A crane auxiliary boom length identification system and method based on differential positioning

Abstract

The application discloses a crane auxiliary arm length identification system and method based on differential positioning, and relates to the technical field of crane auxiliary arm length identification.The system comprises a data detection unit, a data analysis unit, a vehicle-mounted operation unit and a result output unit.The data detection unit comprises a positioning terminal G1 on the auxiliary arm, a positioning terminal G2 of the vehicle and a data sending module.The data analysis unit comprises a data input unit and a data retrieval unit.The operation unit comprises a data processing unit and a checking unit.The application constructs a database and an auxiliary arm length identification model based on differential positioning when identifying the auxiliary arm length, generates software running on the specified vehicle-mounted operation unit, connects the positioning of the auxiliary arm system to the data sending module, inputs the output result of the data sending module into the vehicle-mounted operation unit, imports the constructed database and the calculation model into the vehicle-mounted operation unit, and calculates the crane auxiliary arm length according to the input signal and the calculation model.The application realizes accurate measurement of the crane auxiliary arm length through differential positioning technology.

Description

Technical Field

[0001] This invention relates to crane booms, and more particularly to a crane boom length identification system and method based on differential positioning. Background Technology

[0002] Cranes are large, complex, and specialized pieces of equipment. Their operation is difficult and demands a high level of skill from the user. Improper operation can lead to serious safety accidents such as crane overturning and structural damage. This places higher safety requirements on crane manufacturers, often necessitating more complex operating procedures. Therefore, the need for intelligent crane operation is becoming increasingly urgent.

[0003] A crane jib system is a modular and detachable truss boom structure installed at the boom head, providing a wider working space for the crane. Traditionally, jib systems consist of various fixed-length truss boom structures, each with different rated loads. The selection of the jib's operating condition has always been based on user choice. Incorrect selection often leads to errors in the rated load calculated by the crane control system, causing operational safety protection functions to fail, resulting in overloading and serious safety accidents. Furthermore, to meet diverse market demands, jib systems now offer an increasing number of structural combinations with different lengths, leading to a higher error rate during installation and selection by users.

[0004] Application publication number CN104176643A, entitled "A Method and Control Device for Selecting the Operating Conditions of a Crane's Main and Auxiliary Booms, and a Crane," provides a method and device for determining the operating conditions of a crane's auxiliary boom based on proximity switches. Its basic principle is:

[0005] (1) The position of the auxiliary arm is obtained by a proximity switch installed on the main arm and a spring pin fixed on the auxiliary arm. The proximity switch can detect the auxiliary arm when it 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.

[0006] (2) The working condition is determined by the working status of the auxiliary boom obtained by the control device. When the auxiliary boom is in working condition, the control device prohibits the selection of the main boom working condition and only allows the selection of the auxiliary boom working condition. When the auxiliary boom is not in working condition, the control device provides the main boom working condition and the auxiliary boom working condition for the user to choose from.

[0007] (3) When the auxiliary boom is in working condition, and the operator selects the main boom working condition on the control device, the control device issues an alarm. The alarm is an audible alarm and / or a visual alarm.

[0008] (4) Application publication number CN215666701U, entitled "Auxiliary boom condition detection system and crane," provides a method and device for judging the auxiliary boom condition of a crane based on images of the auxiliary boom area. Its basic principle is:

[0009] (a) Acquire an image of the auxiliary arm region using a camera device mounted on the arm head, and input the image of the auxiliary arm region to the controller;

[0010] (b) Collect a large number of sample secondary arm region images and determine the sample secondary arm working condition detection results through manual annotation. Then, train the initial model based on the sample secondary arm region images and sample secondary arm working condition detection results to obtain the working condition detection model.

[0011] (c) Count the number of image frames with the same initial working condition detection results. The result determination module is used to take the initial working condition detection result corresponding to the largest number of image frames as the secondary arm working condition detection result.

[0012] Currently, the load limiter calculates the rated load based on the user-selected working conditions and boom length. However, the existing technology only identifies whether the boom is working, and the method cannot identify all types of booms, thus failing to fully describe the actual boom length of the crane. Summary of the Invention

[0013] Purpose of the invention: Current load limiters calculate rated load based on user-selected operating conditions and boom length. To ensure the accuracy of crane rated load calculation and reduce user operational difficulty, this invention proposes a crane boom length identification system and method based on differential positioning. By employing differential positioning technology, the system automatically identifies the installed boom length. During crane operation, the system automatically verifies the boom's operating condition and provides safety prompts, reducing safety accidents caused by incorrect operating condition selection and improving crane operability and safety.

