Method, Processor, Device and Crane for Determining Crane Inclination Angle

Abstract

This application relates to the field of mechanical engineering, and particularly relates to a method, a processor, a device, a crane, and a storage medium for determining the inclination angle of a crane. It includes obtaining the track inclination angle of the lower vehicle track through an inclination sensor, where the track inclination angle is an angle synthesized from a first lateral angle and a first longitudinal angle; obtaining the relative angle between the upper vehicle turntable and the lower vehicle track; respectively constructing a first lower vehicle coordinate system for the lower vehicle track and a first upper vehicle coordinate system for the upper vehicle turntable based on the relative angle, where the included angle between the first horizontal axis of the first lower vehicle coordinate system and the second horizontal axis of the first upper vehicle coordinate system is equal to the relative angle; converting the first lateral angle and the first longitudinal angle based on the first lower vehicle coordinate system and the first upper vehicle coordinate system to determine a first turntable angle corresponding to the first lateral angle and a second turntable angle corresponding to the first longitudinal angle; and determining the turntable inclination angle of the upper vehicle turntable according to the first turntable angle and the second turntable angle.

Description

Technical Field

[0001] The present application relates to the field of mechanical engineering, and specifically, to a method, a processor, a device, a crane and a storage medium for determining the inclination angle of a crane. Background Art

[0002] When a crane is under construction, there are strict national standard requirements for the levelness of the construction ground. The inclination angle required for equipment hoisting construction is the ground inclination angle, that is, the inclination angle between the lower track of the crane and the ground. Currently, for crawler cranes on the market, inclination detection devices are installed on the upper slewing platform of the crane. What is detected by the inclination detection device is the inclination angle of the upper slewing platform. When the equipment is hoisting a load, due to the deformation of the slewing platform itself, the detected inclination angle of the slewing platform cannot truly reflect the ground inclination angle, and the detected inclination angle is likely to exceed the national standard requirements. Summary of the Invention

[0003] The purpose of the present application is to provide a method, a processor, a device, a crane and a storage medium for determining the inclination angle of a crane that can truly reflect the ground inclination angle.

[0004] To achieve the above purpose, the present application provides a method for determining the inclination angle of a crane. The crane includes an upper slewing platform, a lower track and an inclination sensor, wherein the inclination sensor is installed on the lower track. The method includes:

[0005] Obtaining the track inclination angle of the lower track through the inclination sensor, wherein the track inclination angle is an angle synthesized by a first lateral angle and a first longitudinal angle;

[0006] Obtaining the relative angle between the upper slewing platform and the lower track;

[0007] Respectively constructing a first lower vehicle coordinate system for the lower track and a first upper vehicle coordinate system for the upper slewing platform according to the relative angle, wherein the included angle between the first horizontal axis of the first lower vehicle coordinate system and the second horizontal axis of the first upper vehicle coordinate system is equal to the relative angle;

[0008] Converting the first lateral angle and the first longitudinal angle based on the first lower vehicle coordinate system and the first upper vehicle coordinate system to determine a first slewing platform angle corresponding to the first lateral angle and a second slewing platform angle corresponding to the first longitudinal angle;

[0009] Determining the slewing platform inclination angle of the upper slewing platform according to the first slewing platform angle and the second slewing platform angle.

[0010] In an embodiment of the present application, the first lateral angle and the first longitudinal angle are converted based on the first off-vehicle coordinate system and the first on-vehicle coordinate system to determine the first turntable angle corresponding to the first lateral angle and the second turntable angle corresponding to the first longitudinal angle, including: rotating the first plane by the first lateral angle around the first horizontal axis of the first off-vehicle coordinate system to obtain a second plane, where the first plane refers to the plane where the first off-vehicle coordinate system and the first on-vehicle coordinate system are located; determining the first turntable angle corresponding to the first lateral angle through the second plane and the first plane; rotating the first plane by the first longitudinal angle around the first vertical axis of the first off-vehicle coordinate system to obtain a third plane; determining the second turntable angle corresponding to the first longitudinal angle through the third plane and the first plane.

[0011] In an embodiment of the present application, the first turntable angle is an angle synthesized from a first lateral turntable angle component and a first longitudinal turntable angle component, and the second turntable angle is an angle synthesized from a second lateral turntable angle component and a second longitudinal turntable angle component. The method further includes: determining the first lateral turntable angle component and the first longitudinal turntable angle component through the second plane and the first plane respectively; determining the second lateral turntable angle component and the second longitudinal turntable angle component through the third plane and the first plane respectively.

[0012] In an embodiment of the present application, determining the first lateral turntable component through the second plane and the first plane includes: determining a second on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the second plane; determining a first line segment between the coordinate origin of the second on-vehicle coordinate system and a first preset coordinate point in the second on-vehicle coordinate system, where the first preset coordinate point is located on the third horizontal axis of the second on-vehicle coordinate system; determining a first projection line segment of the perpendicular projection of the first line segment on the first plane; determining the angle between the first line segment and the first projection line segment as the first lateral turntable angle component.

[0013] In an embodiment of the present application, determining the first longitudinal turntable component through the second plane and the first plane includes: determining a second on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the second plane; determining a second line segment between the coordinate origin of the second on-vehicle coordinate system and a second preset coordinate point in the second on-vehicle coordinate system, where the second preset coordinate point is located on the second vertical axis of the second on-vehicle coordinate system; determining a second projection line segment of the perpendicular projection of the second line segment onto the first plane; determining the angle between the second line segment and the second projection line segment as the first longitudinal turntable angle component.

