Method, device and crane for detecting boom amplitude

Abstract

The present application relates to the technical field related to construction machinery, and specifically to a boom amplitude detection method, device and crane provided by the present application. The method comprises first acquiring distance information and angle information of the boom, then calculating the actual position of the top of the boom based on the distance information and the angle information, and calculating the amplitude of the boom in a bent state according to the actual position of the top of the boom. Compared with the prior art in which the amplitude is directly calculated according to the length of the boom, the error caused by the bending of the boom is taken into account, and the obtained amplitude value is more accurate, thereby improving the operation accuracy of the crane.

Description

Technical Field

[0001] The present application relates to the technical field related to engineering machinery, and in particular to a method and device for detecting boom amplitude, and a crane. Background Art

[0002] The amplitude of a crane refers to the horizontal distance from the hoisted object to the slewing center of the crane. During the operation of the crane, many operating parameters are obtained by detecting and calculating the amplitude and determining the torque based on the amplitude. Therefore, accurate detection and calculation of the amplitude is the basis for achieving high-precision operation of the crane.

[0003] In the prior art, the amplitude is generally calculated by detecting the length of the boom and the angle between the bottom of the boom and the horizontal line. However, in actual applications, due to the influence of its own manufacturing accuracy, wear and tear, and the weight of the suspended object, the boom often presents a bent shape during operation. When the boom is partially in a bent shape, the amplitude value calculated by the above method has a large error, which affects the accuracy of crane operation. Summary of the invention

[0004] In view of this, the present invention is dedicated to providing a method and device for detecting boom amplitude and a crane.

[0005] In a first aspect, the present invention provides a method for detecting boom amplitude, comprising:

[0006] Get the distance information and angle information of the crane arm;

[0007] Determining the actual position of the boom top based on the distance information and the angle information;

[0008] The amplitude of the boom is determined based on the distance information, the angle information and the actual position of the boom tip.

[0009] Optionally, the distance information includes a first distance, a second distance, a third distance and a fourth distance, and the angle information includes a first angle;

[0010] The first distance is the distance from a first node to a second node on the boom, the first node and the second node are both located on the basic arm of the boom, and the height of the first node is lower than the height of the second node;

[0011] The second distance is the distance from the first node to the bottom end of the basic arm;

[0012] The third distance is the distance from the first node to the top of the boom;

[0013] The fourth distance is the distance from the second node to the top of the boom;

[0014] The first angle is the angle between the basic arm and a horizontal plane.

[0015] Optionally, determining the actual position of the boom top based on the distance information and the angle information includes:

[0016] Determine a bending angle of the boom based on the first distance, the third distance, and the fourth distance, wherein the bending angle is an angle between a target straight line and the basic arm, and the target straight line is a straight line where the first node and the top of the boom are located;

[0017] Based on the first angle, the bending angle and the third distance, an actual position of the boom tip is determined.

[0018] Optionally, determining the amplitude of the boom based on the distance information, the angle information and the actual position of the top of the boom comprises:

[0019] Determine the projection length of the boom on a horizontal plane based on the distance information, the angle information and the actual position of the top of the boom;

[0020] The projected length of the boom on the horizontal plane is determined as the amplitude of the boom.

[0021] Optionally, determining the projection length of the boom on a horizontal plane based on the distance information, the angle information and the actual position of the top of the boom comprises:

[0022] Determine a first projection length of the boom on a horizontal plane based on an actual position of the top end of the boom, wherein the first projection length is a projection length of a portion of the boom above a first node on a horizontal plane;

[0023] Determine a second projection length of the boom on a horizontal plane based on the first angle and the second distance, the second projection length being a projection length of a portion below the first node of the boom on the horizontal plane;

[0024] The first projection length and the second projection length are added to obtain the projection length of the boom on the horizontal plane.

[0025] Optionally, the first node may be the bottom end of the basic arm, and the second node may be the top end of the basic arm;

[0026] When the first node is the bottom end of the base arm, the value of the second distance is zero.

