Boom sidewise bending detection method and system, electronic equipment and storage medium

Abstract

The invention discloses an arm support sidewise bending detection method and system, electronic equipment and a storage medium, and relates to the field of engineering machinery. The method comprises the following steps: based on a first sensing module mounted on a first end point of a cantilever crane, measuring a first inclination angle of the cantilever crane relative to the ground, a first roll angle when the cantilever crane rotates, and measuring a first distance from the first end point to the ground; based on a second sensing module installed on a second end point of the arm support, a second inclination angle of the arm support relative to the ground and a second roll angle of the arm support during rotation are measured, and a second distance between the second end point and the ground is measured; according to the first inclination angle, the first roll angle, the first distance, the second inclination angle, the second roll angle and the second distance, the sidewise bending detection result of the boom is detected, so that the sidewise bending of the boom is accurately detected, and the safety of the crane in the operation process is improved.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular to a boom lateral bending detection method, system, electronic equipment and storage medium. Background Art

[0002] The crane arm is commonly known as the boom or jib. As a key load-bearing component, it can be a whole arm or a nested multi-section arm. The structural stability is an important factor in determining the mechanical performance. Once the boom structure is unstable (for example, the boom is severely bent), it is easy to cause the crane's boom to break or tip over, causing serious losses.

[0003] During daily lifting operations, the boom often bends sideways, especially in cranes with booms longer than 80 meters. The specific reasons for the boom bending sideways are: (1) The gap between the sliders of each boom section is too large, which will cause the boom sleeve to swing left and right; or the position of the head slider is incorrect, which will cause the boom to deviate to one side. In addition, the current booms are generally multi-sectioned. Once the slider of a certain boom section is not debugged accurately, it will be more obvious after the boom is extended; (2) Due to process problems during the boom manufacturing process, the boom itself will react to stress during pressing and welding, which will cause micro-deformation of the boom. Although it cannot be seen by the naked eye, it will cause obvious boom bending sideways when assembled on the crane; (3) The skewed docking at the tail of the boom and the asymmetric gap between the sliders at the tail will cause the boom to be deflected under force, so the hinge shaft at the tail of the boom and the turntable are also prone to cause boom bending sideways when installed; (4) For cranes with straight arms, single-section arms, and multi-section arms, structural deformation is also a cause of boom bending sideways.

[0004] Therefore, how to accurately detect the lateral bending of the boom is a problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a boom lateral bend detection method, system, electronic equipment and storage medium for accurately detecting boom lateral bend to improve the safety during crane operation.

[0006] In a first aspect, a method for detecting lateral bending of a boom is provided, the method comprising:

[0007] Based on a first sensing module installed on a first end point of the boom, measuring a first tilt angle of the boom relative to the ground, a first roll angle when the boom rotates, and a first distance from the first end point to the ground;

[0008] Based on a second sensing module installed on a second end point of the boom, measuring a second inclination angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance from the second end point to the ground;

[0009] A lateral bending detection result of the boom is detected according to the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance.

[0010] In an embodiment of the present application, firstly, based on a first sensing module installed on a first end point of the boom, a first inclination angle of the boom relative to the ground, a first roll angle when the boom rotates, and a first distance from the first end point to the ground are measured; based on a second sensing module installed on a second end point of the boom, a second inclination angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance from the second end point to the ground are measured, and the lateral bending data generated during the operation of the boom can be measured intelligently and in real time; secondly, according to the first inclination angle, the first roll angle, the first distance, the second inclination angle, the second roll angle, and the second distance, the lateral bending detection result of the boom is detected, and the lateral bending phenomenon of the boom is considered from different dimensions, so that the lateral bending detection result of the boom is more accurate and referenceable, while improving the safety during the operation of the crane.

[0011] In some embodiments, detecting a lateral bending detection result of the boom according to the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance includes:

[0012] Calculate the arc length of the boom and the central angle of the arc length according to the first inclination angle, the first distance, the second inclination angle, and the second distance;

[0013] Calculating a length difference between the arc length and a straight length of the boom, and calculating a roll angle difference between the first roll angle and the second roll angle;

[0014] The lateral bending detection result of the boom is detected according to the length difference, the center angle, and the roll angle difference.

