A lifting equipment positioning method and system based on 3D line laser measurement

Abstract

The present invention discloses a method and system for positioning lifting equipment based on 3D line laser measurement. The method comprises: installing a 3D line laser measuring instrument on the trolley and carriage running mechanisms of a bridge crane; scanning the end surface characteristic values ​​of the trolley and carriage tracks with the 3D line laser measuring instrument, and establishing a correspondence table between the characteristic values ​​and displacement values; marking positioning points with fixed displacement lengths. During the operation of the bridge crane, the 3D line laser measuring instrument scans the marked positioning points to accurately locate and verify the displacement of the lifting equipment's operating mechanism. The present invention can accurately measure the operating mechanism of the lifting equipment, without cumulative error in the measurement data. The positioning system has an automatic calibration function and can be widely used in scenarios requiring precise positioning of lifting equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of metal structure hoists for hydropower stations, and in particular to a lifting equipment positioning method and system based on 3D line laser measurement. Background Art

[0002] Currently, the displacement of operating mechanisms in lifting equipment is mostly measured using encoders. Due to the cumulative error inherent in encoders, they require timely calibration after a period of operation to ensure accurate data measurement. Consequently, encoder-based displacement measurement is rarely used in control systems requiring precise positioning.

[0003] With the growing demand for intelligent operation and maintenance systems for lifting equipment, there are higher requirements for the precise positioning of lifting equipment. The currently commonly used encoders cannot meet the needs of precise positioning. Summary of the Invention

[0004] In view of this, the present invention provides a lifting equipment positioning method and system based on 3D line laser measurement.

[0005] The present invention discloses a lifting equipment positioning method based on 3D line laser measurement, which comprises:

[0006] Step 1: Install a 3D line laser measuring instrument on the trolley running mechanism and the carriage running mechanism of the bridge crane;

[0007] Step 2: Use a 3D line laser measuring instrument to scan the end surface characteristic values ​​of the trolley track and the small car track, and establish a corresponding table between characteristic values ​​and displacement values;

[0008] Step 3: Mark the positioning points with a fixed displacement length. During the operation of the bridge crane, the 3D line laser measuring instrument scans the marked positioning points to accurately locate and verify the displacement of the lifting equipment operating mechanism.

[0009] Furthermore, the step 1 includes:

[0010] A 3D line laser measuring instrument is installed near the track scanning plates of the trolley running mechanism and the car running mechanism of the bridge crane, and a position on the track end face is selected as the line laser scanning surface.

[0011] Furthermore, the step 2 includes:

[0012] Select zero starting point to etch a concave point on the track, etch a concave point at every interval L, and mark a positioning point;

[0013] Aim the 3D laser line measuring instrument at the zero starting point of the track, operate the trolley and carriage mechanisms to run the full stroke, and the 3D laser line measuring instrument begins to scan the end face characteristic value of the track end face, that is, the concave and convex data value of the track end face. The 3D laser line measuring instrument automatically counts the number of scans each time it scans;

[0014] The number of scans is counted as 1 when the 3D laser line measuring instrument recognizes the zero mark positioning point. When the 3D laser line measuring instrument recognizes the L distance mark positioning point, the number of scans is counted as n times. Every time the 3D laser line measuring instrument passes an L, that is, when the 3D laser line measuring instrument fails to recognize the L distance mark positioning point, the number of scans starts to count again.

[0015] Each time the 3D line laser measuring instrument scans, the displacement interval is d = L / (n-1). Similarly, when scanning at the mth time with x L distances, the displacement distance is D = (x-1)*L+(m-1)*d.

[0016] The displacement value calculated after each scan is matched one by one with the characteristic value of the rail end surface scanned by the 3D line laser measuring instrument each time, forming an image table and storing it in the database to establish a characteristic value sample library.

[0017] Furthermore, the step 3 includes:

[0018] Displacement calculation: During the operation of the lifting equipment, the 3D line laser measuring instrument scans the rail end face in real time. The characteristic values ​​after scanning are compared with the sample library to find the corresponding displacement value s;

[0019] Displacement verification: If the rail surface is affected by external factors, causing the end face characteristic value to change, and the characteristic value scanned by the 3D line laser measuring instrument through the end face is inconsistent with the sample library, the database will automatically store the current scan value. When the 3D line laser measuring instrument passes the next L distance mark point, the displacement value is recalculated based on the total number of scans during the entire L distance period, a new mapping table is formed, and the sample library is updated.