[0027] Optionally, the distance information includes a second distance and a third distance, and the angle information includes: a first angle and a second angle;

[0028] The second distance is the distance from the first node to the bottom end of the boom basic arm, and the first node is located on the boom basic arm;

[0029] The third distance is the distance from the first node to the top of the boom;

[0030] The first angle is the angle between the basic arm and the horizontal plane;

[0031] The second angle is the angle between a preset fixture disposed at the top of the boom and a horizontal plane.

[0032] Optionally, determining the actual position of the boom top based on the distance information and the angle information includes:

[0033] Based on the first angle and the second angle, determining an actual angle of the boom, the actual angle being the angle between a target straight line and a horizontal plane, the target straight line being a straight line where the top of the boom and the first node are located;

[0034] Based on the actual angle and the third distance, an actual position of the boom is determined.

[0035] In a second aspect, an embodiment of the present application further provides a boom amplitude detection device, comprising a detection module and a calculation module;

[0036] The detection module is used to obtain distance information and angle information of the crane arm;

[0037] The calculation module is used to determine the actual position of the top of the boom based on the distance information and the angle information;

[0038] The calculation module is further used to determine the amplitude of the boom based on the distance information, the angle information and the actual position of the top of the boom.

[0039] In a third aspect, an embodiment of the present application further provides a crane, comprising a boom amplitude detection device as provided in the above embodiment.

[0040] The present application provides a boom amplitude detection method, device and crane, the method comprising: first obtaining distance information and angle information of the boom; then determining the actual position of the top of the boom based on the distance information and angle information; finally, determining the boom amplitude according to the distance information, angle information and the actual position of the top of the boom. In this way, by determining the amplitude according to the actual position of the top of the boom, the error caused by the bending of the boom part can be avoided, the accuracy of the amplitude is greatly improved, and thus the accuracy of the crane operation is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0042] Figure 1 A schematic flow chart of a method for detecting boom amplitude provided in an embodiment of the present invention.

[0043] Figure 2 It is a schematic diagram of the principle of the boom amplitude detection method provided in the embodiment of the present application.

[0044] Figure 3 It is a principle schematic diagram of the boom amplitude detection method provided in the embodiment of the present application after the marked parameters.

[0045] Figure 4 It is a schematic diagram of the principle of a boom amplitude detection method provided in another embodiment of the present application.

[0046] Figure 5 It is a schematic diagram of the principle of a boom amplitude detection method provided in yet another embodiment of the present application.

[0047] Figure 6 It is a schematic diagram of the principle of a boom amplitude detection method provided in yet another embodiment of the present application.

[0048] Figure 7 It is a structural schematic diagram of a boom amplitude detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Application Overview:

[0051] A crane is a multi-action engineering machine that can lift heavy objects vertically and carry them horizontally within a certain range. The most important parts of a crane include the boom, which is the key support device for lifting operations. With the development of the crane industry, the requirements for crane performance safety and operation accuracy are becoming higher and higher. Among them, the amplitude is included. The amplitude refers to the horizontal distance from the hoisted object to the center of rotation of the crane. It is a key parameter for calculating the lifting torque. The accurate measurement of the boom posture and key dimensions can improve the safety level and operation accuracy of the crane.

[0052] In the prior art, the length of the main arm is generally detected by arranging a cable length sensor, or the length of the telescopic arm is calculated by using the arm position signal and the stroke. The main arm inclination angle is measured by the main arm head angle and tail angle sensors, and finally the height and amplitude of the telescopic arm pulley are calculated in combination with the pressure of the telescopic cylinder.

[0053] However, in the above-mentioned prior art, the arm length measured is the actual arm length, while in actual applications, the crane arm is often bent during lifting operations due to its own manufacturing accuracy, wear and tear, etc. When the crane arm is bent, there is a certain error between the actual arm length and the amplitude calculated in combination with the main arm angle and the actual horizontal distance from the hoisted object to the crane's rotation center, resulting in low accuracy in crane operations and even affecting the performance and safety of the crane.

[0054] Method Example:

[0055] Figure 1 A schematic diagram of a flow chart of a method for detecting boom amplitude provided by an embodiment of the present invention, such as Figure 1 As shown, the boom amplitude detection method provided by the present application includes:

[0056] S101, obtaining distance information and angle information of a crane arm.

