A wireless beacon machine-based crane jib length detection system and method

Abstract

The application discloses a crane auxiliary arm length detection system and method based on a wireless beacon machine, and relates to the field of crane auxiliary arm length detection. The system comprises a data detection unit, a data analysis unit, an operation unit and a result output unit. The data detection unit comprises a first wireless beacon machine installed on an auxiliary arm and used for sending an auxiliary arm identification code, and a second wireless beacon machine installed on a main arm and used for receiving the identification code. The operation unit comprises a data processing unit and a checking unit. The data analysis unit comprises a data input unit and a data retrieval unit. The method checks the calculation result with the actual auxiliary arm length by building a database and a model, and realizes crane working condition display, recommendation, checking and alarm. The application is based on wireless beacon machine communication technology, improves the accuracy of auxiliary arm length detection, and guarantees the intelligence and safety of the crane operation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to a crane auxiliary arm length detection system and method based on a wireless beacon device. BACKGROUND

[0002] With the vigorous development of national infrastructure, the demand for cranes in the field of infrastructure is increasing. The crane is a large and complex special equipment, which is difficult to operate and has high requirements for the operation ability of the user. Improper operation may cause the crane to tip over, structural damage and other major safety accidents. This puts forward higher safety requirements for crane manufacturers, and higher safety often represents more complex operation methods. Therefore, the need for crane intelligence is becoming more and more urgent. During engineering operations, some accidents may occur. For cranes, overload is one of the main causes of accidents. In order to avoid the current lifting torque or weight of the crane exceeding the maximum allowable load, it is necessary to detect the current load torque of the crane to determine whether it is overloaded.

[0003] The crane auxiliary arm system is a kind of composite and detachable truss arm structure installed at the head of the lifting arm, which provides a larger working space for the crane. The traditional auxiliary arm system is a kind of truss arm structure with multiple fixed lengths. Different lengths of auxiliary arm systems have different rated loads. The selection of auxiliary arm working conditions has always been based on the user's self-selection. The selection of the wrong auxiliary arm working condition often causes errors in the rated load calculated by the crane control system, resulting in the failure of the operation safety protection function and causing overload and serious safety accidents. In order to meet the diversity of market demand, the auxiliary arm system has more and more different length structure combinations, and the error rate of users in the installation and selection process is getting higher and higher.

[0004] At present, the structure of the torque overload detection system is relatively complex. Various working conditions of the crane are detected through numerous pin shaft sensors, pressure sensors, arm length sensors and angle sensors. The overload protection is fitted through a complex operation control system or test correction parameters. Due to the complex structure and high cost of the system, it is only suitable for large cranes. More and more cranes do not have torque overload detection systems, and the operators only rely on experience to judge overload, which increases unsafe operations.

[0005] At present, the torque limiter calculates the rated load according to the working condition and the length of the auxiliary arm selected by the user. The selection method and control device of the crane main and auxiliary arm working condition and the crane disclosed in the publication (announcement) No. CN104176643A provide a method and device for judging the working condition of the crane auxiliary arm based on proximity switches. The basic principle is that the proximity switch and the spring pin fixed on the auxiliary arm obtain the position of the auxiliary arm. The proximity switch can detect the auxiliary arm when the auxiliary arm is not extended. After the auxiliary arm is extended, the distance between the proximity switch and the auxiliary arm is greater than the detection range of the proximity switch, and the auxiliary arm cannot be detected. The working state of the auxiliary arm obtained by the control device is used to determine the selection of the working condition. When the auxiliary arm is in the working state, the control device prohibits the selection of the main arm working condition and only allows the selection of the auxiliary arm working condition. When the auxiliary arm is not in the working state, the control device provides the main arm working condition and the auxiliary arm working condition for the user to select. When the auxiliary arm is in the working state, the control device issues an alarm when the user selects the main arm working condition on the control device. The alarm is a sound alarm and / or a light alarm.

[0006] The crane auxiliary arm working condition detection system and crane disclosed in the publication (announcement) No. CN215666701U provide a method and device for judging the working condition of the crane auxiliary arm based on the auxiliary arm area image. The basic principle is that the camera device installed on the arm head obtains the auxiliary arm area image, and inputs the auxiliary arm area image into the controller. A large number of sample auxiliary arm area images are collected, and the sample auxiliary arm working condition detection result is determined by manual annotation. The initial model is trained based on the sample auxiliary arm area image and the sample auxiliary arm working condition detection result, so as to obtain the working condition detection model. The number of image frames with the same initial working condition detection result is counted, and the result determination module is used to determine the initial working condition detection result corresponding to the maximum image frame number as the auxiliary arm working condition detection result.