[0014] Technical solution: The crane boom length identification system based on differential positioning of the present invention includes a data detection unit, a data analysis unit, an on-board computing unit, and a result output unit;

[0015] The data detection unit includes a positioning terminal G1 mounted on the head of the auxiliary boom, a vehicle positioning terminal G2, and a data transmission module;

[0016] The data analysis unit includes a data entry unit and a data retrieval unit;

[0017] The arithmetic unit includes a data processing unit and a verification unit.

[0018] The data retrieval unit can be a separate programmable electronic device, display, or main controller.

[0019] The crane boom length identification method based on differential positioning of the present invention includes the following steps:

[0020] (1) Construct a database to record the frame structure parameters; record the difference in the position coordinates of the positioning terminal detected under different auxiliary boom lengths;

[0021] (2) Construct a secondary arm length recognition model based on differential positioning. Search the database according to the position coordinate difference of the positioning terminal detected by the actual vehicle. Perform fuzzy mathematical modeling based on the constructed membership function to obtain the secondary arm length corresponding to the position coordinate difference of the positioning terminal. Thus, construct a model of the mathematical relationship between the detected position coordinate difference of the positioning terminal and the actual length of the vehicle-mounted secondary arm.

[0022] (3) Software implementation: The model generated in step (2) is programmed and developed to generate software that runs on the specified vehicle computing unit, and the software is then implanted into the specified vehicle computing unit for operation.

[0023] (4) Connect the positioning terminal of the auxiliary boom system to the data transmission module and input the output of the data transmission module into the vehicle-mounted computing unit; import the constructed database and calculation model into the vehicle-mounted computing unit, and the vehicle-mounted computing unit calculates the length of the crane auxiliary boom according to the input signal and the calculation model.

[0024] In step (4), the calculated crane boom length is applied to crane status display, working condition recommendation, user-selected working condition verification, alarm, or crane safety protection.

[0025] In step (2), the construction process of the auxiliary arm length recognition model based on differential positioning is as follows:

[0026] (1) Install positioning terminal G1 on the head of the auxiliary boom to detect the position coordinates of the head of the auxiliary boom; install positioning terminal G2 in the cab of the vehicle for positioning.

[0027] (2) The data transmission module collects real vehicle data, collects and processes the position coordinate information detected by the positioning terminal, and transmits the information to the computing unit and data input unit through the CAN network;

[0028] (3) During the information collection phase, the data entry unit collects the GPS positioning terminal coordinate information and frame structure parameters transmitted by the data sending module and constructs a database; it then associates the positioning information with different auxiliary boom lengths.

[0029] (4) The data retrieval unit performs data retrieval based on the coordinate values ​​of the actual vehicle GPS positioning terminal sent by the data sending module and constructs a fuzzy set;

[0030] (5) The data processing unit performs fuzzy analysis on the fuzzy set based on the membership function to obtain a highly reliable secondary arm length value;

[0031] (6) The verification unit analyzes the boom length value based on the actual vehicle working condition data and verifies the boom length value based on differential positioning based on the results;

[0032] (7) The result output unit outputs the calculation results and verifies them according to the working condition of the auxiliary boom. If the working condition of the auxiliary boom selected by the user does not match the information automatically identified, an alarm will be triggered.

[0033] In step (5), the data processing unit performs fuzziness analysis on the fuzzy set based on the membership function to obtain the length value of the secondary arm.

[0034] The actual vehicle operating data in step (6) are the boom length L, boom angle θ, and working radius M.

[0035] In step (6), if the error is within the allowable range, the boom length value calculated by the differential positioning crane boom length identification system is applied to the working condition verification; otherwise, the membership function is recalculated.

[0036] Working Principle: This invention constructs a model for identifying the boom length based on differential positioning technology, enabling intelligent acquisition and identification of the boom length. The invention uses location information obtained through differential positioning technology as the primary data source, and compares and analyzes real-vehicle data through a database to obtain the length of the installed boom system. This model describes the mathematical relationship between measured data and the actual boom length under different boom configurations, meeting the requirements for recommended and verified operating conditions for different boom configurations. Specifically, a positioning device is installed at the boom head, combined with the existing vehicle-mounted positioning device to form a positioning system. The computing unit calculates the current boom length according to a set algorithm based on the parsed location information and other operating condition data. This positioning device can be GPS, BeiDou positioning system, or other types.