[0057] Specifically, the distance information between the various parts of the boom can be detected by wireless signal transceivers arranged at different positions of the boom, and the angle information between the parts of the boom at different times can be detected by angle sensors.

[0058] It should be noted that, because the operating state of the crane arm changes in real time, the distances between the various components and the angles between the different components mentioned above also change in real time. Therefore, the wireless signal transceiver can also obtain the distance information and angle information of the crane arm in real time, thereby achieving real-time measurement of the distance information and angle information of the crane arm during the operation of the crane arm, thereby determining the amplitude of the crane arm in real time.

[0059] S102: Determine the actual position of the top of the boom based on the distance information and the angle information.

[0060] S103: Determine the amplitude of the boom based on the distance information, the angle information and the actual position of the top of the boom.

[0061] Specifically, by measuring the distance information between the positions of the various parts of the boom and the angle information between the parts of the boom during the operation of the boom, the actual position of the top of the boom can be calculated through the existing mathematical formula. After obtaining the actual position of the top of the boom, the horizontal projection length of the line connecting the top of the boom and the bottom of the boom is obtained, thereby obtaining the amplitude of the boom.

[0062] It should be noted that the actual position of the boom top mentioned in the present application can be a set of information about distance and angle, that is, represented by direction and distance information relative to a reference point and a direction passing through the reference point. For example, it is represented by establishing a polar coordinate system, and the crane amplitude is calculated in the coordinate system. Of course, it is also possible not to establish a coordinate system, and directly represent it by the direction and distance information of the boom top relative to a certain position, and then calculate the crane amplitude.

[0063] In addition, it is understandable that the specific value of the actual position of the top of the crane will be expressed differently due to the different reference bases (such as the pole axis or reference point) selected. For example, when the bottom of the basic arm is used as the reference point and a straight line (horizontal line) on the horizontal plane is used as the reference direction, the actual position of the top of the boom can be expressed as (ρ, θ). At this time, the information indicates that the line connecting the top of the boom and the bottom of the boom is at an angle θ to the horizontal plane or the horizontal line, and the distance between the top of the boom and the bottom of the boom in this direction is ρ. At this time, the amplitude can be directly expressed as ρ·cosθ. When the position of the top remains unchanged and the reference point is changed to other points on the basic arm, the value of the actual position of the top of the boom will also change, but the principle is the same.

[0064] The present application provides a method for detecting the amplitude of a crane arm, comprising: firstly obtaining the distance information and the angle information of the crane arm respectively through a wireless signal transceiver and an angle sensor; then determining the actual position of the top of the crane arm based on the distance information and the angle information; finally, calculating the projection length of the crane arm in the horizontal direction according to the distance and angle information and the actual position of the top of the crane arm, thereby determining the amplitude of the crane arm. In this way, by determining the amplitude of the crane arm according to the actual position of the top of the crane arm, the error caused by the bending of the crane arm can be avoided, the accuracy of the amplitude can be greatly improved, and the accuracy of the crane operation can be improved.

[0065] In some embodiments, the wireless signal transceiver device may be a radio signal transceiver device, which includes a radio base station and a radio tag. By installing the radio base station at some positions on the boom and installing the wireless tag at other positions on the boom, the radio signal can be transmitted between the radio base station and the wireless tag. By recording the time of radio signal transmission, the distance information between different positions can be obtained by calculation. By using the radio signal transceiver device, the wiring difficulty can be reduced, the installation difficulty is small, the detection is accurate, and data support is provided for accurate amplitude calculation.

[0066] It should be noted that the amplitude is the horizontal distance from the hanging object to the slewing center of the crane. In practical applications, the actual position of the top of the boom can be calculated to determine the amplitude. Because the horizontal distance from the actual position of the top of the boom to the slewing center of the crane (i.e., the projection length of the boom in the horizontal plane or in the horizontal direction) and the horizontal distance from the hanging object to the slewing center of the crane are the same, the actual position of the top of the boom can be calculated, and the projection length of the boom in the horizontal direction can be calculated to be the amplitude of the crane at this time. In the solution provided in the embodiment of the present application, the actual position of the top of the boom is determined, and the projection length of the boom in the horizontal plane or in the horizontal direction is determined according to the actual position of the top of the boom, and the projection length is used as the amplitude of the crane.