[0014] In an embodiment of the present application, determining the second transverse turntable component by the third plane and the first plane includes: determining a third on-vehicle coordinate system corresponding to the first on-vehicle coordinate system included in the third plane; determining a third line segment between the coordinate origin of the third on-vehicle coordinate system and a third preset coordinate point in the third on-vehicle coordinate system, where the third preset coordinate point is located on the fourth horizontal axis of the third on-vehicle coordinate system; determining a third projection line segment obtained by vertically projecting the third line segment onto the first plane; and determining the angle between the third line segment and the third projection line segment as the second transverse turntable angle component.

[0015] In an embodiment of the present application, determining the second longitudinal turntable component by the third plane and the first plane includes: determining a third on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the third plane; determining a fourth line segment between the coordinate origin of the third on-vehicle coordinate system and a fourth preset coordinate point in the third on-vehicle coordinate system, where the fourth preset coordinate point is located on the third longitudinal axis of the third on-vehicle coordinate system; determining a fourth projection line segment obtained by vertically projecting the fourth line segment onto the first plane; and determining the angle between the fourth line segment and the fourth projection line segment as the second longitudinal turntable angle component.

[0016] In an embodiment of the present application, the turntable inclination angle of the on-vehicle turntable includes a second transverse angle and a second longitudinal angle. Determining the turntable inclination angle of the on-vehicle turntable according to the first turntable angle and the second turntable angle includes: adding the first transverse turntable angle component included in the first turntable angle and the second transverse turntable angle component included in the second turntable angle to obtain the second transverse angle; adding the first longitudinal turntable angle component included in the first turntable angle and the second longitudinal turntable angle component included in the second turntable angle to obtain the second longitudinal angle; and determining the angle formed by combining the second transverse angle and the second longitudinal angle as the turntable inclination angle of the on-vehicle turntable.

[0017] A second aspect of the present application provides a processor configured to execute the method for determining the crane inclination angle in any one of the above.

[0018] A third aspect of the present application provides a device for determining the crane inclination angle, including the above-mentioned processor.

[0019] A fourth aspect of the present application provides a crane, including:

[0020] An on-vehicle turntable for performing hoisting operations;

[0021] A lower vehicle crawler for controlling the movement of the crane;

[0022] An inclination sensor installed on the lower vehicle crawler for obtaining the crawler inclination angle of the lower vehicle crawler; and the above-mentioned device for determining the crane inclination angle.

[0023] A fifth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, the processor is configured to execute the method for determining the inclination angle of a crane as described in any one of the above.

[0024] Through the above technical solution, an inclination angle sensor is installed on the lower crawler belt of the crane to obtain the inclination angle of the crawler belt of the crane, and the relative angle between the upper slewing platform and the lower crawler belt is obtained. The slewing platform inclination angle of the upper slewing platform of the crane is determined according to the inclination angle of the crawler belt of the crane and the relative angle between the upper slewing platform and the lower crawler belt. At this time, the slewing platform inclination angle of the upper slewing platform of the crane is obtained based on the inclination angle of the crawler belt and will not be affected by the deformation of the slewing platform itself, so that the slewing platform inclination angle can truly reflect the ground inclination angle.

[0025] Other features and advantages of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings are used to provide a further understanding of the present application and constitute a part of the specification. They are used together with the following specific implementation to explain the present application, but do not constitute a limitation to the present application. In the drawings:

[0027] Figure 1 Schematically shows a structural block diagram of a crane according to an embodiment of the present application;

[0028] Figure 2 Schematically shows a flowchart of a method for determining the inclination angle of a crane according to an embodiment of the present application;

[0029] Figure 3 Schematically shows an example diagram of a method for determining the inclination angle of a crane according to an embodiment of the present application;

[0030] Figure 4 Schematically shows an example diagram of a method for determining the inclination angle of a crane according to an embodiment of the present application;

[0031] Figure 5 Schematically shows an example diagram of a method for determining the inclination angle of a crane according to an embodiment of the present application;

[0032] Figure 6 Schematically shows an example diagram of a method for determining the inclination angle of a crane according to an embodiment of the present application;

[0033] Figure 7 Schematically shows an example diagram of a method for determining the inclination angle of a crane according to an embodiment of the present application;

[0034] Figure 8Schematically shows an example diagram of a method for determining the inclination angle of a crane according to an embodiment of the present application;

[0035] Figure 9 Schematically shows the internal structural diagram of a computer device according to an embodiment of the present application. Detailed implementation manners

[0036] The following details the specific implementation manners of the present application in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described herein are only for explaining and interpreting the present application, and are not used to limit the present application.

[0037] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, then such directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, then such descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0039] In one embodiment, as Figure 1 shown, schematically shows the structural block diagram of a crane 100 according to an embodiment of the present application. The crane 100 includes: an upper slewing platform 101 for performing hoisting operations; a lower crawler 102 for controlling the movement of the crane; an inclination angle sensor 103 installed on the lower crawler 102 for obtaining the crawler inclination angle of the lower crawler 102; and a device 104 for determining the inclination angle of the crane.

[0040] The crane 100 includes an upper slewing platform 101, a lower crawler 102, and an inclination angle sensor 103. Among them, the inclination angle sensor 103 of the crane 100 is installed on the lower crawler 102 of the crane 100 and can be used to obtain the crawler inclination angle of the lower crawler 102 of the crane 100.