[0037] Among them, the crane boom length recognition model based on differential positioning is based on the GPS terminal position coordinates detected by the actual vehicle and the vehicle's own structural parameters retrieved from the database. It performs fuzzy analysis to obtain a mathematical description between the input set (detected terminal position coordinates) and the output set (actual boom length value).

[0038] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0039] (1) By adopting differential positioning technology to automatically identify the length of the installed jib, the crane jib length can be accurately measured. When the user operates the crane, the jib working condition is automatically checked and safety prompts are given, reducing safety accidents caused by the user selecting the wrong working condition and improving the operability and safety of the crane.

[0040] (2) When detecting the length of the crane boom, this invention uses differential positioning technology to start from the data obtained from the actual crane vehicle sensors and focuses on the working condition of the crane boom. It can completely describe the mathematical correlation between the crane status data and the actual boom length. Unlike the simple case of judging whether the boom is working in the past, this invention accurately distinguishes the length of the boom that is working, and performs more intelligent working condition verification, working condition recommendation and safety reminder. This avoids safety accidents caused by working condition selection that does not conform to reality, and thus more reliably ensures the safe operation of the crane. Attached Figure Description

[0041] Figure 1 This is a block diagram of the crane boom length identification system based on differential positioning according to the present invention;

[0042] Figure 2 This is a diagram illustrating the crane boom length identification model construction method based on differential positioning according to the present invention;

[0043] Figure 3 This is a flowchart illustrating the implementation of the crane boom length identification method based on differential positioning according to the present invention. Detailed Implementation

[0044] like Figure 1 As shown, the crane boom length recognition system based on differential positioning of this invention includes a data detection unit, a data analysis unit, a calculation unit, and a result output unit. The data detection unit includes a GPS positioning terminal G1 mounted on the boom head, a GPS positioning terminal G2 on the vehicle itself, and a data transmission module. The data analysis unit includes a data input unit and a data retrieval unit. The calculation unit includes a data processing unit and a verification unit. The data analysis unit and the calculation unit are used to run the boom length recognition technology model based on differential positioning. They are independent programmable electronic devices, called force limiters or torque limiters, or integrated into onboard devices such as displays or main controllers.

[0045] A crane boom length recognition model generation method based on differential positioning is as follows: Figure 2 As shown:

[0046] (1) Install GPS positioning terminal G1 at the head of the auxiliary boom to detect the location coordinates of the head of the auxiliary boom; install GPS positioning terminal G2 of the vehicle itself at the head of the cab or other locations for vehicle positioning.

[0047] (2) The data transmission module collects real vehicle data, gathers the location coordinate information detected by the GPS positioning terminal, performs simple processing on the information, and finally transmits the information to the computing unit and data input unit through the CAN network.

[0048] (3) The data entry unit is used during the information acquisition phase to collect the GPS positioning terminal coordinate information and chassis structure parameters transmitted by the data transmission module, and to build a database. The positioning information is mapped one-to-one with different auxiliary boom lengths.

[0049] (4) In terms of system application, the data retrieval unit retrieves data from the database based on the coordinate values ​​of the actual vehicle GPS positioning terminal sent by the data sending module, and constructs a data-related set (fuzzy set). This unit is an independent programmable electronic device, called a force limiter or torque limiter, or it can be integrated into the vehicle device, such as a display or main controller.

[0050] (5) The data processing unit performs fuzzy analysis on the fuzzy set based on the membership function to obtain a reliable value for the length of the auxiliary arm. This unit is an independent programmable electronic device, called a force limiter or torque limiter, or it can be integrated into an on-board device, such as a display or main controller.

[0051] (6) The verification unit analyzes the boom length value based on the actual vehicle operating data (boom length L, boom angle θ, working radius M), and verifies the boom length value based on differential positioning according to the results. If it is within the allowable error range, the boom length value calculated by the boom length recognition system based on differential positioning is applied to the operating condition verification; otherwise, the membership function is revised and recalculated. The verification work of this verification unit is verified during product debugging. After selecting the correct membership function, it is not necessary to participate in the verification every time.

[0052] (7) The result output unit outputs the calculation results and verifies them according to the auxiliary boom working condition selected by the user. If the auxiliary boom working condition information selected by the user does not match the automatically identified information, an alarm will be triggered, requiring the user to confirm whether the selected working condition is correct. Working conditions can also be recommended according to user needs.