[0067] It should be noted that because the top of the boom, the sling and the load are at the same vertical height, the projections of the straight lines from them to the top of the boom on the horizontal plane are the same. Therefore, in other embodiments of the present application, the actual position of the top of the boom can also be changed to other points in the vertical direction as the basis for calculation. For example, a point on the boom sling is set to be a point on the load detected by a radio tag set on the load. In this case, it is only necessary to replace the top of the boom mentioned above with a new point. The calculation principle is the same, and therefore it also falls within the scope of protection of the present application.

[0068] Figure 2 is a schematic diagram of the principle of the boom amplitude detection method provided in the embodiment of the present application, Figure 3 : is a schematic diagram of the principle of the boom amplitude detection method provided in the embodiment of the present application after the parameters are marked, Figure 2 The structure and Figure 3 Same, just in Figure 2 The definitions of various distances are marked in Figure 2 For an explanation of the principles behind this, you can also refer to Figure 3 Understand. Figure 2 and Figure 3As shown: Point A actually represents the bottom end of the boom. Since the basic arm of the boom is located at the root of the boom, Point A is also the bottom end of the basic arm of the boom. At the rotation center of the crane, AD is parallel to the horizontal line, Point B is the top of the basic arm of the boom, and Point C is the top of the boom.

[0069] In the embodiment of the present application, two nodes are selected on the basic arm of the crane arm, namely the first node A' and the second node B', wherein the height of the first node A' is lower than the height of the second node B'. It should be noted that the first node A' and the second node B' are any points on the basic arm of the crane arm that satisfy the height relationship between the two. In addition, for the convenience of description, the point O is marked in the horizontal direction of the first node A', that is, A'O and AD are parallel to the horizontal line. Figure 2 A' and B' in the figure are both equipped with radio base stations, and a radio tag is arranged at point C.

[0070] exist Figure 2 as well as Figure 3 In the crane, the area at the bottom of the boom, i.e. the basic boom area, has a higher rigidity due to factors such as material quality. It generally does not bend during crane operation. Figure 2 and Figure 3 In the figure, AB is used to represent it. Above the basic arm of the crane arm is Figure 2 and Figure 3 The BC part in the diagram will bend to a certain extent due to the manufacturing accuracy of the boom itself, wear and tear, and the weight of the load. Therefore, when BC is bent, the actual position of the top of the boom cannot be accurately obtained by simply detecting the actual length of the boom, that is, the curves passing through A, A', B', B and C in sequence. Therefore, the position and amplitude of the load directly obtained based on the actual length of the boom have certain errors (the horizontal projection of the boom will become longer due to the bending, and the amplitude value calculated by the existing technology is too small), which affects the operating accuracy of the boom.

[0071] Therefore, in the embodiment of the present application, based on the above description, the acquired boom distance (length) information includes a first distance L1, a second distance L2, a third distance L3 and a fourth distance L4, and the angle information includes a first angle ∠1.

[0072] Among them, the first distance L1 is the distance between the first node A' and the second node B' on the boom, that is, A'B' in the figure; the second distance L2 is the distance from the first node A' to the bottom A of the basic arm, that is, AA' in the figure; the third distance L3 is the distance from the first node A' to the top C of the boom, that is, A'C in the figure; the fourth distance L4 is the distance from the second node B' to the top C of the boom, that is, B'C; the first angle ∠1 is the angle between the basic arm AB and AD, that is, ∠BAD. It should be noted that ∠1 is also the same as the angle between the basic arm at the first node A' and the horizontal plane, so ∠1 is equal to ∠BA'O.

[0073] It should be noted that in the embodiment of the present application, the first node A' is used as the reference point, and the horizontal plane AD (A'O) is used as the reference direction. That is to say, the actual position of the boom top C obtained above is the position of the boom top C relative to the point A', including the direction and distance relationship between the point C and the point A'. After the actual position of the boom top C relative to the first node A' is obtained, the amplitude value is calculated.

