Visual laser detector for measuring camber of crane and measuring method

Abstract

The invention provides a visual laser detector for comprehensively measuring a crane. The visual laser detector comprises a detachable horizontal pedestal, a laser rotating holder and a U-shaped framework, the detachable horizontal pedestal can be separated from the U-shaped framework by unscrewing a switch on the side of the detachable horizontal pedestal anticlockwise, and the detachable horizontal pedestal is provided with three knobs, so that the equipment can be leveled through the knobs; the laser distance measuring sensor and the camera are embedded into the front end of a laser rotating holder of which the middle part can move up and down; the U-shaped framework comprises a speed reduction motor which is jointly linked with a linkage threaded rod and a speed reduction gear to realize left-right rotation of the equipment and up-down rotation of the laser rotating holder; the control circuit board is arranged on the inner side of the side of the U-shaped framework and is electrically connected with each sensor; the angle sensor and the reduction gear are coaxially mounted; an X-axis of the tilt angle sensor is mounted below the control circuit board, and a Y-axis of the tilt angle sensor is transversely placed at the lower half part of the U-shaped framework; the laser detector can be used for measuring the camber of the crane.

Description

Technical Field

[0001] The invention relates to the field of crane measurement, and in particular to a comprehensive detector and a measuring method for measuring the camber of a crane. Background Art

[0002] With the development of society, cranes have become one of the most widely used special equipment. Due to the special working environment of cranes, their safety during operation is extremely important. If the main beam is subjected to a large load, overload deformation and other phenomena are prone to occur. The camber can resist the downward deformation of the main beam under the load, and can improve the strength and rigidity of the main beam. The detection of the camber is not only related to the state of the main beam, but also to the safety of life and property. In the prior art, traditional detection methods include wire drawing method, etc., which are measured manually. This measurement method has problems such as low detection accuracy, low contrast, poor safety, and low detection efficiency. Even if a total station is used, it is not easy to use due to the complicated operation, and it is not convenient to carry and the cost is also high. How to fundamentally solve the above problems is a very realistic problem.

[0003] With the development and widespread application of laser technology, laser measurement technology has become more and more mature, which has opened a convenient door for solving distance detection. Coupled with the gradual improvement of the accuracy of angle sensors, the scope of use has become wider. By inventing a comprehensive detector for measuring the arch of a crane, the arch of a crane can be measured accurately and quickly, which provides great convenience for the inspection and testing of special equipment and improves work efficiency. Summary of the invention

[0004] The main purpose of the present invention is to provide a comprehensive detector for measuring the camber of a crane, which can measure the camber of a crane according to an accurate measurement method.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is: a comprehensive detector for measuring the camber of a crane, characterized in that it includes: Removable horizontal platform, laser rotating pan and U-shaped structure; The detachable horizontal platform seat has a switch on the side. Turn it counterclockwise to separate the detachable horizontal platform seat from the U-shaped frame. There are three knobs in the middle of the detachable horizontal platform seat. Use the knobs to return the bubble to the middle position to level the entire device. The laser distance measuring sensor is embedded in the front end of the laser rotating gimbal that can move up and down together with the camera; The reduction motor, together with the linkage threaded rod and the reduction gear, can realize the left and right rotation of the U-shaped structure and the up and down rotation of the laser rotating platform; A control circuit board is arranged at the side of the U-shaped frame and close to the inside, and is electrically connected to the laser ranging sensor and the reduction motor; Angle sensor, installed coaxially with the reduction gear; The inclination sensor, both the X-axis and the Y-axis are installed, the X-axis is located below the control circuit board, and the Y-axis is placed horizontally in the lower half of the U-shaped structure, and is also electrically connected to the control circuit board; The laser detector can measure the camber formed by compensating and eliminating the downward deflection of the crane main beam, which will be deformed due to the load, in order to reduce the additional resistance generated by the trolley during the operation of the hoisted objects.