[0007] In the prior art, only whether the auxiliary arm is working can be identified, and the detection system or method cannot identify all types of auxiliary arms, so that the actual auxiliary arm length of the crane cannot be completely described. In order to ensure the accuracy of the rated load calculation of the crane and reduce the operation difficulty of the user, there is an urgent need for a crane auxiliary arm length detection device with simple structure, low cost and intelligence in the market at present. SUMMARY

[0008] The purpose of the application is to solve the problems of the prior art. The crane auxiliary arm length detection system and method based on a wireless beacon machine are provided, which have simple structure, low cost and intelligence.

[0009] Technical Solution: This invention provides a crane jib length detection system based on a wireless beacon, comprising a data detection unit, a data analysis unit for inputting and retrieving data, a computation unit for processing and verifying data, and a result output unit; the data detection unit includes a first wireless beacon installed on each jib section for transmitting the jib identification code information and a second wireless beacon installed on the main boom for receiving the identification code information; the computation unit includes a data processing unit and a verification unit; the data analysis unit includes a data input unit and a data retrieval unit.

[0010] To improve data accuracy and meet the requirements for recommending and verifying the working conditions of cranes under different jib systems, this invention uses the identification code information sent by the wireless beacon as the main data source. The data analysis unit compares and analyzes the actual vehicle data in the database to obtain the length and quantity of the jib in the installed jib system.

[0011] Preferably, the data detection unit includes a data transmission module for transmitting identification code information.

[0012] Furthermore, the wireless beacon's operation is enabled by both automatic operation after being connected to the vehicle's electrical network and manual triggering.

[0013] Furthermore, the identification code information includes the length L of the segmental arm. i The type code B for this auxiliary arm i The vehicle identification number (V) installed on this section of the boom arm i wait.

[0014] Furthermore, the first wireless beacon is a wireless beacon with transmitting function, and the second wireless beacon is a wireless beacon with transmitting and receiving functions; or both the first and second wireless beacons are wireless beacons with transmitting and receiving functions.

[0015] Preferably, the first wireless beacon uses G... i interface.

[0016] Preferably, the second wireless beacon uses G... N There is one interface.

[0017] Preferably, the first wireless beacon is installed at the head of each auxiliary arm section, and the second wireless beacon is installed at the head of the main arm section.

[0018] To improve convenience and ensure the operation of the secondary arm length recognition technology model based on the wireless beacon, the data analysis unit and the computing unit are either independent programmable electronic devices or integrated into the vehicle-mounted device.

[0019] Preferably, the independent programmable electronic device adopts a torque limiter, and the on-vehicle device selects a display or a main controller.

[0020] Further, the information checked by the checking unit includes length and angle of the main arm, number and length of the sub-arm and other working condition information.

[0021] Preferably, the data sending module transmits data through a CAN network.

[0022] Further, the enabling mode of the wireless beacon machine for transmitting data includes transmitting after accessing the whole vehicle circuit and transmitting in real time through the power source carried by the wireless beacon machine.

[0023] Preferably, the sub-arm system can only install the same type of sub-arm under the same working condition, and can install different types of sub-arms under different working conditions.

[0024] The application provides a wireless beacon machine-based crane sub-arm length detection method, which comprises the following steps:

[0025] (1) Database building, recording the identification code information detected and transmitted by the wireless beacon machine installed on each sub-arm under different sub-arm lengths;

[0026] (2) Model building, searching the database according to the real vehicle identification code information detected by the wireless beacon machine, performing fuzzy degree mathematical modeling according to the constructed membership function, checking the identification code information obtained by modeling and the possible corresponding sub-arm length, so as to build a model of the mathematical relationship between the input signal and the output signal, i.e., the identification code information detected by the wireless beacon machine and the actual vehicle-mounted sub-arm length, which has higher credibility;

[0027] (3) Software realization, inputting and generating the generated model into software that can run on a specified operation unit, and implanting the software into the specified operation unit for running;

[0028] (4) System realization, connecting the wireless beacon machine of the sub-arm system to the data sending module, connecting the output result of the data sending module to the operation unit, importing the constructed database and calculation model into the operation unit, so that the operation unit can calculate the actual sub-arm length according to the input signal and the calculation model;

[0029] (5) System application, the actual length of the crane-mounted sub-arm calculated by the system can be used for crane state display, working condition recommendation, user-selected working condition checking, alarm or crane safety protection function.