[0041] Figure 2 Schematically shows the flow schematic diagram of a method for determining the inclination angle of a crane according to an embodiment of the present application. As Figure 2As shown, in an embodiment of the present application, a method for determining the inclination angle of a crane is provided, including the following steps:

[0042] Step 201, obtain the crawler inclination angle of the lower crawler through an inclination sensor, where the crawler inclination angle is an angle synthesized by a first lateral angle and a first longitudinal angle;

[0043] Step 202, obtain the relative angle between the upper slewing platform and the lower crawler;

[0044] Step 203, respectively construct a first lower vehicle coordinate system for the lower crawler and a first upper vehicle coordinate system for the upper slewing platform according to the relative angle, where the included angle between the first horizontal axis of the first lower vehicle coordinate system and the second horizontal axis of the first upper vehicle coordinate system is equal to the relative angle;

[0045] Step 204, based on the first lower vehicle coordinate system and the first upper vehicle coordinate system, convert the first lateral angle and the first longitudinal angle to determine a first slewing platform angle corresponding to the first lateral angle and a second slewing platform angle corresponding to the first longitudinal angle;

[0046] Step 205, determine the slewing platform inclination angle of the upper slewing platform according to the first slewing platform angle and the second slewing platform angle.

[0047] The crane includes an upper slewing platform, a lower crawler and an inclination sensor. The inclination sensor of the crane is installed on the lower crawler of the crane and can be used to obtain the crawler inclination angle of the lower crawler of the crane. The processor obtains the crawler inclination angle of the lower crawler through the inclination sensor, where the crawler inclination angle is synthesized by the first lateral angle and the first longitudinal angle of the crawler.

[0048] The processor can obtain the relative angle between the upper slewing platform and the lower crawler of the crane, construct a first lower vehicle coordinate system for the lower crawler and a first upper vehicle coordinate system for the upper slewing platform according to the relative angle, and the included angle between the first horizontal axis of the first lower vehicle coordinate system and the second horizontal axis of the first upper vehicle coordinate system is equal to the relative angle between the upper slewing platform and the lower crawler. For example Figure 3 As shown, 0-Xa is the first horizontal axis of the first lower vehicle coordinate system for the lower crawler, 0-Ya is the first vertical axis of the first lower vehicle coordinate system for the lower crawler, 0-Xb is the second horizontal axis of the first upper vehicle coordinate system for the upper slewing platform, and 0-Yb is the second vertical axis of the first upper vehicle coordinate system for the upper slewing platform. A1 is the included angle between the first horizontal axis 0-Xa of the first lower vehicle coordinate system and the second horizontal axis 0-Xb of the first upper vehicle coordinate system, and A1 is equal to the relative angle between the upper slewing platform and the lower crawler.

[0049] Based on the constructed first off-vehicle coordinate system and the first on-vehicle coordinate system, the processor can convert the first lateral angle and the first longitudinal angle that compose the synthetic crawler inclination angle, so as to determine the first turntable angle corresponding to the first lateral angle and the second turntable angle corresponding to the first longitudinal angle. After the processor determines the first turntable angle and the second turntable angle, it can determine the turntable inclination angle of the on-vehicle turntable according to the first turntable angle and the second turntable angle.

[0050] In one embodiment, converting the first lateral angle and the first longitudinal angle based on the first off-vehicle coordinate system and the first on-vehicle coordinate system to determine the first turntable angle corresponding to the first lateral angle and the second turntable angle corresponding to the first longitudinal angle includes: rotating the first plane around the first horizontal axis of the first off-vehicle coordinate system by the first lateral angle to obtain a second plane, where the first plane refers to the plane where the first off-vehicle coordinate system and the first on-vehicle coordinate system are located; determining the first turntable angle corresponding to the first lateral angle through the second plane and the first plane; rotating the first plane around the first vertical axis of the first off-vehicle coordinate system by the first longitudinal angle to obtain a third plane; determining the second turntable angle corresponding to the first longitudinal angle through the third plane and the first plane.

[0051] The processor can convert the first lateral angle and the first longitudinal angle based on the first off-vehicle coordinate system and the first on-vehicle coordinate system to determine the first turntable angle corresponding to the first lateral angle and the second turntable angle corresponding to the first longitudinal angle. The processor can determine the plane where the first off-vehicle coordinate system and the first on-vehicle coordinate system are located as the first plane, as Figure 4 shown, determining the plane Xa-01-Yb where the first off-vehicle coordinate system Xa-0-Ya and the first on-vehicle coordinate system Xb-0-Yb are located as the first plane, where the included angle between the first horizontal axis 0-Xa of the first off-vehicle coordinate system Xa-0-Ya and the second horizontal axis 0-Ya of the first on-vehicle coordinate system Xb-0-Yb is the relative angle A1 between the on-vehicle turntable and the off-vehicle crawler.

[0052] The processor can rotate the first plane around the first horizontal axis of the first off-vehicle coordinate system by the first lateral angle to obtain a second plane, as Figure 5As shown in the figure, assume that the first lateral angle of the crawler inclination angle is Ax. Rotating the first plane Xa-01-Yb around the first horizontal axis 0-Xa of the first lower vehicle coordinate system by the first lateral angle Ax can obtain the second plane Xa-01-Yb'. Among them, the first plane Xa-01-Yb includes the first lower vehicle coordinate system Xa-0-Ya and the first upper vehicle coordinate system Xb-0-Yb, and the included angle between the first horizontal axis 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and the second horizontal axis 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is the relative angle A1 between the upper turntable and the lower crawler. There is a corresponding second upper vehicle coordinate system Xb'-0-Yb' on the second plane Xa-01-Yb'. The processor can determine the first turntable angle corresponding to the first lateral angle through the first plane and the second plane, that is, determine the first turntable angle corresponding to the first lateral angle Ax of the crawler inclination angle through the first plane Xa-01-Yb and the second plane Xa-01-Yb'.