[0006] The present invention also provides a method for measuring the camber formed by compensating and eliminating the downward deflection deformation of the crane main beam by using a laser distance measuring sensor and an angle sensor to reduce the additional resistance generated by the trolley during the operation of the hoisted object. The method adopts the visible laser detector described in claim 1 to detect the camber of the crane main beam under the crane, and is characterized in that it specifically comprises the following steps: Step 1: Place the visible laser detector in a relatively flat position or fix it on a tripod through the detachable horizontal platform base, level the device through the three knobs of the horizontal platform, and at the same time, use the laser rotating pan-tilt and U-shaped mechanism to rotate it up and down and left and right, and be able to align the detection end of the laser ranging sensor with the main beam of the crane; Step 2: The handheld terminal controls the device to rotate up, down, left, and right, so that the laser distance measuring sensor moves to the left, middle, and right points of the main beam respectively and can measure the distances S1, S2, and S3 between the detection end and the left, middle, and right points of the main beam respectively; Step 3: The overall equipment calculates the vertical distances H1, H2, and H3 using the following formula: H 1= s 1*sin( X 1+ C Angle X 1) *cos( C Angle Y 1) H 2= s 2*sin( X 2+ C Angle X 2) *cos( C Angle Y 2) H 3= s 3*sin( X 3+ C AngleX 3) *cos( C Angle Y 3) Step 4: The overall device calculates the camber F by the following formula: F = H 2-( H 1+ H 3) / 2 Where F is the camber, S1, S2, S3 are the distances between the detection end of the laser distance sensor and the left, middle and right points of the main beam respectively, H1, H2, H3 are the vertical distances from the left, middle and right points of the main beam to the equal height positions of the measuring equipment respectively, X1, X2, X3 are the angle values ​​between the detection end of the laser distance sensor and the horizontal distance (i.e., the X-axis angle sensor values), CAngleX1, CAngleX2, CAngleX3 are the angle values ​​of the inclination sensor after X-axis compensation, and CAngleY1, CAngleY2, CAngleY3 are the angle values ​​of the inclination sensor after Y-axis compensation.

[0007] The present invention also provides a method for measuring the zero point of the XY axis inclination sensor to eliminate this deviation (calculated only before delivery), using the visible laser detector described in claim 1, which specifically includes the following steps: Step 1: Place the visible laser detector on a relatively flat position or fix it on a tripod through the detachable horizontal platform base, and use the three knobs of the horizontal platform to level the device, and try to ensure that the human eye looks vertically at the bubble, and the bubble is in the middle; Step 2: Rotate horizontally for one circle, select one point every 15 degrees, and select 24 inclination values ​​of the XY axis in total. The curve drawn by the 24 points of the XY axis should be a sine wave curve. At this time, the zero point value of the XY axis inclination value can be calculated; Step 3: Return the Y-axis and X-axis tilt sensors to zero, adjust the horizontal platform knob to make the X-axis tilt change while the Y-axis remains unchanged, increase or decrease the X-axis tilt value at the same interval each time to raise or lower the laser point, then move the laser point back to the zero position, average the obtained X-angle interval values ​​and multiply the coefficient by 5 to obtain the slopes K1 and K2 of the pitch tilt angles; Step 4: Obtain the compensated tilt angle values ​​CAngleX and CAngleY ​​using the following formula: C Angle X =( OA ngleX 1- α )* K 1 C Angle Y =( OA ngle Y 1- β )* K 2 Among them, CAngleX and CAngleY ​​are the correct tilt angle values ​​of the pitch angle and roll angle after compensation, OAngleX1 and OAngleY1 are the original tilt angles, and are the zero point values ​​of the XY axis tilt sensor, and K1 and K2 are the pitch tilt angle slopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 , Figure 2 , Figure 3 and Figure 4 is a measurement principle diagram of the first embodiment of the present invention; Implementation

[0009] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations. Example

[0010] like Figure 1 and Figure 2As shown, a comprehensive detector for measuring the arch of a crane comprises a detachable horizontal platform seat 1, a U-shaped frame 2 and a laser rotating platform 3; there is a switch on the side, which can be turned counterclockwise to separate the detachable horizontal platform seat 1 from the U-shaped frame 2, and three knobs are provided in the middle. The detachable horizontal platform seat 1 that can level the equipment as a whole by returning the bubble to the middle position through the knobs, and the laser ranging sensor 5 at the front end of the laser rotating platform 3 that can move up and down in the middle is embedded together with the camera 4, and the linkage threaded rod 6 and the reduction gear 7 work together to realize the U The reduction motor 8 for the left and right rotation of the U-shaped frame 2 and the up and down rotation of the laser rotating platform 3 is arranged at the side of the U-shaped frame 2 and close to the inside. The control circuit board 9 electrically connected to the laser ranging sensor 5 and the reduction motor 8, the angle sensor 10 coaxially installed with the reduction gear 8, the X-axis and the Y-axis are installed, the X-axis is installed below the control circuit board 10, and the Y-axis is placed horizontally in the lower half of the U-shaped frame 2, and the inclination sensor 11 electrically connected to the control circuit board 9 is also electrically connected to the control circuit board 9. The laser ranging sensor 5 detects in the direction away from the laser rotating platform 3. The control circuit board 10 can obtain the distance H from the detection end of the laser ranging sensor 5 to the crane through the laser ranging sensor 5. The control circuit board 9 can also control the reduction motor 8 through a mobile terminal. The wifi module connected to the circuit control board 9 can realize the mobile terminal to view the camera image in real time. A battery 12 is also provided in the U-shaped frame 2, and the battery 12 is connected to the control circuit board 9. The model of the controller is STM32F103C8T6, and of course it can also be a controller of other types or models. The model of the laser distance measuring sensor 3 is OEM655, and it can also be a controller of other types or models. Example