[0015] Through the above method, the lateral bending phenomenon of the boom can be detected from different dimensions, thereby improving the accuracy of the boom lateral bending detection result.

[0016] In some embodiments, the step of detecting the lateral bending detection result of the boom according to the length difference, the center angle, and the roll angle difference includes:

[0017] If the length difference is less than or equal to a first length threshold, the center angle is less than or equal to a first center angle threshold, and the roll angle difference is less than or equal to a first roll angle threshold, then the side bend detection result is detected as allowing the boom to be used at full load; or

[0018] If the length difference is greater than the first length threshold and less than or equal to the second length threshold, the center angle is greater than the first center angle threshold and less than or equal to the second center angle threshold, and the roll angle difference is greater than the first roll angle threshold and less than or equal to the second roll angle threshold, then the side bend detection result is detected as prohibiting the use of the boom with full load; or

[0019] If the length difference is greater than the second length threshold, the center angle is greater than the second center angle threshold, and the roll angle difference is greater than the second roll angle threshold, then the side bend detection result is detected as prohibiting the use of the boom.

[0020] By setting the above constraints, not only can the lateral bending detection of the boom be realized, but also real-time warning can be achieved during the operation of the boom, thereby improving safety and satisfying user experience.

[0021] In some embodiments, the arc length of the arm satisfies the following expression:

[0022]

[0023] Wherein, the θ1 represents a first inclination angle of the boom, the θ2 represents a second inclination angle of the boom, the L1 represents a first distance of the boom, and the L2 represents a second distance of the boom.

[0024] In some embodiments, the first sensing module and the second sensing module are magnetically attracted to the first endpoint and the second endpoint respectively.

[0025] By adopting magnetic installation, the difficulty and time of disassembly or installation of test tools can be minimized, and the installation efficiency can be improved.

[0026] In a second aspect, a boom side bending detection system is provided, comprising: a first sensing module, a second sensing module, and a detection module; wherein the first sensing module is mounted on a first end point of the boom, and the second sensing module is mounted on a second end point of the boom;

[0027] The first sensing module is used to measure a first tilt angle of the boom relative to the ground, a first roll angle when the boom rotates, and a first distance from the first endpoint to the ground;

[0028] The second sensing module is used to measure a second tilt angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance between the second endpoint and the ground;

[0029] The detection module is used to detect the lateral bending detection result of the boom according to the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance.

[0030] In some embodiments, the detection module is specifically used to:

[0031] Calculate the arc length of the boom and the central angle of the arc length according to the first inclination angle, the first distance, the second inclination angle, and the second distance;

[0032] Calculating a length difference between the arc length and a straight length of the boom, and calculating a roll angle difference between the first roll angle and the second roll angle;

[0033] The lateral bending detection result of the boom is detected according to the length difference, the center angle, and the roll angle difference.

[0034] In some embodiments, the first sensing module includes a first tilt sensor and a first laser ranging sensor respectively connected to the serial communication bus;

[0035] The first inclination sensor is used to measure a first inclination angle of the boom relative to the ground and a first roll angle when the boom rotates;

[0036] The first laser ranging sensor is used to measure a first distance between the first endpoint and the ground.

[0037] In some embodiments, the second sensing module includes a second tilt sensor and a second laser ranging sensor respectively connected to the serial communication bus;

[0038] The second inclination sensor is used to measure a second inclination angle of the boom relative to the ground and a second roll angle when the boom rotates;

[0039] The second laser ranging sensor is used to measure a second distance between the second endpoint and the ground.

[0040] In some embodiments, the first sensing module and the second sensing module are magnetically attracted to the first endpoint and the second endpoint respectively.

[0041] In some embodiments, the first sensing module and the second sensing module also include: an analog-to-digital converter for collecting power, a GPIO for power output control, an LED light for displaying status information, and a wireless module connected to the TTL interface.

[0042] According to a third aspect, an electronic device is provided, including:

[0043] A memory for storing a computer program; a processor for implementing any one of the method steps in the first aspect when executing the computer program stored in the memory.

[0044] According to a fourth aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method steps described in any one of the first aspects are implemented.