[0074] Based on the above distance information and angle information, the angle between the straight line (target straight line) where the top C of the crane arm and the first node A' are located and the basic arm AB can be calculated by mathematical formulas, such as trigonometric functions, that is, Figure 2 ∠BA'C in . This angle is the deflection angle caused by the bending of the boom. After determining the bending angle, the actual angle between point C and the horizontal plane, namely ∠CA'O (the difference between the two), can be obtained based on the first angle. Adding A'C, the length information of the third distance, the actual position of point C relative to A' is obtained, that is, the angle with the water surface is ∠CA'O, and the distance from point A' in this direction is A'C length. Then, the projection of the A'C part of the boom on the horizontal plane can be obtained based on ∠CA'O and L3, and the projection of the AA' part of the boom on the horizontal plane can be obtained through ∠1 and L2, and the accurate projection length of the entire boom on the horizontal plane in the bent state can be obtained, thereby determining the amplitude of the crane.

[0075] In some specific embodiments, the relationship between the sides and angles of a triangle can be used, such as: ∠A=ARCCOS((b 2 +c 2 -a 2 ) / 2bc) to calculate the bending angle. Specifically, firstly, the first distance L1 (A'B'), the third distance L3 (A'C) and the fourth distance L4 (B'C) in the above embodiment are measured by a wireless signal transceiver such as a radio base station and a radio tag, and then the above formula is used:

[0076] ∠B'A'C=ARCCOS(B'A' 2 +A'C 2-B'C 2 ) / 2B'A'·A'C;

[0077] The bending angle is calculated, and the bending angle is subtracted from the first angle to obtain ∠CA'O. Adding the third distance, the actual position of the top of the crane relative to the first node A' can be obtained. Then, the horizontal projection length of the boom can be calculated according to the actual position of the top A of the boom in the bent state, thereby determining the amplitude of the crane.

[0078] In some embodiments, after obtaining the actual position of the top of the boom, the process of calculating the amplitude of the crane may specifically include: first, based on the third distance and ∠CA'O, calculating the projection length of the part above the first node A' of the boom in the horizontal plane or in the horizontal direction, i.e., A'C·cos∠CA'O; and calculating the projection length of the part below the first node A' of the boom in the horizontal plane or in the horizontal direction according to the second distance A'A and the first angle, i.e., AA'·cos∠1. By adding the two parts, the projection length of the complete boom in the horizontal plane or in the upstream direction, i.e., the amplitude of the crane, can be obtained.

[0079] Of course, since point A is selected in advance, the position of point A is known. After obtaining the actual position of point C at the top of the boom relative to point A in the above embodiment, the position data can also be converted based on the known position data of point A, for example, converted into position information relative to the bottom end A of the boom (a base station needs to be set up at point A to detect the length of AC). Subsequently, the projection of the entire boom on the horizontal plane can be obtained directly through one calculation to obtain the amplitude.

[0080] Figure 4 is a schematic diagram of the principle of a boom amplitude detection method provided by another embodiment of the present application, such as Figure 4 As shown, based on the same principle as the above embodiment, in order to simplify the calculation process, point A at the bottom end of the basic arm (that is, the bottom end of the crane arm) can be directly used as the first node, and point B at the top end of the basic arm can be used as the second node. At this time, the actual position of the top end of the crane arm determined in the above process is the information relative to point A at the bottom end of the crane arm (including the distance information and angle information of the top end of the crane arm relative to the bottom end of the crane arm).