[0020] The present invention also discloses a lifting equipment positioning method based on 3D line laser measurement, which includes:

[0021] Step A: Install a 3D line laser measuring instrument on the lifting mechanism;

[0022] Step B: Scan the characteristic values ​​of the end face of the roll with a 3D line laser measuring instrument and establish a corresponding table between the characteristic values ​​and the displacement values;

[0023] Step C: Mark the positioning points with a fixed displacement length. During the operation of the bridge crane, the 3D line laser measuring instrument scans the marked positioning points to accurately locate and verify the displacement of the lifting equipment operating mechanism.

[0024] Furthermore, the step A comprises:

[0025] Install a 3D line laser measuring instrument on the drum side of the lifting mechanism, and select a position on the end face of the drum as the line laser scanning surface.

[0026] Furthermore, the step B includes:

[0027] Select the zero starting point, etch a concave point every arc distance L, mark a positioning point, and operate the hoisting mechanism in full stroke. When the wire rope changes layers, etch concave points on the end face of the drum respectively.

[0028] Aim the 3D laser line measuring instrument at the zero starting point of the track, operate the lifting mechanism to run the full stroke, and the 3D laser line measuring instrument begins to scan the characteristic value of the end face of the roll, that is, the concave and convex data value of the end face of the roll. The 3D laser line measuring instrument automatically counts the number of scans each time it scans;

[0029] The number of scans is counted as 1 when the 3D laser line measuring instrument recognizes the zero mark positioning point. When the 3D laser line measuring instrument recognizes the L distance mark positioning point, the number of scans is counted as n times. Every time the 3D laser line measuring instrument passes an L, that is, when the 3D laser line measuring instrument fails to recognize the L distance mark positioning point, the number of scans starts to count again.

[0030] The diameter of the drum is m1, the diameter of the characteristic mark point is m2, the diameter of the wire rope is m3, and the number of wire rope layers is k. Then, each time the 3D line laser measuring instrument scans, the displacement interval of the lifting mechanism is d;

[0031] By analogy, at the mth scan of x L distances, the displacement distance is D;

[0032] The displacement value calculated after each scan is matched one by one with the characteristic value of the roll end surface scanned by the 3D line laser measuring instrument each time, forming an image table and storing it in the database to establish a characteristic value sample library.

[0033] Furthermore, each time a scan is performed, the calculation formula for the displacement interval d of the lifting mechanism is:

[0034]

[0035] During the mth scan, the displacement distance D of the lifting mechanism is:

[0036]

[0037] Furthermore, the step C comprises:

[0038] Displacement calculation: During the operation of the lifting equipment, the 3D line laser measuring instrument scans the drum in real time, and compares the characteristic values ​​after scanning with the sample library to find the corresponding displacement value s;

[0039] Displacement verification: If the end face of the roll is affected by external factors, resulting in changes in the end face characteristic values, and the characteristic values ​​scanned by the 3D line laser measuring instrument through the end face are inconsistent with those in the sample library, the database will automatically store the current scan value. When the 3D line laser measuring instrument passes the next L distance mark point, the displacement value will be recalculated based on the total number of scans during the entire L distance period to form a new mapping table and update the sample library.

[0040] The present invention also discloses a lifting equipment positioning system based on 3D line laser measurement, which realizes any of the above-mentioned lifting equipment positioning methods based on 3D line laser measurement.

[0041] Due to the adoption of the above technical solution, the present invention has the following advantages:

[0042] 1. This method can achieve precise positioning measurement of the operating mechanism of lifting equipment. The measurement data has no cumulative error. The positioning system has an automatic calibration function and can be widely used in scenarios where bridge cranes are precisely positioned.

[0043] 2. The present invention has a simple structure, mature technology, and is easy to manufacture and install.

[0044] 3. This method is highly versatile and can be applied to all lifting equipment that requires precise positioning, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments described in the embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0046] Figure 1 This is a diagram of the positioning system of the trolley and carriage operating mechanisms according to an embodiment of the present invention;

[0047] Figure 2 A schematic diagram of a process for establishing a feature value sample library according to an embodiment of the present invention;

[0048] Figure 3 Schematic diagram of the process of displacement calibration according to an embodiment of the present invention;

[0049] Figure 4 This is a diagram of the lifting mechanism positioning system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be further described with reference to the accompanying drawings and embodiments. The embodiments described are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by those skilled in the art should fall within the scope of protection of the embodiments of the present invention.

[0051] Example 1:

[0052] Figure 1 In the figure, number 11 indicates a 3D line laser measuring instrument; number 12 indicates a track scanning plate; number 13 indicates a track; and number 14 indicates a dent positioning device.