[0030] Further, the analysis of the fuzzy degree is not limited to a certain fixed membership function, but can also be a tolerance range or a weighting coefficient.

[0031] The model is constructed by the following steps:

[0032] (2.1) The auxiliary boom system is connected to the vehicle's electrical system. The first wireless beacon installed on each auxiliary boom section starts working and sends the identification code information of that auxiliary boom section to the second wireless beacon installed at the head of the main boom in real time, including the length L of that auxiliary boom section. i Type encoding B i and the vehicle identification number V installed i wait;

[0033] (2.2) The data transmission module collects real vehicle data and identification code information detected by the wireless beacon, processes the information and transmits it to the computing unit and data entry unit through the CAN controller domain network;

[0034] (2.3) The data entry unit writes the collected information into the corresponding auxiliary arm length and different auxiliary arm combinations, and maps the identification code information and auxiliary arm length to the auxiliary arm combination one by one to build a database that can be queried;

[0035] (2.4) The data retrieval unit retrieves data from the database based on the vehicle identification code information detected by the wireless beacon and constructs a fuzzy set of relevant data;

[0036] (2.5) The data processing unit performs fuzzy analysis on the fuzzy set based on the membership function to obtain the secondary arm length value with higher confidence. The membership function is L = f(k, L). i B i V i ),

[0037] Where k is the membership function coefficient, L i B represents the length of the secondary arm transmitted by the wireless beacon. i For the type of secondary arm transmitted by the wireless beacon, V i The identification code of the vehicle to which this auxiliary boom is installed is transmitted by the wireless beacon.

[0038] (2.6) The verification unit analyzes the main boom length L based on the actual vehicle working condition data. M The auxiliary arm length L is derived from the main arm angle θ and working radius M, and then checked against the auxiliary arm length value detected by the wireless beacon. If it is within the allowable error range, it can be applied to the working condition verification; otherwise, the membership function coefficient k is corrected by back-calculating the k value. The membership function coefficient k = f(L) M ,θ,M),

[0039] Among them, L M θ is the current boom length, θ is the current boom angle, and M is the current working radius;

[0040] (2.7) The calculation results output by the result output unit are checked against the auxiliary boom working conditions selected by the user. If they do not match, an alarm will be triggered, and working conditions will be automatically recommended according to the user's needs, reminding the user to reconfirm the working conditions.

[0041] Preferably, in step 2.1, the wireless beacon will only send information after the auxiliary boom system is connected to the vehicle's circuitry; it will not send information when the auxiliary boom is not installed.

[0042] Preferably, the verification work of the verification unit in step 2.6 is completed during the product debugging process, and after selecting the correct membership function, it is not necessary to participate in the verification every time.

[0043] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. Based on the wireless beacon communication technology to obtain real vehicle data, and targeting the working condition of the crane jib, the present invention realizes the accurate measurement and calculation of the length of the crane jib system; 2. The present invention can not only determine whether the jib is working, but also accurately distinguish the length of the jib that is working, and perform more intelligent working condition verification, working condition recommendation and safety reminder, so as to avoid safety accidents caused by working condition selection that does not conform to reality, and more reliably ensure the safe operation of the crane. Attached Figure Description

[0044] Figure 1 This is a structural block diagram of the detection system of the present invention;

[0045] Figure 2 This is a flowchart illustrating the construction process of the detection model of the present invention;

[0046] Figure 3 This is a flowchart illustrating the implementation of the detection method of the present invention. Detailed Implementation

[0047] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0048] like Figure 1 As shown, this invention provides a crane jib length detection system based on a wireless beacon, including a data detection unit, a data analysis unit for data input and retrieval, a calculation unit for data processing and verification, and a result output unit. The data detection unit includes a first wireless beacon installed on each jib section for transmitting the jib identification code information and a second wireless beacon installed on the main boom for receiving the identification code information. The calculation unit includes a data processing unit and a verification unit. The data analysis unit includes a data input unit and a data retrieval unit. The data detection unit includes a wireless beacon and a data transmission module. The first wireless beacon installed at the head of each jib section uses a G-band... i The interface, the second wireless beacon installed at the head of the main arm, uses G... NInterface; data analysis unit includes data entry unit and data retrieval unit; operation unit includes data processing unit and checking unit; data analysis unit and operation unit for running wireless beacon machine-based auxiliary arm length identification technology model are integrated in vehicle-mounted controller.