[0081] At this time, a radio base station can be set at point A at the bottom end of the basic arm of the boom and point B at the top end of the basic arm, and a radio tag can be set at point C at the top end of the boom to detect the line segment distance information through radio signal transmission and reception. It should be noted that when the selection of the first node and the second node is changed, the definitions of the first distance, the second distance, the third distance and the fourth distance mentioned in the above embodiment do not change. It is just that when the selection of the first node and the second node is changed, the actual value of the above distance information will also change accordingly. Specifically, the first distance is Figure 4In the figure, it is represented as AB, the second distance becomes zero (because the bottom of the boom coincides with the first node), the third distance is AC, the fourth distance is BC, and the first angle ∠1 (∠BAD) is detected by the angle sensor. The bending angle ∠BAC is calculated by the same principle of the above-mentioned formulas such as the relationship between the triangle sides and angles, and then the first angle ∠BAD is subtracted from the bending angle ∠BAC to obtain the actual angle between the line where AC is located and the horizontal plane, that is, ∠CAD. Then, the projection length of the boom in the horizontal direction is directly obtained based on the length of AC and ∠CAD. In this way, after obtaining the actual position of point C, the projection length of the boom in the horizontal direction, that is, AC·cos∠CAD, can be obtained only through AC and ∠CAD, which makes the calculation simpler and more efficient.

[0082] Of course, as mentioned in the above embodiment, after obtaining the distance between the top end C of the boom and the first node, that is, the bottom end A of the boom, and the angle between AC and the horizontal line, other methods such as establishing a coordinate system or directly calculating the horizontal projection distance of the boom can also be used.

[0083] For example, in the above-mentioned embodiment with point A as the first node and point B as the second node, after obtaining the bending angle, the bending angle is subtracted from the first angle to obtain the angle between the line connecting the top end C and the bottom end A of the boom (the target straight line, that is, the straight line where AC is located) and the horizontal plane, and then the distance to AC is multiplied by the cosine value of the angle to directly obtain the projection distance of the boom in the horizontal plane or in the horizontal direction, without involving combining the position information (angle and length information) of the top end C of the boom in a specific format to obtain the coordinates expressed in a specific coordinate system.

[0084] It should be noted that, although it is mentioned in the above embodiment that it is not necessary to establish a coordinate system and determine the specific position coordinates of the top C of the boom, in the above embodiment, after determining the angle between the straight line where the top C point and the bottom A point of the boom are located and the horizontal plane, as well as the distance of AC, that is, the distance of point C relative to point A and the angle information between AC and the horizontal line, a coordinate system can also be established based on this information, and the coordinate value of point C can be obtained. Therefore, this solution can directly calculate the amplitude based on the length and direction information of point C relative to a certain point and direction, or it can calculate the amplitude based on the coordinates of point C in a certain coordinate, and the principle is the same.

[0085] Figure 5 is a schematic diagram of the principle of a boom amplitude detection method provided by another embodiment of the present application, such as Figure 5As shown, in the boom amplitude detection method provided in the embodiment of the present application, a preset firmware with a fixed angle is set at the top of the boom to directly measure or cooperate with an angle detection device such as an angle sensor to detect the angle of the top of the boom after bending, and an angle sensor set at the bottom of the boom to detect the angle of the bottom of the boom, and a wireless signal transceiver device such as a radio base station and a radio tag with the same principle as the above embodiment detects distance information, so as to directly detect the actual position of the top of the boom, and then based on the actual position of the top of the boom, the amplitude of the crane is obtained.

[0086] Specifically, the structural model is the same as that in the above embodiment. Figure 5 Point A is the bottom end of the basic arm of the crane arm, which is also the bottom end of the crane arm. A' is any point on the basic arm of the crane arm and this point is the first node. Point B is the top end of the basic arm of the crane arm. Point C is the top end of the crane arm. AD ​​is parallel to the horizontal plane. Angle sensors are set at the firmware positions of points A and C. A radio base station is set at the first node A', and a radio tag is set at point C.

[0087] In this embodiment, a preset fixed-angle fixture is set at the top of the boom. The fixture is rigid, and the angle between the internal components is fixed, or the angle between the rigid fixture and a certain structure or part at the top of the boom is fixed, which will not change with the bending of the boom. However, because the entire fixture is set on the boom, the angle between the entire fixture and the horizontal plane will change with the bending of the boom. For example, the internal components of the fixture may present the same angle as the angle between the basic arm and the horizontal plane. When the boom is in operation and the crane amplitude needs to be calculated, the angle between the fixture and the horizontal plane is detected, and the angle is the second angle, that is, the angle of the boom bending.