[0045] For each aspect from the second to the fourth aspect and the technical effects that may be achieved by each aspect, please refer to the above description of the technical effects that can be achieved by the first aspect or various possible schemes in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of an application scenario applicable to the embodiments of the present application;

[0047] Figure 2 A schematic diagram of the internal structure of a perception module provided in an embodiment of the present application;

[0048] Figure 3 A flowchart of a boom lateral bending detection method provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of a head-up view of a heavy object lifted by a boom provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of the structure of a boom lateral bending detection system provided in an embodiment of the present application;

[0051] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be arbitrarily combined with each other. In addition, although the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in an order different from that here.

[0053] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any of their variations are intended to cover non-exclusive protection. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. "Multiple" in the present application can mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.

[0054] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description. It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, which should be considered as exemplary, and their purpose is only to illustrate the feasibility of the implementation of the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0055] The following is a brief introduction to the application scenarios to which the technical solutions of the embodiments of the present application can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of the present application and are not limited. In specific implementation, the technical solutions provided by the embodiments of the present application can be flexibly applied according to actual needs.

[0056] Figure 1 Schematic diagram of application scenarios applicable to the embodiments of this application. Figure 1 As shown, the application scenario mainly includes: terminal 100, crane 101, and vehicle gateway 102; wherein, vehicle gateway 102 is a device used for communication and data transmission between crane 101 and external network, which acts as a bridge between the internal network of crane 101 and external network, allowing crane 101 to interact with terminal 100, and can be installed at the bottom, rear, top, inside the cockpit, etc. of crane 101. It should be noted that the number of the above devices can be more, Figure 1 It only introduces a crane, a vehicle-mounted gateway, and a terminal.

[0057] The terminal 100 can access the vehicle gateway 102 for communication through cellular mobile communication technology, and the cellular mobile communication technology may include the fifth generation mobile communication (5th Generation Mobile Networks, 5G) technology and the future sixth generation mobile communication (6th Generation Mobile Networks, 6G) technology.

[0058] The terminal 100 may also access the vehicle gateway 102 for communication via a short-range wireless communication method, and the short-range wireless communication method may include Wireless Fidelity (Wi-Fi) technology.

[0059] The terminal 100 is a device that can provide voice and / or data connectivity to the user, including: a handheld terminal device with a wireless connection function, a vehicle-mounted terminal device, etc.

[0060] Terminal 100 includes but is not limited to: mobile phones, tablet computers, laptop computers, PDAs, mobile Internet devices (Mobile Internet Device, MID), wireless terminal devices in unmanned driving, wireless terminal devices in transportation safety, etc., which can display and evaluate the lateral bending data measured by the above-mentioned perception module in real time, and can also issue real-time warnings during the operation of the boom to prevent serious lateral bending of the boom, which may cause accidents such as the boom breaking and tipping of the crane.

[0061] Crane 101 refers to a multi-action lifting machinery that vertically lifts and horizontally moves heavy objects within a certain range, also known as overhead crane, overhead crane, crane, etc.

[0062] In some scenarios, a sensing module is installed on the boom of the crane 101, such as Figure 1 As shown, the first sensing module installed on the first end point 101a of the boom is used to measure the lateral bending data generated when the boom is extended, stretched, lifted, etc. at the first end point 101a, for example, the first inclination angle of the boom relative to the ground, the first roll angle when the boom rotates, and the first distance between the first end point 101a and the ground; the second sensing module installed on the second end point 101b of the boom is used to measure the lateral bending data generated when the boom is extended, stretched, lifted, etc. at the second end point 101b, for example, the second inclination angle of the boom relative to the ground, the second roll angle when the boom rotates, and the second distance between the second end point 101b and the ground, so as to facilitate the subsequent detection of the lateral bending detection result of the boom according to the first inclination angle, the first roll angle, the first distance, the second inclination angle, the second roll angle, and the second distance.

[0063] In some scenarios, the perception module includes a tilt sensor and a laser ranging sensor; it may further include an analog to digital converter (ADC), a general purpose input and output port (GPIO), an LED light, a transistor-transistor logic (TTL) interface, etc., and be integrated into a microcontroller unit (MCU) to achieve real-time measurement of side-bending data. Figure 2 The figure is a schematic diagram of the internal structure of a perception module provided in an embodiment of the present application.