[0049] The wireless beacon machine-based auxiliary arm length identification technology model is based on the identification code information sent by the real vehicle wireless beacon machine, and the mathematical description between the input set and the output set is obtained through database retrieval and ambiguity analysis, that is, the mathematical relationship between the detected identification code information and the actual auxiliary arm length value.

[0050] As shown in Figure 3 , the present application provides a wireless beacon machine-based crane auxiliary arm length detection method, the steps are as follows:

[0051] (1) Database building, recording the identification code information detected and transmitted by the wireless beacon machine installed on each auxiliary arm at different auxiliary arm lengths;

[0052] (2) Model building, according to the real vehicle identification code information detected by the wireless beacon machine, searching in the database, performing fuzzy mathematics modeling according to the constructed membership function, and checking the identification code information obtained by modeling with the possible corresponding auxiliary arm length, so as to build a model that can describe the input signal and the output signal, that is, the mathematical relationship between the identification code information detected by the wireless beacon machine and the actual vehicle-mounted auxiliary arm length with high credibility;

[0053] (3) Software implementation, entering and generating the generated model into software that can run in the specified operation unit, and implanting the software into the specified operation unit for running;

[0054] (4) System implementation, connecting the wireless beacon machine of the auxiliary arm system to the data sending module, and connecting the output result of the data sending module to the operation unit, importing the built database and calculation model to the operation unit, so that the operation unit can calculate the actual auxiliary arm length according to the input signal and the calculation model;

[0055] (5) System application, the actual length of the crane-mounted auxiliary arm calculated by the system can be used for crane state display, working condition recommendation, user-selected working condition checking, alarm or crane safety protection function.

[0056] As shown in Figure 2 , the model building includes the following steps:

[0057] (2.1) The wireless beacon machine with transmitting function is installed at the head of each auxiliary arm, and when the auxiliary arm is connected to the vehicle circuit system, each wireless beacon machine starts to work and transmits the unique identification code of the auxiliary arm in real time, the unique identification code including the length L i, the type code B of the section auxiliary arm i , the identification code V of the vehicle installed with the section auxiliary arm i , etc. The wireless beacon with the function of transceiving is installed at the head of the main arm, and is used to receive the identification code information transmitted by the wireless beacon. The wireless beacon will transmit information only after accessing the whole vehicle circuit, and will not transmit information when the auxiliary arm is not installed.

[0058] (2.2) The data transmitting module is used for real vehicle data collection, collects the identification code information detected by the wireless beacon, and performs simple processing on the information, and finally transmits the information to the operation unit and the data entry unit through the CAN controller area network.

[0059] (2.3) The data entry unit is used for collecting the wireless beacon identification code information transmitted by the data transmitting module in the information collection stage, and writing the corresponding auxiliary arm length and different auxiliary arm combinations. The identification code information and the auxiliary arm length and the auxiliary arm combination are one-to-one corresponding, which is used to build a database of queryable data.

[0060] (2.4) The data retrieval unit performs data retrieval in the database according to the real vehicle wireless beacon identification code information transmitted by the data transmitting module in the system application aspect, and constructs a data related set (fuzzy set). The unit can be an independent programmable electronic device, which is usually called a force limiter or a torque limiter, and can also be integrated into a vehicle-mounted device such as a display or a main controller.

[0061] (2.5) The data processing unit performs fuzzy degree analysis in the fuzzy set according to the membership function, and obtains the auxiliary arm length value with higher reliability. The unit can be an independent programmable electronic device, which is usually called a force limiter or a torque limiter, and can also be integrated into a vehicle-mounted device such as a display or a main controller.

[0062] The membership function L = f (k, L i , B i , V i );

[0063] Wherein, k is the membership function coefficient; L i is the length of the section auxiliary arm transmitted by the wireless beacon; B i is the type of the auxiliary arm of the section auxiliary arm transmitted by the wireless beacon; V i is the identification code of the vehicle installed with the section auxiliary arm transmitted by the wireless beacon.

[0064] (2.6) The checking unit is used for checking the real vehicle working condition data (the length L M, main arm angle θ, working amplitude M) analyzes the sub-arm length value, and checks the sub-arm length value L based on the wireless beacon machine according to the obtained sub-arm length value L. If it is within the allowable error range, the sub-arm length value calculated by the sub-arm length identification system based on the wireless beacon machine can be applied to the working condition check. Otherwise, the membership function coefficient k is corrected by inverse calculation of k value. The calibration work of the calibration unit is verified during the product debugging process, and after selecting the correct membership function, it is not necessary to participate in calibration every time.