[0053] The processor can rotate the first plane around the first vertical axis of the first lower vehicle coordinate system by the first longitudinal angle to obtain the third plane, as Figure 6 shown in the figure. Assume that the first longitudinal angle of the crawler inclination angle is Ay. Rotating the first plane Xa-01-Yb around the first vertical axis 0-Ya of the first lower vehicle coordinate system by the first longitudinal angle Ay can obtain the third plane Xa”-01’-Yb”. Among them, the first plane Xa-01-Yb includes the first lower vehicle coordinate system Xa-0-Ya and the first upper vehicle coordinate system Xb-0-Yb, and the included angle between the first horizontal axis 0-Xa of the first lower vehicle coordinate system Xa-0-Ya and the second horizontal axis 0-Ya of the first upper vehicle coordinate system Xb-0-Yb is the relative angle A1 between the upper turntable and the lower crawler. There is a corresponding second upper vehicle coordinate system Xb”-0-Yb” on the third plane Xa”-01’-Yb”. The processor can determine the second turntable angle corresponding to the first longitudinal angle through the first plane and the second plane, that is, determine the second turntable angle corresponding to the first longitudinal angle Ay of the crawler inclination angle through the first plane Xa-01-Yb and the third plane Xa”-01’-Yb”.

[0054] In one embodiment, the first turntable angle is an angle synthesized by the first lateral turntable angle component and the first longitudinal turntable angle component, and the second turntable angle is an angle synthesized by the second lateral turntable angle component and the second longitudinal turntable angle component. The method further includes: determining the first lateral turntable angle component and the first longitudinal turntable angle component through the second plane and the first plane respectively; determining the second lateral turntable angle component and the second longitudinal turntable angle component through the third plane and the first plane respectively.

[0055] The first turntable angle corresponding to the first lateral angle determined by the first plane and the second plane is an angle obtained by synthesizing a first lateral turntable angle component and a first longitudinal turntable angle component. The processor can respectively determine the first lateral turntable angle component and the first longitudinal turntable angle component for synthesizing the first turntable angle through the first plane and the second plane.

[0056] The second turntable angle corresponding to the first longitudinal angle determined by the first plane and the third plane is an angle obtained by synthesizing a second lateral turntable angle component and a second longitudinal turntable angle component. The processor can respectively determine the second lateral turntable angle component and the second longitudinal turntable angle component for synthesizing the second turntable angle through the first plane and the third plane.

[0057] In one embodiment, determining the first lateral turntable component through the second plane and the first plane includes: determining a second vehicle-mounted coordinate system corresponding to the first vehicle-mounted coordinate system in the second plane; determining a first line segment between the coordinate origin of the second vehicle-mounted coordinate system and a first preset coordinate point in the second vehicle-mounted coordinate system, where the first preset coordinate point is located on the third horizontal axis of the second vehicle-mounted coordinate system; determining a first projection line segment of the vertical projection of the first line segment on the first plane; and determining the angle between the first line segment and the first projection line segment as the first lateral turntable angle component.

[0058] After the processor obtains the second plane by rotating the first plane, the processor can determine a second vehicle-mounted coordinate system corresponding to the first vehicle-mounted coordinate system in the second plane, the processor can determine a first line segment between the coordinate origin of the second vehicle-mounted coordinate system and a first preset coordinate point located on the third horizontal axis of the second vehicle-mounted coordinate system, and determine a first projection line segment of the vertical projection of the first line segment on the first plane, and the processor can determine the angle between the first line segment and the first projection line segment as the first lateral turntable angle component.

[0059] Such as Figure 7As shown, the first plane Xa-01-Yb can be rotated by a first lateral angle Ax around the first horizontal axis 0-Xa of the first off-vehicle coordinate system to obtain the second plane Xa-01-Yb'. Among them, the first plane Xa-01-Yb includes the first off-vehicle coordinate system Xa-0-Ya and the first on-vehicle coordinate system Xb-0-Yb, and the included angle between the first horizontal axis 0-Xa of the first off-vehicle coordinate system Xa-0-Ya and the second horizontal axis 0-Ya of the first on-vehicle coordinate system Xb-0-Yb is the relative angle A1 between the on-vehicle turntable and the off-vehicle crawler. The processor can determine the second on-vehicle coordinate system Xb'-0-Yb' corresponding to the first on-vehicle coordinate system Xb-0-Yb on the second plane Xa-01-Yb'. The processor can determine the first preset coordinate point as Xb'. Among them, the first preset coordinate point Xb' is located on the third horizontal axis 0-Xb' of the second on-vehicle coordinate system to obtain the first line segment 0Xb' between the coordinate origin 0 and the first preset coordinate point Xb'. Projecting the first line segment 0Xb' vertically onto the first plane Xa-01-Yb, the first projected line segment 0Xb'h can be obtained. The processor can determine the included angle ∠Xb'0Xb'h between the first line segment 0Xb' and the first projected line segment 0Xb'h as the first lateral turntable angle component.