[0064] exist Figure 2 In the sensing module 200, the inclination sensor 2011 and the laser ranging sensor 2012 are respectively connected to the serial communication bus (for example, RS485 bus); wherein the inclination sensor is used to measure the inclination angle of the boom relative to the ground and the roll angle when the boom rotates; the laser ranging sensor is used to measure the distance between the end point of the boom and the ground. The model, type, material, etc. of the above-mentioned inclination sensor and laser ranging sensor can be reasonably designed according to actual needs, and the embodiments of the present application are not limited here.

[0065] The analog-to-digital converter 2013 in the sensing module 200 can be used to collect the power of the lithium battery and convert it into a corresponding percentage to monitor the power usage of the sensing module in real time, thereby facilitating timely charging of the sensing module 200.

[0066] The universal input and output port 2014 in the sensing module 200 can be used for power output control to implement switch control of the power output.

[0067] The LED light 2015 in the sensing module 200 can be used to display status information, for example, the operating status, startup status, fault status, etc. of the sensing module.

[0068] The TTL interface 2016 in the sensing module 200 is connected to the wireless module for interaction with the terminal.

[0069] In some embodiments, the perception module 200 also includes on-chip memory for storage, IIC interface and other required components.

[0070] It should be noted that the above Figure 2 The structure of the sensing module shown is only an example. The specific wiring layout and device layout can be flexibly designed according to actual needs, and the embodiments of the present application are not limited here.

[0071] Furthermore, when the crane 101 has multiple booms, sensing modules may be installed at both ends of each boom.

[0072] In other scenarios, since the structural components on the arm are distributed, the arm's telescopic, lifting and other movements make wiring more difficult based on the distributed layout, and there are steel structures and strong electromagnetic environments around it. Therefore, the perception module is designed to support wireless and self-powered perception modules.

[0073] In other scenarios, the sensing module may also be designed with a magnet so that the sensing module can be magnetically attracted to its respective endpoints, thereby minimizing the difficulty and time of disassembly or installation of the test tooling and improving installation efficiency.

[0074] To further illustrate the technical solution provided by the embodiment of the present application, this is described in detail below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiment of the present application provides the method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided by the embodiment of the present application. The method may be executed or executed in parallel in the actual processing process or when the device is executed in accordance with the method sequence shown in the embodiment or drawings.

[0075] Figure 3 The flowchart of a boom lateral bending detection method provided in an embodiment of the present application. The flowchart can be executed by a boom lateral bending detection system to accurately detect the boom lateral bending to improve the operational safety of the crane. Figure 3 As shown, the process includes the following steps:

[0076] 301: Based on a first sensing module installed on a first end point of the boom, measure a first tilt angle of the boom relative to the ground, a first roll angle when the boom rotates, and a first distance from the first end point to the ground.

[0077] With the above Figure 1 As an example of the scenario shown in FIG. 1 , the first sensing module installed on the first endpoint 101a is Figure 2 In the case of the sensing module 200 shown in FIG. 1 , the tilt sensor 2011 in the sensing module 200 can measure in real time the first tilt angle (θ1) of the boom relative to the ground and the first roll angle (θ2) of the boom when the boom rotates. The laser ranging sensor 2012 in the sensing module 200 can also measure the first distance (L1) between the first endpoint 101a and the ground in real time, and use it as the lateral bending data measured at the first endpoint, so as to facilitate the subsequent detailed analysis of the lateral bending degree of the boom.

[0078] 302: Based on a second sensing module installed on a second end point of the boom, measure a second tilt angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance between the second end point and the ground.

[0079] With the above Figure 1 As an example of the scenario shown in FIG. 1 , the second sensing module installed on the second endpoint 101b is Figure 2 In the case of the sensing module 200 shown in FIG. 1 , the second tilt angle (θ2) of the boom relative to the ground and the second roll angle (θ3) of the boom when the boom rotates can be measured in real time by the inclination sensor 2011 in the sensing module 200. The laser ranging sensor 2012 in the sensing module 200 can also measure the first distance (L2) from the second endpoint 101b to the ground in real time and use it as the lateral bending data measured at the second endpoint, so as to facilitate the subsequent detailed analysis of the lateral bending degree of the boom.

[0080] It should be noted that there is no order distinction between the above 301 and 302, and 301 and 302 can be executed simultaneously, or 302 can be executed first and then 301.

[0081] 303: Detect a lateral bending detection result of the boom according to the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance.