[0088] After the angle of the boom bending is detected by the preset firmware, the actual angle of the top of the boom is determined in conjunction with the angle (first angle) of the basic boom itself, and the distance from the bottom end of the boom point A' to the top end of the boom point C, i.e., the second distance, is detected by the wireless signal transceiver, so that the actual position of the top end of the boom C relative to the point A' can be obtained, i.e., in this embodiment, the actual position of the top end of the boom C determined is relative to the point A'. After the actual position of the point C relative to the point A' is obtained, the projection length of the part above the point A' of the boom on the horizontal plane can be obtained based on the above data information, i.e., the component when calculating the amplitude of the part above the point A' of the boom; and the position information of the point A' can be obtained by pre-measurement, including the value of the angle (first angle) between the basic boom and the horizontal plane and the distance (second distance AA') from the first node A' to the bottom end A of the boom, so as to calculate the projection length of the part below the point A' of the boom on the horizontal plane, i.e., the component when calculating the amplitude of the part below the point A' of the boom, and the two parts are added to obtain a complete and accurate amplitude value.

[0089] In some other embodiments, the bottom end of the boom, i.e., point A, may be used as the first node. Figure 6 As shown, the radio base station is set at point A, and the actual position of the top end C of the boom is relative to the bottom end A of the boom, including the distance and angle relationship between the top end C of the boom and A. The specific structure diagram is shown in Figure 6 As shown, in the detection and calculation process, it is only necessary to detect the first angle and the second angle and calculate the angle between the top C of the boom and the horizontal plane, that is, the actual angle ∠CAD, and detect the distance information from the top A of the boom to the top C of the boom by radio signals, so as to directly obtain the actual position of the top of the boom relative to the horizontal plane, multiply AC by the cosine value of ∠CAD, obtain the projection length of the boom in the horizontal direction, and obtain the amplitude of the boom, thereby achieving the purpose of reducing the calculation process and increasing the calculation efficiency.

[0090] In the boom amplitude detection device method provided in the embodiment of the present application, the actual position of the top of the boom is calculated by acquiring the distance information and angle information of the boom, and the amplitude of the boom in a bent state is calculated according to the actual position of the top of the boom. Compared with the prior art in which the amplitude is directly calculated according to the boom length, the error caused by the bending of the boom is taken into account, and the obtained amplitude value is more accurate, thereby improving the operating accuracy of the crane.

[0091] Device Example:

[0092] Based on the same inventive concept, the present application also provides a boom amplitude detection device, such as Figure 7 As shown, the boom amplitude detection device provided in the embodiment of the present application includes a detection module 1 and a calculation module 2;

[0093] The detection module 1 is used to obtain the distance information and angle information of the boom; the calculation module 2 is used to determine the actual position of the top of the boom based on the distance information and the angle information; and determine the amplitude of the boom based on the actual position of the top of the boom.

[0094] In some embodiments, the detection module 1 includes: a wireless signal transceiver submodule and an angle detector; the wireless signal transceiver submodule may include a radio base station and a radio tag, and detects the distance information of the crane arm through wireless signal transceiver.

[0095] The boom amplitude detection device provided in the present application obtains the distance information and angle information of the boom through the detection module 1, and calculates the actual position of the top of the boom through the calculation module 2, and calculates the amplitude of the boom in the bent state according to the actual position of the top of the boom. Compared with the prior art that directly calculates the amplitude according to the boom length, the error caused by the bending of the boom is taken into account, and the obtained amplitude value is more accurate, thereby improving the operating accuracy of the crane.

[0096] Crane Example:

[0097] Based on the same inventive concept, the present application also provides a crane, including a boom amplitude detection device as mentioned above, through which the distance information and angle information of the boom are obtained, and the actual position of the top of the boom is calculated, and the amplitude of the boom in a bent state is calculated according to the actual position of the top of the boom. Compared with the prior art in which the amplitude is directly calculated according to the length of the boom, the error caused by the bending of the boom is taken into account, and the obtained amplitude value is more accurate, thereby greatly improving the operation accuracy of the crane.