[0060] In one embodiment, determining the first longitudinal turntable component through the second plane and the first plane includes: determining the second on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the second plane; determining the second line segment between the coordinate origin of the second on-vehicle coordinate system and the second preset coordinate point in the second on-vehicle coordinate system, where the second preset coordinate point is located on the second vertical axis of the second on-vehicle coordinate system; determining the second projected line segment of the second line segment vertically projected onto the first plane; and determining the included angle between the second line segment and the second projected line segment as the first longitudinal turntable angle component.

[0061] After the processor obtains the second plane by rotating the first plane, the processor can determine the second on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the second plane. The processor can determine the second line segment between the coordinate origin of the second on-vehicle coordinate system and the second preset coordinate point located on the second vertical axis of the second on-vehicle coordinate system, and determine the second projected line segment of the second line segment vertically projected onto the first plane. The processor can determine the included angle between the second line segment and the second projected line segment as the first longitudinal turntable angle component.

[0062] As Figure 7As shown in the figure, the first plane Xa-01-Yb can be rotated by a first lateral angle Ax around the first horizontal axis 0-Xa of the first off-vehicle coordinate system to obtain the second plane Xa-01-Yb'. Among them, the first plane Xa-01-Yb includes the first off-vehicle coordinate system Xa-0-Ya and the first on-vehicle coordinate system Xb-0-Yb, and the included angle between the first horizontal axis 0-Xa of the first off-vehicle coordinate system Xa-0-Ya and the second horizontal axis 0-Ya of the first on-vehicle coordinate system Xb-0-Yb is the relative angle A1 between the on-vehicle turntable and the off-vehicle crawler. The processor can determine the second on-vehicle coordinate system Xb'-0-Yb' corresponding to the first on-vehicle coordinate system Xb-0-Yb on the second plane Xa-01-Yb'. The processor can determine the second preset coordinate point as Yb', where the second preset coordinate point Yb' is located on the second vertical axis 0-Yb' of the second on-vehicle coordinate system, so as to obtain the second line segment 0Yb' between the coordinate origin 0 and the second preset coordinate point Yb'. Projecting the second line segment 0Yb' vertically onto the first plane Xa-01-Yb, the second projected line segment 0Yb'h can be obtained. The processor can determine the included angle ∠Yb'0Yb'h between the second line segment 0Yb' and the second projected line segment 0Yb'h as the first longitudinal turntable angle component.

[0063] In one embodiment, determining the second lateral turntable component by the third plane and the first plane includes: determining the third on-vehicle coordinate system included in the third plane and corresponding to the first on-vehicle coordinate system; determining the third line segment between the coordinate origin of the third on-vehicle coordinate system and the third preset coordinate point in the third on-vehicle coordinate system, where the third preset coordinate point is located on the fourth horizontal axis of the third on-vehicle coordinate system; determining the third projected line segment obtained by vertically projecting the third line segment onto the first plane; and determining the included angle between the third line segment and the third projected line segment as the second lateral turntable angle component.

[0064] After the processor rotates the first plane to obtain the third plane, the processor can determine the third on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the third plane. The processor can determine the third line segment between the coordinate origin of the third on-vehicle coordinate system and the third preset coordinate point located on the fourth horizontal axis of the third on-vehicle coordinate system, and determine the third projected line segment obtained by vertically projecting the third line segment onto the first plane. The processor can determine the included angle between the third line segment and the third projected line segment as the second lateral turntable angle component.

[0065] As Figure 8As shown, the first plane Xa-01-Yb can obtain the third plane Xa”-01’-Yb” by rotating the first longitudinal angle Ay around the first longitudinal axis 0-Ya of the first getting-off coordinate system. Among them, the first plane Xa-01-Yb includes the first getting-off coordinate system Xa-0-Ya and the first getting-on coordinate system Xb-0-Yb, and the included angle between the first horizontal axis 0-Xa of the first getting-off coordinate system Xa-0-Ya and the second horizontal axis 0-Ya of the first getting-on coordinate system Xb-0-Yb is the relative angle A1 between the upper turntable and the lower crawler. The processor can determine the third getting-on coordinate system Xb”-0-Yb” corresponding to the first getting-on coordinate system Xb-0-Yb on the third plane Xa”-01’-Yb”. The processor can determine the third preset coordinate point as Xb”. Among them, the third preset coordinate point Xb” is located on the fourth horizontal axis 0-Xb” of the third getting-on coordinate system, so as to obtain the third line segment 0Xb” between the coordinate origin 0 and the third preset coordinate point Xb”. Projecting the third line segment 0Xb” vertically onto the first plane Xa-01-Yb can obtain the third projected line segment 0Xb”h. The processor can determine the included angle ∠Xb”0Xb”h between the third line segment 0Xb” and the third projected line segment 0Xb”h as the second lateral turntable angle component.

[0066] In one embodiment, determining the second longitudinal turntable component through the third plane and the first plane includes: determining the third getting-on coordinate system corresponding to the first getting-on coordinate system in the third plane; determining the fourth line segment between the coordinate origin of the third getting-on coordinate system and the fourth preset coordinate point in the third getting-on coordinate system, where the fourth preset coordinate point is located on the third longitudinal axis of the third getting-on coordinate system; determining the fourth projected line segment of the vertical projection of the fourth line segment on the first plane; and determining the included angle between the fourth line segment and the fourth projected line segment as the second longitudinal turntable angle component.