[0053] The present invention provides an embodiment of a lifting equipment positioning method based on 3D line laser measurement, which includes:

[0054] Step 1: Install a 3D line laser measuring instrument 11 on the trolley running mechanism and the carriage running mechanism of the bridge crane;

[0055] In one embodiment, a 3D line laser measuring instrument 11 is installed at a suitable position near the track scanning plate 12 of the trolley and carriage mechanisms, and a suitable position is selected on the end surface of the track 13 as a line laser scanning surface.

[0056] Step 2: Mark the positioning point with a fixed displacement length, and the 3D line laser measuring instrument 11 scans the end surface characteristic values ​​of the trolley / carriage track 13 to establish a correspondence table between characteristic values ​​and displacement values; the end surface characteristic values ​​of the track refer to the concave and convex points of the track itself caused by external reasons such as wear, and are the inherent characteristic values ​​of the track itself.

[0057] In one embodiment, a zero starting point is selected on the track 13, and different recesses with a depth of 1 mm are manually etched every L distance to mark a positioning point (indentation positioning 14). The positioning points can be manually marked and used for precise positioning and verification.

[0058] Aim the 3D line laser measuring instrument 11 at the zero starting point concave point of the track 13, operate the trolley and carriage mechanisms to run full stroke, and the 3D line laser measuring instrument 11 begins to scan the end face feature values ​​of the end face of the track 13 (the concave and convex data values ​​of the end face of the track 13). Each time the 3D line laser measuring instrument 11 scans, the number of scans is automatically counted.

[0059] See also Figure 2 The number of scans is counted as 1 when the 3D laser line measuring instrument 11 recognizes the zero mark. When the 3D laser line measuring instrument 11 recognizes the L distance mark, the number of scans is counted as n. Every time the 3D laser line measuring instrument 11 passes an L, that is, when the 3D laser line measuring instrument 11 fails to recognize the L distance mark, the number of scans starts again.

[0060] Each time the 3D line laser measuring instrument 11 scans, the displacement interval is d = L / (n-1). Similarly, in the mth scan of x L distances, the displacement distance should be D = (x-1)*L+(m-1)*d, as shown in Table 1.

[0061] The displacement value calculated after each scan is matched one by one with the end surface characteristic value of the track 13 scanned by the 3D line laser measuring instrument 11 each time, and a mapping table is formed and stored in the database to establish a characteristic value sample library.

[0062] Table 1 Image representation

[0063]

[0064] Step 3: During the operation of the bridge crane, the 3D line laser measuring instrument 11 scans the marked positioning points to accurately locate the displacement of the operating mechanism of the lifting equipment.

[0065] In one embodiment, see Figure 3 ,Displacement calculation: During the operation of the lifting equipment, the 3D line laser measuring instrument 11 scans the end face of the track 13 in real time, and compares its scanned characteristic value with the sample library to find the corresponding displacement value s.

[0066] Displacement verification: If the surface of the track 13 is affected by external factors, causing the end face characteristic value to change, and the characteristic value scanned by the 3D line laser measuring instrument 11 through the end face is inconsistent with the sample library, the database will automatically store the current scan value. When the 3D line laser measuring instrument 11 passes the next mark point of distance L, the displacement value is recalculated based on the total number of scans during the entire distance L, a new mapping table is formed, and the sample library is updated.

[0067] Example 2:

[0068] Figure 4 In the figure, number 21 indicates a reel; number 22 indicates a 3D line laser measuring instrument; and number 23 indicates indentation positioning.

[0069] The present invention provides an embodiment of a lifting equipment positioning method based on 3D line laser measurement, which includes:

[0070] Step A: Install a 3D line laser measuring instrument 22 on the lifting mechanism;

[0071] In one embodiment, a 3D line laser measuring instrument 22 is installed on the side of the drum 21 of the lifting mechanism, and a suitable position (which does not affect the operation of the safety brake) is selected on the end surface of the drum 21 as the line laser scanning surface.

[0072] Step B: The 3D line laser measuring instrument 22 scans the characteristic values ​​of the end surface of the roll 21 and establishes a corresponding table between the characteristic values ​​and the displacement values;

[0073] In one embodiment, see Figure 2 , select the zero starting point, manually etch different concave points with a depth of 1mm every arc distance L, and mark a positioning point (indentation positioning 23). When the hoisting mechanism is running at full stroke, when the wire rope layer is changed, the end face of the drum 21 is manually etched with characteristic value concave points with a depth of 1mm.