[0098] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting boom amplitude, It is characterized in that include: Get the distance information and angle information of the crane arm; The distance information includes a first distance, a second distance, a third distance and a fourth distance, and the angle information includes a first angle; The first distance is the distance from a first node to a second node on the boom, the first node and the second node are both located on the basic arm of the boom, and the height of the first node is lower than the height of the second node; The basic arm of the boom is located at the root of the boom, the basic arm will not bend, and the upper part of the basic arm of the boom will bend; The second distance is the distance from the first node to the bottom end of the basic arm; The third distance is the distance from the first node to the top of the boom; The fourth distance is the distance from the second node to the top of the boom; The first angle is the angle between the basic arm and the horizontal plane; Determining the actual position of the boom top based on the distance information and the angle information includes: Based on the first distance, the third distance, and the fourth distance, determining the bending angle of the boom by the law of cosines, wherein the bending angle is the angle between a target straight line and the basic arm, and the target straight line is a straight line where the first node and the top of the boom are located; Based on the first angle, the difference between the bending angles and the third distance, determining the actual position of the boom top through the relationship between the triangle sides and the angles; Based on the distance information, the angle information and the actual position of the top of the boom, the amplitude of the boom is determined by the relationship between the sides and angles of the triangle.

2. The boom amplitude detection method according to claim 1, It is characterized in that The determining the amplitude of the boom by the relationship between the triangle sides and the angles based on the distance information, the angle information and the actual position of the top of the boom, comprises: Determine the projection length of the boom on a horizontal plane based on the distance information, the angle information and the actual position of the top of the boom; The projected length of the boom on the horizontal plane is determined as the amplitude of the boom.

3. The boom amplitude detection method according to claim 2, It is characterized in that The step of determining the projection length of the boom on a horizontal plane based on the distance information, the angle information and the actual position of the top of the boom comprises: Determine a first projection length of the boom on a horizontal plane based on an actual position of the top end of the boom, wherein the first projection length is a projection length of a portion of the boom above a first node on a horizontal plane; Determine a second projection length of the boom on a horizontal plane based on the first angle and the second distance, the second projection length being a projection length of a portion below the first node of the boom on the horizontal plane; The first projection length and the second projection length are added to obtain the projection length of the boom on the horizontal plane.

4. The boom amplitude detection method according to claim 1, It is characterized in that The first node is the bottom end of the basic arm, and the second node is the top end of the basic arm; When the bottom end of the basic arm serves as the first node, the value of the second distance is zero.

5. A boom amplitude detection device, used to implement the boom amplitude detection method according to any one of claims 1 to 4, It is characterized in that It includes a detection module and a calculation module; The detection module is used to obtain distance information and angle information of the crane arm; The distance information includes a first distance, a second distance, a third distance and a fourth distance, and the angle information includes a first angle; The first distance is the distance from a first node to a second node on the boom, the first node and the second node are both located on the basic arm of the boom, and the height of the first node is lower than the height of the second node; The basic arm of the boom is located at the root of the boom, the basic arm will not bend, and the upper part of the basic arm of the boom will bend; The second distance is the distance from the first node to the bottom end of the basic arm; The third distance is the distance from the first node to the top of the boom; The fourth distance is the distance from the second node to the top of the boom; The first angle is the angle between the basic arm and the horizontal plane; The calculation module is used to determine the actual position of the top of the boom based on the distance information and the angle information, including: Based on the first distance, the third distance, and the fourth distance, determining the bending angle of the boom by the law of cosines, wherein the bending angle is the angle between a target straight line and the basic arm, and the target straight line is a straight line where the first node and the top of the boom are located; Based on the difference between the first angle and the bending angle and the third distance, determining the actual position of the boom top through the relationship between the triangle sides and the angles; The calculation module is further used to determine the amplitude of the boom through the relationship between the triangle sides and the angles based on the distance information, the angle information and the actual position of the top of the boom.

6. A crane, It is characterized in that It comprises the boom amplitude detection device as claimed in claim 5.

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