[0067] After the processor obtains the third plane by rotating the first plane, it can determine the third getting-on coordinate system corresponding to the first getting-on coordinate system in the third plane. The processor can determine the fourth line segment between the coordinate origin of the third getting-on coordinate system and the fourth preset coordinate point located on the third longitudinal axis of the third getting-on coordinate system, and determine the fourth projected line segment of the vertical projection of the fourth line segment on the first plane. The processor can determine the included angle between the fourth line segment and the fourth projected line segment as the second longitudinal turntable angle component.

[0068] As Figure 8As shown, the first plane Xa-01-Yb can be rotated by a first longitudinal angle Ay around the first longitudinal axis 0-Ya of the first off-vehicle coordinate system to obtain the third plane Xa”-01’-Yb”. Among them, the first plane Xa-01-Yb includes the first off-vehicle coordinate system Xa-0-Ya and the first on-vehicle coordinate system Xb-0-Yb, and the included angle between the first horizontal axis 0-Xa of the first off-vehicle coordinate system Xa-0-Ya and the second horizontal axis 0-Ya of the first on-vehicle coordinate system Xb-0-Yb is the relative angle A1 between the on-vehicle turntable and the off-vehicle crawler. The processor can determine the third on-vehicle coordinate system Xb”-0-Yb” corresponding to the first on-vehicle coordinate system Xb-0-Yb on the third plane Xa”-01’-Yb”. The processor can determine the fourth preset coordinate point as Yb”, where the fourth preset coordinate point Yb” is located on the third longitudinal axis 0-Yb” of the third on-vehicle coordinate system, so as to obtain the fourth line segment 0Yb” between the coordinate origin 0 and the fourth preset coordinate point Yb”. Projecting the fourth line segment 0Yb” vertically onto the first plane Xa-01-Yb, the fourth projection line segment 0Yb”h can be obtained. The processor can determine the included angle ∠Yb”0Yb”h between the fourth line segment 0Yb” and the third projection line segment 0Yb”h as the second longitudinal turntable angle component.

[0069] In one embodiment, the on-vehicle turntable inclination angle includes a second lateral angle and a second longitudinal angle. Determining the on-vehicle turntable inclination angle according to the first turntable angle and the second turntable angle includes: superimposing the first lateral turntable angle component included in the first turntable angle and the second lateral turntable angle component included in the second turntable angle to obtain the second lateral angle; superimposing the first longitudinal turntable angle component included in the first turntable angle and the second longitudinal turntable angle component included in the second turntable angle to obtain the second longitudinal angle; and determining the angle synthesized by the second lateral angle and the second longitudinal angle as the on-vehicle turntable inclination angle.

[0070] The on-vehicle turntable inclination angle includes a second lateral angle and a second longitudinal angle. The first turntable angle is an angle synthesized by a first lateral turntable angle component and a first longitudinal turntable angle component, and the second turntable angle is an angle synthesized by a second lateral turntable angle component and a second longitudinal turntable angle component.

[0071] The processor can determine the first lateral turntable angle component through the first plane and the second plane, and determine the second lateral turntable angle component through the first plane and the third plane. The processor can superimpose the first lateral turntable angle component and the second lateral turntable angle component to obtain the second lateral angle. The processor can also determine the first longitudinal turntable angle component through the first plane and the second plane, and determine the second longitudinal turntable angle component through the first plane and the third plane. The processor can superimpose the first longitudinal turntable angle component and the second longitudinal turntable angle component to obtain the second longitudinal angle.

[0072] After determining the second lateral angle and the second longitudinal angle, the processor can determine the angle synthesized by the second lateral angle and the second longitudinal angle as the turntable inclination angle of the upper turntable corresponding to the crawler inclination angle of the lower crawler.

[0073] In one embodiment, a processor is provided, and the processor is configured to execute the method for determining the crane inclination angle in any one of the above.

[0074] In the above solution, by installing the inclination sensor on the lower crawler of the crane, the crawler inclination angle of the crane is obtained, and the relative angle between the upper turntable and the lower crawler is obtained. According to the crawler inclination angle of the crane and the relative angle between the upper turntable and the lower crawler, the turntable inclination angle of the upper turntable of the crane is determined. At this time, the turntable inclination angle of the upper turntable of the crane is obtained based on the crawler inclination angle and will not be affected by the deformation of the turntable itself, so that the turntable inclination can truly reflect the ground inclination.

[0075] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one storage chip.

[0076] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 9 shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store relevant data of construction machinery and relevant data input by operators. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it implements a method for determining the crane inclination angle.

[0077] Figure 2 It is a schematic flowchart of a method for determining the crane inclination angle in one embodiment. It should be understood that although Figure 2The steps in the flowchart are sequentially displayed according to the indication of the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 At least a part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0078] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, the following steps are implemented: obtaining the track inclination angle of the lower vehicle track through an inclination sensor, where the track inclination angle is an angle synthesized by a first lateral angle and a first longitudinal angle; obtaining the relative angle between the upper vehicle turntable and the lower vehicle track; respectively constructing a first lower vehicle coordinate system for the lower vehicle track and a first upper vehicle coordinate system for the upper vehicle turntable according to the relative angle, where the included angle between the first horizontal axis of the first lower vehicle coordinate system and the second horizontal axis of the first upper vehicle coordinate system is equal to the relative angle; converting the first lateral angle and the first longitudinal angle based on the first lower vehicle coordinate system and the first upper vehicle coordinate system to determine a first turntable angle corresponding to the first lateral angle and a second turntable angle corresponding to the first longitudinal angle; determining the turntable inclination angle of the upper vehicle turntable according to the first turntable angle and the second turntable angle.

