processor is configured to identify the rotation angle of the rotary table according to the two edge lines and the position relationship between the middle line of the image, so as to determine whether the rotation angle of the rotary table is at the zero position, including that the processor is configured to: An intersection point of the two edge lines after extension is determined; A distance between the intersection point and the middle line of the image is determined; In a case where the distance satisfies a preset distance range, the rotation angle of the rotary table is identified to be at the zero position.

4. The apparatus of claim 1, wherein, The processor is configured to identify the rotation angle of the turntable according to the positional relationship between the two edge lines and the center line of the support frame of the arm support, to determine whether the rotation angle of the turntable is at zero position, including that the processor is configured to: determine the center line of the two edge lines; determine the included angle between the center line of the support frame of the arm support and the center line of the two edge lines; in the case where the included angle meets the preset included angle range, identify that the rotation angle of the turntable is at zero position.

5. The apparatus of claim 1, wherein, The processor is configured to identify the rotation angle of the turntable according to the positional relationship between the two edge lines and the center line of the support frame of the arm support, to determine whether the rotation angle of the turntable is at zero position, including that the processor is configured to: determine the intersection point of the two edge lines after extension; determine the distance between the intersection point and the center line of the support frame of the arm support; in the case where the distance meets the preset distance range, identify that the rotation angle of the turntable is at zero position.

6. The apparatus of claim 1, wherein, The processor is further configured to: in the case where it is identified that the rotation angle of the turntable is at zero position, issue a zero position prompt.

7. A method for identifying a turntable rotation angle, applied to engineering equipment, characterized in that, The engineering equipment includes a turntable, an arm support, a support frame of the arm support, and an image acquisition device, the arm support is connected with the turntable, the support frame of the arm support is spaced apart from the turntable by a preset distance, and is used to support the arm support, the image acquisition device is arranged in a vertical plane determined by the axis of the turntable and the center line of the support frame of the arm support, and is used for image acquisition, and the method includes: in the case where the arm support is in a half-folded state and the arm support enters the field of view of the image acquisition device, acquiring an image collected by the image acquisition device, wherein the image includes a contact surface of the arm support in contact with the support frame of the arm support, the half-folded state is a state that the remaining arm sections of the arm support except one arm are folded and the arm support is not fallen on the support frame of the arm support, and the one arm is an arm section connected with the turntable in the arm support; identifying two edge lines of the contact surface; identifying the rotation angle of the turntable according to the two edge lines, to determine whether the rotation angle of the turntable is at zero position; wherein the center line of the field of view of the image acquisition device is aligned with the center line of the support frame of the arm support; the identification of the rotation angle of the turntable according to the two edge lines, to determine whether the rotation angle of the turntable is at zero position, includes that the rotation angle of the turntable is identified according to the positional relationship between the two edge lines and the center line of the image, to determine whether the rotation angle of the turntable is at zero position; or the center line of the field of view of the image acquisition device is not aligned with the center line of the support frame of the arm support; the image includes the support frame of the arm support; the method further includes identifying the center line of the support frame of the arm support; the identification of the rotation angle of the turntable according to the two edge lines, to determine whether the rotation angle of the turntable is at zero position, includes that the rotation angle of the turntable is identified according to the positional relationship between the two edge lines and the center line of the support frame of the arm support, to determine whether the rotation angle of the turntable is at zero position.

8. The method of claim 7, wherein, The method comprises the following steps: determining the midline of the two edge lines; determining the included angle between the midline of the image and the midline of the two edge lines; if the included angle meets a preset included angle range, it is determined that the rotation angle of the rotary table is at zero position.

9. The method of claim 7, wherein, The method comprises the following steps: determining the intersection point of the two edge lines after extension; determining the distance between the intersection point and the midline of the image; if the distance meets a preset distance range, it is determined that the rotation angle of the rotary table is at zero position.

10. The method of claim 7, wherein, The method comprises the following steps: determining the midline of the two edge lines; determining the included angle between the midline of the arm support frame and the midline of the two edge lines; if the included angle meets a preset included angle range, it is determined that the rotation angle of the rotary table is at zero position.

11. The method of claim 7, wherein, The method comprises the following steps: determining the intersection point of the two edge lines after extension; determining the distance between the intersection point and the midline of the arm support frame; if the distance meets a preset distance range, it is determined that the rotation angle of the rotary table is at zero position.

12. The method of claim 7, wherein, The method further comprises: if it is determined that the rotation angle of the rotary table is at zero position, issuing a zero position prompt.

13. A control method for a boom, applied to a construction machine, characterized by, The engineering equipment comprises a rotary table, an arm, an arm support frame and an image acquisition device, the arm is connected with the rotary table, the arm support frame is spaced apart from the rotary table by a preset distance and is used for supporting the arm, the image acquisition device is arranged in a vertical plane determined by the axis of the rotary table and the midline of the arm support frame and is used for image acquisition, and the control method comprises: identifying, according to the method for identifying the rotation angle of the rotary table according to any one of claims 7 to 12, that the rotation angle of the rotary table is at zero position; controlling the arm to fall until the arm is located on the arm support frame, so as to realize full folding of the arm.

14. A method for calibrating a rotary encoder, applied to engineering equipment, characterized in that, The engineering equipment comprises a rotary table, an arm, an arm support frame, an image acquisition device and a rotation encoder, the arm is connected with the rotary table, the arm support frame is spaced apart from the rotary table by a preset distance and is used for supporting the arm, the image acquisition device is arranged in a vertical plane determined by the axis of the rotary table and the midline of the arm support frame and is used for image acquisition, and the control method comprises: identifying, according to the method for identifying the rotation angle of the rotary table according to any one of claims 7 to 12, that the rotation angle of the rotary table is at zero position; performing zero position calibration on the rotation encoder.

15. A method for failure recognition of a rotary encoder, applied to engineering equipment, characterized in that, The engineering equipment comprises a turntable, an arm support frame, an arm support frame support frame, an image acquisition device, and a rotary encoder, the arm support frame is connected with the turntable, the arm support frame support frame is spaced apart from the turntable by a preset distance, and is used for supporting the arm support frame, the image acquisition device is arranged in a vertical plane determined by an axis of the turntable and a center line of the arm support frame, and is used for image acquisition, and comprises: The method for identifying the rotation angle of the turntable according to any one of claims 7 to 12 identifies that the rotation angle of the turntable is at zero position; Obtaining a rotation angle measurement value of the rotary encoder; In the case where the rotation angle measurement value is greater than a preset rotation angle threshold value, it is identified that the rotary encoder has failed; In the case where the rotation angle measurement value is less than or equal to the preset rotation angle threshold value, it is identified that the rotary encoder has not failed.

16. A processor, comprising: The method for identifying the rotation angle of the turntable according to any one of claims 7 to 12 or the control method for the arm support frame according to claim 13 or the calibration method for the rotary encoder according to claim 14 or the failure identification method for the rotary encoder according to claim 15 is configured to be executed.

17. An engineering apparatus characterized by, Comprise: a turntable; an arm support frame connected with the turntable; an arm support frame support frame spaced apart from the turntable by a preset distance, and used for supporting the arm support frame; and The device for identifying the rotation angle of the turntable according to any one of claims 1 to 6. The machine readable storage medium stores programs or instructions, which are executed by the processor to implement the method for identifying the rotation angle of the turntable according to any one of claims 7 to 12 or the control method for the arm support frame according to claim 13 or the calibration method for the rotary encoder according to claim 14 or the failure identification method for the rotary encoder according to claim 15.

18. A machine-readable storage medium, characterized in that, ​

Images