[0065] Membership function coefficient k = f(L M , θ, M);

[0066] Wherein: L M is the current main arm length; θ is the current main arm angle; M is the current working amplitude.

[0067] (2.7) The result output unit outputs the calculation result and checks the sub-arm working condition according to the user's selection. If the user's selected sub-arm working condition information does not match the automatically identified information, the display prompts an alarm and requires the user to confirm whether the selected working condition is correct. According to the user's needs, the working condition can also be recommended. If the user needs working condition recommendation, the automatically identified working condition information will be prompted to the user, and the user will be reminded to confirm the working condition.

Claims

1. A wireless beacon machine-based crane auxiliary boom length detection method, the steps being as follows: (1) Database setup, record the identification code information detected and transmitted by the wireless beacon installed on each section of the auxiliary arm under different auxiliary arm lengths; the identification code information includes the length of the auxiliary arm , type code and the identification code of the installed vehicle ; (2) Model construction, according to the real vehicle identification code information in the database retrieval, according to the constructed membership function to carry out fuzzy mathematics modeling, and the modeling information obtained is checked with the possible corresponding auxiliary boom length, and the model of the mathematical relationship between the input signal and the output signal with higher reliability is constructed; (2.1) The auxiliary boom system is connected to the vehicle circuit system, and the first wireless beacon machine installed on each auxiliary boom starts to work and sends the identification code information of the auxiliary boom to the second wireless beacon machine installed on the main arm head in real time; (2.2) The data sending module collects real vehicle data and identification code information detected by the wireless beacon machine, and after processing the information, it is transmitted to the operation unit and the data entry unit through the CAN controller area network; (2.3) The data entry unit writes the collected information into the corresponding auxiliary boom length and different auxiliary boom combinations, and the identification code information and the auxiliary boom length and the auxiliary boom combination are one-to-one corresponding, and a database for query is constructed; (2.4) The data retrieval unit retrieves data in the database according to the identification code information detected by the wireless beacon machine, and constructs a fuzzy set of related data; (2.5) The data processing unit performs ambiguity analysis in the fuzzy set to obtain the length value of the sub-arm with higher reliability, and the ambiguity analysis method includes membership function, tolerance range and weighted coefficient, and the membership function is , wherein, is a membership function coefficient, is a length of the segment sub-arm transmitted by the wireless beacon, is a sub-arm type of the segment sub-arm transmitted by the wireless beacon, is an identification code of the vehicle to which the segment sub-arm is installed transmitted by the wireless beacon; (2.6) The verification unit analyzes the boom length based on the actual vehicle data. Main boom angle and range of work The length L of the auxiliary arm is calculated and compared with the length detected by the wireless beacon. If it is within the allowable error range, it can be used for operational condition verification; otherwise, it is calculated in reverse. Values ​​of membership function coefficients Make corrections to the membership function coefficients. , wherein, is the current master arm length, is the current master arm angle, is the current working amplitude; (3) Software implementation, the generated model is entered and software for operation unit running is generated; (4) System implementation, connect the wireless beacon machine of the auxiliary boom system to the data sending module, and connect the output result of the data sending module to the operation unit, import the constructed database and calculation model to the operation unit, so that the operation unit can calculate the actual auxiliary boom length according to the input signal and the calculation model; (5) System application, the actual length of the crane auxiliary boom system calculated by the system can be used for crane state display, working condition recommendation, user-selected working condition checking, alarm or crane safety protection function.

2. The wireless beacon machine based crane jib length detection method according to claim 1, characterized in that, In step 2.1, the wireless beacon machine will send information only after the auxiliary boom system is connected to the vehicle circuit, and will not send information when the auxiliary boom is not installed.

3. The wireless beacon machine based crane jib length detection method according to claim 1, characterized in that, In step 2.6, the checking work of the checking unit is verified during product debugging, and after selecting the correct membership function, it is not necessary to participate in checking every time.

4. The wireless beacon machine based crane jib length detection method according to claim 1, characterized in that, In step 2.6, the calculation result output by the result output unit is checked with the user-selected auxiliary boom working condition, if it is not consistent, an alarm will be prompted, and the working condition will be recommended automatically according to the user's demand, prompting the user to reconfirm the working condition.

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