[0011] like Figure 1-2 As shown, this embodiment uses the detector in the first embodiment to measure the deformation of the crane main beam due to the load. In order to reduce the additional resistance generated by the trolley during the operation of the hoisted objects, the upward camber formed by compensating and eliminating the downward deflection of the main beam.

[0012] When using the detector, place the visible laser detector in a relatively flat position or fix it on a tripod through the detachable horizontal platform base 1, and the laser distance sensor 5 faces the crane. By operating the mobile terminal, the control circuit board 9 controls the reduction motor and the laser distance sensor 5 to detect the distances S1, S2, and S3 between the detection end of the laser distance sensor 5 and the left, middle, and right points of the crane, and the vertical distances H1, H2, and H3 of each point are obtained using the following formula: H 1= s 1*sin( X 1+ C Angle X 1) *cos(C Angle Y 1) H 2= s 2*sin( X 2+ C Angle X 2) *cos( C Angle Y 2) H 3= s 3*sin( X 3+ C Angle X 3) *cos( C Angle Y 3) The overall device calculates the camber F by the following formula: F = H 2-( H 1+ H 3) / 2 Where F is the camber, S1, S2, S3 are the distances between the detection end of the laser distance sensor and the left, middle and right points of the main beam respectively, H1, H2, H3 are the vertical distances from the left, middle and right points of the main beam to the equal height positions of the measuring equipment respectively, X1, X2, X3 are the angle values ​​between the detection end of the laser distance sensor and the horizontal distance (i.e., the X-axis angle sensor values), CAngleX1, CAngleX2, CAngleX3 are the angle values ​​of the inclination sensor after X-axis compensation, and CAngleY1, CAngleY2, CAngleY3 are the angle values ​​of the inclination sensor after Y-axis compensation.

[0013] The detector is connected to a handheld terminal via WIFI to display measurement results, which at least include vertical distances, distances, angles, and cambers of the three points on the left, center, and right. Example

[0014] like Figure 3-4 As shown, this embodiment uses the comprehensive detector in the first embodiment to compensate for the inability to ensure the absolute level of the equipment due to the error of the physical water bubble that cannot be recognized by the naked eye. However, the inclination sensor cannot be guaranteed to be installed completely horizontally. Therefore, in order to eliminate this part of the deviation, the zero point of the XY axis inclination sensor must be measured.

[0015] When using the detector, place the visible laser detector in a relatively flat position or fix it on a tripod through the detachable horizontal platform base 1, control it through a mobile terminal, and use the following formula to obtain the compensated tilt angle values ​​CAngleX and CAngleY: C Angle X =( OA ngle X 1- α )* K 1 C Angle Y =( OA ngle Y 1- β )* K 2 Among them, CAngleX and CAngleY ​​are the correct tilt angle values ​​of the pitch angle and roll angle after compensation, OAngleX1 and OAngleY1 are the original tilt angles, and are the zero point values ​​of the XY axis tilt sensor, and K1 and K2 are the pitch tilt angle slopes.

[0016] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A visible laser detector for measuring the camber of a crane, characterized in that: include: A detachable horizontal platform base (1), a U-shaped structure (2) and a laser rotating platform (3); The detachable horizontal platform seat (1) has a knob on the side, which can be turned counterclockwise to separate the detachable horizontal platform seat (1) from the U-shaped frame (2). The middle of the detachable horizontal platform seat (1) is provided with three knobs, and the water bubble is returned to the middle position by turning the knobs, so that the whole device is leveled; A laser distance measuring sensor (5) is embedded together with a camera (4) at the front end of a laser rotating platform (3) that can move up and down in the middle; The reduction motor (8) works in conjunction with the linkage threaded rod (6) and the reduction gear (7) to achieve left-right rotation of the U-shaped frame (2) and up-and-down rotation of the laser rotating platform (3); A control circuit board (9) is arranged at a position close to the inside of the U-shaped frame (2) and is circuit-connected to the laser distance sensor (5) and the reduction motor (8); An angle sensor (10) is coaxially mounted with the reduction gear (7); The inclination sensor (11) is installed with both an X-axis and a Y-axis, the X-axis being located below the control circuit board (9) and the Y-axis being placed horizontally on the lower part of the U-shaped frame (2) and also connected to the pulse width modulation circuit of the control circuit board (9); The laser detector can measure the camber formed by compensating and eliminating the downward deflection of the crane main beam, which will be deformed due to the load, in order to reduce the additional resistance generated by the trolley during the operation of the hoisted objects.