[0074] Aim the 3D line laser measuring instrument 22 at the zero starting point concave point of the track, operate the lifting mechanism to run the full stroke, and the 3D line laser measuring instrument 22 begins to scan the characteristic values ​​of the end face of the roll 21 (the concave and convex data values ​​of the end face of the roll). Each time the 3D line laser measuring instrument 22 scans, it automatically counts the number of scans.

[0075] The number of scans is counted as 1 when the 3D laser line measuring instrument 22 recognizes the zero mark. The number of scans is counted as n when the 3D laser line measuring instrument 22 recognizes the L distance mark. The number of scans is reset every time the 3D laser line measuring instrument 22 passes an L distance mark, that is, when the 3D laser line measuring instrument 22 fails to recognize the L distance mark.

[0076] The diameter of the drum 21 is m1, the diameter of the characteristic mark point is m2, the diameter of the wire rope is m3, and the number of wire rope layers is k. Then, each time the 3D line laser measuring instrument 22 scans once, the displacement interval of the lifting mechanism is

[0077] By analogy, in the mth scan of x L distances, the displacement distance should be D =

[0078] The calculated displacement values ​​after each scan are matched one-to-one with the end surface feature values ​​of the roll 21 scanned by the 3D line laser measuring instrument 22 , forming a mapping table that is stored in the database and establishing a feature value sample library, as shown in Table 1.

[0079] Table 1 Image representation

[0080]

[0081] Step C: During the operation of the bridge crane, the 3D line laser measuring instrument 22 scans the marked positioning points to accurately locate the displacement of the operating mechanism of the lifting equipment.

[0082] In one embodiment, see Figure 3 ,Displacement calculation: During the operation of the lifting equipment, the 3D line laser measuring instrument 22 scans the reel 21 in real time, and compares its scanned characteristic value with the sample library to find the corresponding displacement value s.

[0083] Displacement verification: If the end face of the roll 21 is affected by external factors, resulting in changes in the end face characteristic value, and the characteristic value scanned by the 3D line laser measuring instrument 22 through the end face is inconsistent with the sample library, the database will automatically store the current scan value. When the 3D line laser measuring instrument 22 passes the next mark point at a distance L, the displacement value will be recalculated based on the total number of scans during the entire L distance period to form a new mapping table and update the sample library.

[0084] The present invention also provides a lifting equipment positioning system based on 3D line laser measurement, which is used to implement the lifting equipment positioning method based on 3D line laser measurement described in Example 1 and Example 2.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A method for positioning lifting equipment based on 3D line laser measurement, characterized in that: include: Step 1: Install a 3D line laser measuring instrument on the trolley running mechanism and the carriage running mechanism of the bridge crane; Step 2: Mark the positioning points with a fixed displacement length, scan the end surface feature values ​​of the trolley track and the small car track with a 3D line laser measuring instrument, and establish a corresponding table between the feature value and the displacement value; Characteristic values ​​refer to the concave and convex points of the track itself caused by external factors; external factors include wear; Step 3: During the operation of the bridge crane, the 3D line laser measuring instrument scans the marked positioning points to accurately locate and verify the displacement of the lifting equipment's operating mechanism.

2. The method for positioning lifting equipment based on 3D line laser measurement according to claim 1, characterized in that: The step 1 comprises: A 3D line laser measuring instrument is installed near the track scanning plates of the trolley running mechanism and the car running mechanism of the bridge crane, and a position on the track end face is selected as the line laser scanning surface.

3. The method for positioning lifting equipment based on 3D line laser measurement according to claim 2, characterized in that: The step 2 includes: Select zero starting point to etch a concave point on the track, etch a concave point at every interval L, and mark a positioning point; Aim the 3D laser line measuring instrument at the zero starting point of the track, operate the trolley and carriage mechanisms to run the full stroke, and the 3D laser line measuring instrument will start to scan the track end surface characteristic values, that is, the concave and convex data values ​​of the track end surface. The 3D laser line measuring instrument will automatically count the number of scans each time it scans; The number of scans is counted as 1 when the 3D laser line measuring instrument recognizes the zero mark positioning point. When the 3D laser line measuring instrument recognizes the L distance mark positioning point, the number of scans is counted as n times. Every time the 3D laser line measuring instrument passes an L, that is, when the 3D laser line measuring instrument fails to recognize the L distance mark positioning point, the number of scans starts to count again. Each time the 3D line laser measuring instrument scans, the displacement interval is , and so on, in the mth scan of x L distances, the displacement distance is ; The displacement value calculated after each scan is matched one by one with the characteristic value of the rail end surface scanned by the 3D line laser measuring instrument each time, forming an image table and storing it in the database to establish a characteristic value sample library.