[0053] like Figure 3 As shown, the crane boom length identification method based on differential positioning of the present invention includes the following steps:

[0054] (1) Construct a database; record the frame structure parameters; record the difference in GPS positioning terminal position coordinates detected under different arm lengths.

[0055] (2) Model construction: Based on the difference in position coordinates of the GPS positioning terminal detected by the actual vehicle, the database is searched, and fuzzy mathematical modeling is performed according to the constructed membership function to obtain the length of the auxiliary arm corresponding to the difference in position coordinates of the GPS positioning terminal. Thus, a highly reliable model is constructed that describes the mathematical relationship between the input signal (the difference in position coordinates of the detected GPS positioning terminal) and the output signal (the actual length of the auxiliary arm on the vehicle).

[0056] (3) Software implementation: The generated model is programmed and developed to generate software that runs on the specified vehicle computing unit, and the software is then implanted into the specified vehicle computing unit for operation.

[0057] (4) System implementation: Connect the GPS positioning terminal of the auxiliary boom system to the data transmission module and input the output of the data transmission module into the vehicle-mounted computing unit; import the constructed database and calculation model into the vehicle-mounted computing unit; so that the vehicle-mounted computing unit can calculate the actual length of the vehicle-mounted auxiliary boom based on the input signal and the calculation model.

[0058] (5) System application; The actual length of the crane's onboard auxiliary boom calculated by the system is used for crane status display, working condition recommendation, verification of user-selected working conditions, alarm or crane safety protection.

Claims

1. A differential positioning based method for identification of a length of a jib of a crane, characterized by: The method comprises the following steps: (1) constructing a database to record the frame structure parameters and the detected GPS positioning terminal position coordinate difference under different sub-arm lengths; (2) constructing a sub-arm length identification model based on differential positioning, searching the database according to the detected GPS positioning terminal position coordinate difference of the actual vehicle, performing fuzzy degree mathematical modeling according to the constructed membership function, obtaining the sub-arm length corresponding to the GPS positioning terminal position coordinate difference, and thus constructing a model of the mathematical relationship between the detected GPS positioning terminal position coordinate difference and the actual sub-arm length of the vehicle; the construction process of the sub-arm length identification model based on differential positioning is as follows: (2.1) installing the GPS positioning terminal G1 at the head of the sub-arm to detect the position coordinate of the head of the sub-arm; installing the GPS positioning terminal G2 of the vehicle in the cab for positioning; (2.2) the data sending module collects and processes the position coordinate information detected by the GPS positioning terminal, and transmits the information to the operation unit and the data entry unit through the CAN network; (2.3) the data entry unit collects the GPS positioning terminal coordinate information and the frame structure parameters transmitted by the data sending module in the information collection stage, and constructs a database; the positioning information is corresponding to different sub-arm lengths; (2.4) the data retrieval unit performs data retrieval according to the actual vehicle GPS positioning terminal coordinate value sent by the data sending module, and constructs a fuzzy set; (2.5) the data processing unit performs fuzzy degree analysis in the fuzzy set according to the membership function, and obtains the sub-arm length value with high credibility; (2.6) the checking unit analyzes the sub-arm length value according to the actual vehicle working condition data, and checks the sub-arm length value based on differential positioning according to the result; (2.7) the result output unit outputs the calculation result, and checks the sub-arm working condition according to the result; if the sub-arm working condition selected by the user is inconsistent with the automatically identified information, an alarm is given; The actual vehicle working condition data in step (2.6) is the main arm length L, the main arm angle θ and the working amplitude M; (3) software implementation, programming development of the model generated in step (2), generation of software running on the specified vehicle operation unit, and implantation of the software into the specified vehicle operation unit for running; (4) connecting the GPS positioning terminal of the sub-arm system to the data sending module, and connecting the output result of the data sending module to the vehicle operation unit; importing the constructed database and calculation model into the vehicle operation unit, and calculating the crane sub-arm length by the vehicle operation unit according to the input signal and the calculation model.

2. The differential positioning based identification method of a jib sub-arm length of a crane according to claim 1, characterized in that: In step (4), the calculated crane sub-arm length is applied to crane state display, working condition recommendation, user-selected working condition checking, alarm or crane safety protection.

3. The differential positioning based identification method of a jib sub-arm length of a crane according to claim 1, characterized in that: In step (6), if the error is within the allowable range, the sub-arm length value calculated by the crane sub-arm length identification system based on differential positioning is applied to the working condition checking, otherwise the membership function is re-corrected for calculation.

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