[0082] In some embodiments, the lateral bending detection result of the boom can be specifically: calculating the arc length of the boom and the central angle of the arc length according to the first inclination angle, the first distance, the second inclination angle, and the second distance; calculating the length difference between the arc length and the straight length of the boom, and calculating the roll angle difference between the first roll angle and the second roll angle; detecting the lateral bending detection result of the boom according to the length difference, the central angle, and the roll angle difference, which can detect the lateral bending phenomenon of the boom from different dimensions, thereby improving the accuracy of the lateral bending detection result of the boom.

[0083] Further, based on Figure 4 Based on the schematic diagram of the boom lifting a heavy object, the calculation of the arc length of the boom and the central angle of the arc length may include the following process:

[0084] First, at the first endpoint ( Figure 4 Point A in the middle), the second endpoint ( Figure 4 A corresponding coordinate system is established, the tangent direction of the arc length (AB) at point A is the x-axis, the angle between point A and the ground is the first inclination angle (θ1), the tangent direction of AB at point B is the x-axis, and the angle between point B and the ground is the second inclination angle (θ2).

[0085] Secondly, draw a line parallel to the ground at point A and a line perpendicular to the ground at point B to obtain a right triangle ABD, and calculate the length of BD as L2-L1. Convert to arc length

[0086] Then, draw the perpendicular bisector OE of AB based on the diameter perpendicular to the arc, and draw the perpendicular bisector OE of AB based on the tangent on the circle perpendicular to the radius passing through the tangent point, and draw the perpendicular bisector OA and 0B of A and B respectively based on the straight line passing through the tangent point and perpendicular to the tangent through the center of the circle. The perpendicular bisector OE and the two auxiliary lines intersect at the center of the circle, and calculate

[0087] Furthermore, OE is extended to intersect the tangent x-axis at point A and point F. Since ∠OAF=90°=∠OAD+θ1, ∠OAD=90°-θ1 can be converted. Further, ∠OAE=∠OAD+θ2=90°-θ1+θ2.

[0088] Similarly, in the right triangle OAE, according to Convert to get the arc radius Further conversion to And in the EOA, according to Thus we can obtain sinα=cos(90°-θ1+θ2), and further we can obtain α=arcsin[cos(90°-θ1+θ2)].

[0089] In summary, the radius of the circle corresponding to AB is At the same time, ∠BOA=2α=2*arcsin[cos(90°-θ1+θ2)], and the arc length

[0090] Among them, in the above calculation process, the sin() involved is the sine calculation, cos() is the cosine calculation, and arcsin() is the inverse sine calculation.

[0091] Furthermore, based on the above Figure 4 For example, under ideal circumstances, when the boom lifts a heavy object, the ideal boom is the straight line length of AC=L. Due to the influence of structural deformation, manufacturing welding process, and operations such as lifting heavy objects, extending without load, and telescopic lifting, the actual shape of the boom is arc length AB=L3; therefore, the calculated length difference ΔL=L3-L.

[0092] Furthermore, the deformation of the boom is not only reflected in the change of the tilt angle and arc length, but also in the change of the boom in the roll direction at points A and C (also known as the deformation degree of twisting deformation). Ideally, the roll angles measured at points A and C should be consistent; therefore, the calculated roll angle difference

[0093] Further, according to the above length difference (ΔL), center angle (2α), roll angle difference The results of the lateral bending test of the detection arm may include at least the following situations:

[0094] Case 1: If the length difference is less than or equal to the first length threshold, the center angle is less than or equal to the first center angle threshold, and the roll angle difference is less than or equal to the first roll angle threshold, then the side bend detection result is detected as allowing the boom to be used at full load, indicating that the boom is within a safe operating range. In some embodiments, the first length threshold is set based on the straight length of the boom, for example, the first length threshold is 1.2%*L; the first center angle threshold is set based on the maximum bending angle of the boom, for example, the first center angle threshold is 35%α max The first roll angle threshold is set based on the maximum deformation allowed for the boom in the roll direction. For example, the first roll angle threshold is 35%.