2. A laser rangefinder and an angle sensor are used to measure the camber formed by compensating and eliminating the downward deflection of the main beam of a crane, which will be deformed under load in order to reduce the additional resistance generated by the trolley during the operation of the hoisted object. The visible laser detector according to claim 1 is used to detect the camber of the main beam of the crane under the crane, and the method is characterized in that: The specific steps include: Step 1: Place the visible laser detector in a relatively flat position or fix it on a tripod through the detachable horizontal platform base, level the device through the three knobs of the horizontal platform, and at the same time, rotate it up and down and left and right through the laser rotating pan-tilt and U-shaped structure, and make the detection end of the laser ranging sensor face the main beam of the crane; Step 2: The handheld terminal controls the device to rotate up, down, left, and right, so that the laser distance measuring sensor moves to the left, middle, and right points of the main beam respectively and can measure the distances S1, S2, and S3 between the detection end and the left, middle, and right points of the main beam respectively; Step 3: The overall equipment calculates the vertical distances H1, H2, and H3 using the following formula: H 1= s 1*sin( X 1+ C Angle X 1)*cos( C Angle Y 1) H 2= s 2*sin( X 2+ C Angle X 2)*cos( C Angle Y 2) H 3= s 3*sin( X 3+ C Angle X 3)*cos( C Angle Y 3) Step 4: The overall device calculates the camber F by the following formula: F = H 2-（ H 1+ H 3） / 2 Where F is the camber, S1, S2, S3 are the distances between the detection end of the laser distance sensor and the left, middle and right points of the main beam respectively, H1, H2, H3 are the vertical distances from the left, middle and right points of the main beam to the equal height positions of the measuring equipment respectively (H2 is the center vertical distance, H1H3 are the vertical distances between the left and right points), X1, X2, X3 are the angle values ​​between the detection end of the laser distance sensor and the horizontal distance (i.e., the X-axis angle sensor values), CAngleX1, CAngleX2, CAngleX3 are the angle values ​​of the inclination sensor after X-axis compensation, and CAngleY1, CAngleY2, CAngleY3 are the angle values ​​of the inclination sensor after Y-axis compensation.

3. A tilt sensor and an angle sensor cannot guarantee the absolute level of the equipment due to the error of the physical water bubble that cannot be recognized by the naked eye, so the tilt sensor is used for compensation. However, the tilt sensor cannot be installed completely horizontally. Therefore, in order to eliminate this part of the deviation, the measurement method of the zero point of the XY axis tilt sensor is required (only calculated before leaving the factory), using the visible laser detector described in claim 1, specifically including the following steps: Step 1: Place the visible laser detector on a relatively flat position or fix it on a tripod through the detachable horizontal platform base, and use the three knobs of the horizontal platform to level the device, and try to ensure that the human eye looks vertically at the bubble, and the bubble is in the middle; Step 2: Rotate horizontally for one circle, select one point every 15 degrees, and select 24 inclination values ​​of the XY axis in total. The curve drawn by the 24 points of the XY axis should be a sine wave curve. At this time, the zero point value of the XY axis inclination value can be calculated; Step 3: Return the Y-axis and X-axis tilt sensors to zero, adjust the horizontal platform knob to make the X-axis tilt change while the Y-axis remains unchanged, increase or decrease the X-axis tilt value at the same interval each time to raise or lower the laser point, then move the laser point back to the zero position, average the obtained X-angle interval values ​​and multiply the coefficient by 5 to obtain the slopes K1 and K2 of the pitch tilt angles; Step 4: Obtain the compensated tilt angle values ​​CAngleX and CAngleY ​​using the following formula: C English X =( OA nail X 1- α )* K 1 C English Y =( OA nail Y 1- β )* K 2 Among them, CAngleX and CAngleY ​​are the correct tilt angle values ​​of the pitch angle and roll angle after compensation, OAngleX1 and OAngleY1 are the original tilt angles, and are the zero point values ​​of the XY axis tilt sensor, and K1 and K2 are the pitch tilt angle slopes.

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