4. The method for positioning lifting equipment based on 3D line laser measurement according to claim 2, characterized in that: The step 3 includes: Displacement calculation: During the operation of the lifting equipment, the 3D line laser measuring instrument scans the rail end face in real time. The characteristic values ​​after scanning are compared with the sample library to find the corresponding displacement value s; Displacement verification: If the rail surface is affected by external factors, causing the end face characteristic value to change, and the characteristic value scanned by the 3D line laser measuring instrument through the end face is inconsistent with the sample library, the database will automatically store the current scan value. When the 3D line laser measuring instrument passes the next L distance mark point, the displacement value is recalculated based on the total number of scans during the entire L distance period, a new mapping table is formed, and the sample library is updated.

5. A method for positioning lifting equipment based on 3D line laser measurement, characterized in that: include: Step A: Install a 3D line laser measuring instrument on the lifting mechanism; Step B: Mark the positioning point with a fixed displacement length, scan the characteristic value of the roll end surface with a 3D line laser measuring instrument, and establish a corresponding table between the characteristic value and the displacement value; Characteristic values ​​refer to the concave and convex points of the track itself caused by external factors; external factors include wear; Step C: During the operation of the bridge crane, the 3D line laser measuring instrument scans and marks the positioning points to accurately locate and check the displacement of the lifting equipment's operating mechanism.

6. The method for positioning lifting equipment based on 3D line laser measurement according to claim 5, characterized in that: The step A comprises: Install a 3D line laser measuring instrument on the drum side of the lifting mechanism, and select a position on the end face of the drum as the line laser scanning surface.

7. The method for positioning lifting equipment based on 3D line laser measurement according to claim 6, characterized in that: The step B comprises: Select the zero starting point, etch a concave point every arc distance L, mark a positioning point, and operate the hoisting mechanism in full stroke. When the wire rope changes layers, etch concave points on the end face of the drum respectively. Aim the 3D laser line measuring instrument at the zero starting point of the track, operate the lifting mechanism to run the full stroke, and the 3D laser line measuring instrument begins to scan the characteristic value of the end face of the roll, that is, the concave and convex data value of the end face of the roll. The 3D laser line measuring instrument automatically counts the number of scans each time it scans; The number of scans is counted as 1 when the 3D laser line measuring instrument recognizes the zero mark positioning point. When the 3D laser line measuring instrument recognizes the L distance mark positioning point, the number of scans is counted as n times. Every time the 3D laser line measuring instrument passes an L, that is, when the 3D laser line measuring instrument fails to recognize the L distance mark positioning point, the number of scans starts to count again. The diameter of the drum is m1, the diameter of the characteristic mark point is m2, the diameter of the wire rope is m3, and the number of wire rope layers is k. Then, each time the 3D line laser measuring instrument scans, the displacement interval of the lifting mechanism is d; By analogy, at the mth scan of x L distances, the displacement distance is D; The displacement value calculated after each scan is matched one by one with the characteristic value of the roll end surface scanned by the 3D line laser measuring instrument each time, forming an image table and storing it in the database to establish a characteristic value sample library.

8. The method for positioning lifting equipment based on 3D line laser measurement according to claim 7, characterized in that: Each time a scan is performed, the calculation formula for the displacement interval d of the lifting mechanism is: d= During the mth scan, the displacement distance D of the lifting mechanism is: D= 。 9. The method for positioning lifting equipment based on 3D line laser measurement according to claim 5, characterized in that: The step C comprises: Displacement calculation: During the operation of the lifting equipment, the 3D line laser measuring instrument scans the drum in real time, and compares the characteristic values ​​after scanning with the sample library to find the corresponding displacement value s; Displacement verification: If the end face of the roll is affected by external factors, resulting in changes in the end face characteristic values, and the characteristic values ​​scanned by the 3D line laser measuring instrument through the end face are inconsistent with those in the sample library, the database will automatically store the current scan value. When the 3D line laser measuring instrument passes the next L distance mark point, the displacement value will be recalculated based on the total number of scans during the entire L distance period to form a new mapping table and update the sample library.

10. A 3D line laser measurement lifting equipment positioning system, characterized in that: Implement the lifting equipment positioning method based on 3D line laser measurement as described in any one of claims 1-4 and 5-9.

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