[0095] Case 2: If the length difference is greater than the first length threshold and less than or equal to the second length threshold (e.g., ≤2%*L), the center angle is greater than the first center angle threshold and less than or equal to the second center angle threshold (e.g., ≤65%*α max ), the roll angle difference is greater than the first roll angle threshold and less than or equal to the second roll angle threshold (e.g., ≤65%) ), the side bend detection result is that the boom is prohibited from being used with full load.

[0096] In other embodiments, when the side bend detection result indicates that the boom is prohibited from being used when fully loaded, a prompt message for prohibiting the boom from being used when fully loaded may be generated and sent to an associated terminal (e.g., Figure 1 The terminal 100 shown in the figure is convenient for prompting the user to operate the boom safely according to the restriction requirements.

[0097] Case 3: If the length difference is greater than the second length threshold, the center angle is greater than the second center angle threshold, and the roll angle difference is greater than the second roll angle threshold, the side bend detection result is detected as prohibiting the use of the boom, indicating that the boom is not within a safe operating range.

[0098] In other embodiments, when the side bending detection result is that the use of the boom is prohibited, an alarm message for prompting that the boom side bending has safety implications may be generated and sent to an associated terminal (such as Figure 1 The terminal 100 shown in the figure is convenient for prompting the user to take timely measures.

[0099] Case 4: If the length difference is less than or equal to the third length threshold (e.g., ≤0.65%*L), and the center angle is less than or equal to the third center angle threshold (e.g., ≤65%α max ), and the roll angle difference is less than or equal to a third roll angle threshold (e.g., ≤65%) ), the lateral bending detection result is that the lateral bending of the arm is almost non-existent and is within the optimal range.

[0100] In some embodiments, in the above-listed situations, if any one of the constraints in a certain situation is not satisfied, the side bending detection result is detected as the boom having obvious side bending, the boom is unqualified, and a notification message for prompting the boom to be unqualified is generated (which may include the reason for the boom to be unqualified, the model of the boom, the size of the boom, etc.), and the notification message is sent to an associated terminal (such as Figure 1 The terminal 100 shown in the figure facilitates the user to perform maintenance based on the notification information.

[0101] In the embodiment of the present application, by setting the above-mentioned constraint conditions, not only the lateral bending detection of the boom can be achieved, but also real-time warning can be achieved during the operation of the boom, thereby improving safety and satisfying user experience.

[0102] It should be noted that the above constraints are only examples and can be flexibly set in the actual judgment process, and the embodiments of the present application do not limit them here.

[0103] In an embodiment of the present application, firstly, based on a first sensing module installed on a first end point of the boom, a first inclination angle of the boom relative to the ground, a first roll angle when the boom rotates, and a first distance from the first end point to the ground are measured; based on a second sensing module installed on a second end point of the boom, a second inclination angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance from the second end point to the ground are measured, and the lateral bending data generated during the operation of the boom can be measured intelligently and in real time; secondly, according to the first inclination angle, the first roll angle, the first distance, the second inclination angle, the second roll angle, and the second distance, the lateral bending detection result of the boom is detected, and the lateral bending phenomenon of the boom is considered from different dimensions, so that the lateral bending detection result of the boom is more accurate and referenceable, while improving the safety during the operation of the crane.

[0104] Based on the above Figure 3According to the method shown, when there are multiple booms for a crane, sensing modules can be installed at both ends of each boom to achieve real-time measurement of the lateral bending data of each boom.

[0105] Based on the above Figure 3 From the description of arc length and center angle in the figure, it can be inferred that the arc length, center angle, and roll angle difference of multiple booms satisfy the following expressions:

[0106] Among them, r n Characterizes the arc radius of the nth boom, θ1 n Characterizes the first inclination angle of the first end point of the nth boom, θ2 n+1 Characterizes the second inclination angle of the second end point of the nth boom, L1 n Characterizes the first distance between the first end point of the nth boom and the ground, L2 n+1 Characterizes the second distance between the second end point of the nth boom and the ground;

[0107] 2α n =2*arcsin[cos(90°-θ1 n +θ2 n+1 )]; among them, 2α n Characterizes the center angle of the nth boom;

[0108] Among them, L3 n Characterizes the arc length of the nth boom;

[0109] in, Characterizes the roll angle of the first end point of the nth boom, Characterizes the roll angle of the second end point of the nth boom.