[0079] In one embodiment, converting the first lateral angle and the first longitudinal angle based on the first lower vehicle coordinate system and the first upper vehicle coordinate system to determine a first turntable angle corresponding to the first lateral angle and a second turntable angle corresponding to the first longitudinal angle includes: rotating the first plane around the first horizontal axis of the first lower vehicle coordinate system by the first lateral angle to obtain a second plane, where the first plane refers to the plane where the first lower vehicle coordinate system and the first upper vehicle coordinate system are located; determining the first turntable angle corresponding to the first lateral angle through the second plane and the first plane; rotating the first plane around the first longitudinal axis of the first lower vehicle coordinate system by the first longitudinal angle to obtain a third plane; determining the second turntable angle corresponding to the first longitudinal angle through the third plane and the first plane.

[0080] In one embodiment, the first turntable angle is an angle obtained by synthesizing a first lateral turntable angle component and a first longitudinal turntable angle component, and the second turntable angle is an angle obtained by synthesizing a second lateral turntable angle component and a second longitudinal turntable angle component. The method further includes: determining the first lateral turntable angle component and the first longitudinal turntable angle component through a second plane and a first plane respectively; determining the second lateral turntable angle component and the second longitudinal turntable angle component through a third plane and the first plane respectively.

[0081] In one embodiment, determining the first lateral turntable component through the second plane and the first plane includes: determining a second on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the second plane; determining a first line segment between the coordinate origin of the second on-vehicle coordinate system and a first preset coordinate point in the second on-vehicle coordinate system, where the first preset coordinate point is located on the third horizontal axis of the second on-vehicle coordinate system; determining a first projection line segment of the vertical projection of the first line segment on the first plane; and determining the angle between the first line segment and the first projection line segment as the first lateral turntable angle component.

[0082] In one embodiment, determining the first longitudinal turntable component through the second plane and the first plane includes: determining a second on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the second plane; determining a second line segment between the coordinate origin of the second on-vehicle coordinate system and a second preset coordinate point in the second on-vehicle coordinate system, where the second preset coordinate point is located on the second vertical axis of the second on-vehicle coordinate system; determining a second projection line segment of the vertical projection of the second line segment onto the first plane; and determining the angle between the second line segment and the second projection line segment as the first longitudinal turntable angle component.

[0083] In one embodiment, determining the second lateral turntable component through the third plane and the first plane includes: determining a third on-vehicle coordinate system corresponding to the first on-vehicle coordinate system included in the third plane; determining a third line segment between the coordinate origin of the third on-vehicle coordinate system and a third preset coordinate point in the third on-vehicle coordinate system, where the third preset coordinate point is located on the fourth horizontal axis of the third on-vehicle coordinate system; determining a third projection line segment of the vertical projection of the third line segment onto the first plane; and determining the angle between the third line segment and the third projection line segment as the second lateral turntable angle component.

[0084] In one embodiment, determining the second longitudinal turntable component through the third plane and the first plane includes: determining a third on-vehicle coordinate system corresponding to the first on-vehicle coordinate system in the third plane; determining a fourth line segment between the coordinate origin of the third on-vehicle coordinate system and a fourth preset coordinate point in the third on-vehicle coordinate system, where the fourth preset coordinate point is located on the third vertical axis of the third on-vehicle coordinate system; determining a fourth projection line segment of the vertical projection of the fourth line segment on the first plane; and determining the angle between the fourth line segment and the fourth projection line segment as the second longitudinal turntable angle component.

[0085] In one embodiment, the inclination angle of the upper turntable includes a second lateral angle and a second longitudinal angle. Determining the inclination angle of the upper turntable according to the first turntable angle and the second turntable angle includes: superimposing the first lateral turntable angle component included in the first turntable angle and the second lateral turntable angle component included in the second turntable angle to obtain the second lateral angle; superimposing the first longitudinal turntable angle component included in the first turntable angle and the second longitudinal turntable angle component included in the second turntable angle to obtain the second longitudinal angle; and determining the angle synthesized by the second lateral angle and the second longitudinal angle as the inclination angle of the upper turntable.

[0086] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented 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.

[0087] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more of the processes or multiple processes and / or blocks Figure 1 one or more of the blocks.

[0088] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implements the functions specified in Figure 1 one or more of the processes or multiple processes and / or blocks Figure 1 one or more of the blocks.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide means for implementing the functions specified in Figure 1Steps of one or more processes and / or boxes Figure 1 Steps of the functions specified in one box or more boxes.

[0090] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0091] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0092] Computer-readable media includes permanent and non-permanent, removable and non-removable media and can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, 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, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0093] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0094] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for determining the inclination angle of a crane, characterized in that, The crane includes an upper slewing platform, a lower crawler belt, and an inclination sensor. Among them, the inclination sensor is installed on the lower crawler belt. The method includes: Obtaining the crawler inclination angle of the lower crawler belt through the inclination sensor, where the crawler inclination angle is an angle synthesized by a first lateral angle and a first longitudinal angle; Obtaining the relative angle between the upper slewing platform and the lower crawler belt; Respectively constructing a first lower vehicle coordinate system for the lower crawler belt and a first upper vehicle coordinate system for the upper slewing platform according to the relative angle, where the included angle between the first horizontal axis of the first lower vehicle coordinate system and the second horizontal axis of the first upper vehicle coordinate system is equal to the relative angle; Converting the first lateral angle and the first longitudinal angle based on the first lower vehicle coordinate system and the first upper vehicle coordinate system to determine a first slewing angle corresponding to the first lateral angle and a second slewing angle corresponding to the first longitudinal angle; Determining the slewing inclination angle of the upper slewing platform according to the first slewing angle and the second slewing angle.

2. The method for determining the inclination angle of a crane according to claim 1, wherein The converting the first lateral angle and the first longitudinal angle based on the first lower vehicle coordinate system and the first upper vehicle coordinate system to determine a first slewing angle corresponding to the first lateral angle and a second slewing angle corresponding to the first longitudinal angle includes: Rotating a first plane around the first horizontal axis of the first lower vehicle coordinate system by the first lateral angle to obtain a second plane, where the first plane refers to the plane where the first lower vehicle coordinate system and the first upper vehicle coordinate system are located; Determining the first slewing angle corresponding to the first lateral angle through the second plane and the first plane; Rotating the first plane around the first longitudinal axis of the first lower vehicle coordinate system by the first longitudinal angle to obtain a third plane; Determining the second slewing angle corresponding to the first longitudinal angle through the third plane and the first plane.

3. The method for determining the inclination angle of a crane according to claim 2, characterized in that, The first slewing angle is an angle synthesized by a first lateral slewing angle component and a first longitudinal slewing angle component, and the second slewing angle is an angle synthesized by a second lateral slewing angle component and a second longitudinal slewing angle component. The method further includes: Determining the first lateral slewing angle component and the first longitudinal slewing angle component through the second plane and the first plane respectively; Determining the second lateral slewing angle component and the second longitudinal slewing angle component through the third plane and the first plane respectively.

4. The method for determining the inclination angle of a crane according to claim 3, wherein Determining the first lateral slewing component through the second plane and the first plane includes: Determining a second upper vehicle coordinate system corresponding to the first upper vehicle coordinate system in the second plane; Determining a first line segment between the coordinate origin of the second upper vehicle coordinate system and a first preset coordinate point in the second upper vehicle coordinate system, where the first preset coordinate point is located on the third horizontal axis of the second upper vehicle coordinate system; Determining a first projection line segment of the vertical projection of the first line segment on the first plane; Determining the included angle between the first line segment and the first projection line segment as the first lateral slewing angle component.

5. The method for determining the inclination angle of a crane according to claim 3, characterized in that, Determining a first longitudinal turntable component by the second plane and the first plane includes: Determining a second upper vehicle coordinate system corresponding to the first upper vehicle coordinate system in the second plane; Determining a second line segment between the coordinate origin of the second upper vehicle coordinate system and a second preset coordinate point in the second upper vehicle coordinate system, wherein the second preset coordinate point is located on the second longitudinal axis of the second upper vehicle coordinate system; Determining a second projection line segment obtained by vertically projecting the second line segment onto the first plane; Determining the angle between the second line segment and the second projection line segment as the first longitudinal turntable angle component.

6. The method for determining the inclination angle of a crane according to claim 3, characterized in that, Determining a second lateral turntable component by the third plane and the first plane includes: Determining a third upper vehicle coordinate system corresponding to the first upper vehicle coordinate system included in the third plane; Determining a third line segment between the coordinate origin of the third upper vehicle coordinate system and a third preset coordinate point in the third upper vehicle coordinate system, wherein the third preset coordinate point is located on the fourth transverse axis of the third upper vehicle coordinate system; Determining a third projection line segment obtained by vertically projecting the third line segment onto the first plane; Determining the angle between the third line segment and the third projection line segment as the second lateral turntable angle component.

7. The method for determining the inclination angle of a crane according to claim 3, characterized in that, Determining a second longitudinal turntable component by the third plane and the first plane includes: Determining a third upper vehicle coordinate system corresponding to the first upper vehicle coordinate system in the third plane; Determining a fourth line segment between the coordinate origin of the third upper vehicle coordinate system and a fourth preset coordinate point in the third upper vehicle coordinate system, wherein the fourth preset coordinate point is located on the third longitudinal axis of the third upper vehicle coordinate system; Determining a fourth projection line segment obtained by vertically projecting the fourth line segment onto the first plane; Determining the angle between the fourth line segment and the fourth projection line segment as the second longitudinal turntable angle component.

8. The method for determining the inclination angle of a crane according to any one of claims 1 to 7, characterized in that, The turntable inclination angle of the upper vehicle turntable includes a second lateral angle and a second longitudinal angle. Determining the turntable inclination angle of the upper vehicle turntable according to the first turntable angle and the second turntable angle includes: Superposing the first lateral turntable angle component included in the first turntable angle and the second lateral turntable angle component included in the second turntable angle to obtain the second lateral angle; Superposing the first longitudinal turntable angle component included in the first turntable angle and the second longitudinal turntable angle component included in the second turntable angle to obtain the second longitudinal angle; Determining the angle synthesized by the second lateral angle and the second longitudinal angle as the turntable inclination angle of the upper vehicle turntable.

9. A processor, characterized in that, Configured to execute the method for determining the crane inclination according to any one of claims 1 to 8.

10. A device for determining the inclination angle of a crane, characterized in that Including a processor according to claim 9.

11. A crane, characterized in that, Including: An upper vehicle turntable for performing hoisting operations; A lower vehicle crawler for controlling the movement of the crane; An inclination sensor installed on the lower vehicle crawler for acquiring the crawler inclination angle of the lower vehicle crawler; And A device for determining the crane inclination according to claim 10.

12. A machine-readable storage medium having instructions stored thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to execute the method for determining the inclination angle of a crane according to any one of claims 1 to 8.

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