[0110] In some embodiments, when performing lateral bending detection on the boom of a crane, a set of different or same length thresholds, central angle thresholds, and roll angle thresholds can be set for each boom for detection, and the lateral bending detection results of each boom can be detected, so as to specifically locate which section of the boom of the crane has severe lateral bending.

[0111] In other embodiments, when performing lateral bending detection on the boom of a crane, only one set of length thresholds, center angle thresholds, and roll angle thresholds may be set for comprehensive detection. For example, the average values ​​of the calculated length differences, center angles, and roll angle differences of multiple booms are calculated respectively, and then the average value of the length difference, the average value of the center angle, and the average roll angle difference are compared with the length threshold, the center angle threshold, and the roll angle threshold respectively, to detect the lateral bending detection result of the entire boom, thereby comprehensively determining the lateral bending phenomenon of the entire crane boom.

[0112] Based on the same technical concept, a boom lateral bending detection system is also provided in an embodiment of the present application, and the device can implement the above-mentioned boom lateral bending detection method process in the embodiment of the present application.

[0113] Figure 5 A schematic diagram of the structure of a boom lateral bending detection system provided in an embodiment of the present application. The system comprises: a first sensing module 501, a second sensing module 502, and a detection module 503; wherein the first sensing module 501 is installed on the first end point of the boom, and the second sensing module 502 is installed on the second end point of the boom.

[0114] The first sensing module 501 is used to measure a first tilt angle of the boom relative to the ground, a first roll angle when the boom rotates, and a first distance between the first endpoint and the ground.

[0115] The second sensing module 502 is used to measure a second tilt angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance between the second end point and the ground.

[0116] The detection module 503 is used to detect the lateral bending detection result of the boom according to the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance.

[0117] In some embodiments, the detection module 503 is specifically used to:

[0118] According to the first inclination angle, the first distance, the second inclination angle, and the second distance, the arc length of the boom and the center angle of the arc length are calculated; the length difference between the arc length and the straight length of the boom and the roll angle difference between the first roll angle and the second roll angle are calculated; and the lateral bending detection result of the boom is detected according to the length difference, the center angle, and the roll angle difference.

[0119] In some embodiments, the detection module 503 is specifically used to:

[0120] If the length difference is less than or equal to a first length threshold, the center angle is less than or equal to the first center angle threshold, and the roll angle difference is less than or equal to the first roll angle threshold, then the lateral bend detection result is detected as allowing the boom to be used at full load; or if the length difference is greater than the first length threshold and less than or equal to the second length threshold, the center angle is greater than the first center angle threshold and less than or equal to the second center angle threshold, and the roll angle difference is greater than the first roll angle threshold and less than or equal to the second roll angle threshold, then the lateral bend detection result is detected as prohibiting the use of the boom at full load; or if the length difference is greater than the second length threshold, the center angle is greater than the second center angle threshold, and the roll angle difference is greater than the second roll angle threshold, then the lateral bend detection result is detected as prohibiting the use of the boom.

[0121] In some embodiments, the first sensing module 501 includes a first inclination sensor and a first laser ranging sensor respectively connected to the serial communication bus; the first inclination sensor is used to measure a first inclination angle of the boom relative to the ground and a first roll angle when the boom rotates; the first laser ranging sensor is used to measure a first distance from the first endpoint to the ground.

[0122] In some embodiments, the second sensing module 502 includes a second inclination sensor and a second laser ranging sensor respectively connected to the serial communication bus; the second inclination sensor is used to measure a second inclination angle of the boom relative to the ground and a second roll angle when the boom rotates; the second laser ranging sensor is used to measure a second distance from the second endpoint to the ground.

[0123] In some embodiments, the first sensing module and the second sensing module are magnetically attracted to the first endpoint and the second endpoint respectively.

[0124] In some embodiments, the first sensing module and the second sensing module also include: an analog-to-digital converter for collecting power, a universal input and output port for power output control, an LED light for displaying status information, and a wireless module connected to the TTL interface.

[0125] It should be noted here that the above-mentioned system provided in the embodiment of the present application can implement all the method steps in the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0126] Based on the same technical concept, an electronic device is also provided in an embodiment of the present application, and the electronic device can realize the functions of the aforementioned boom lateral bending detection system.

[0127] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0128] At least one processor 601, and a memory 602 connected to the at least one processor 601. The specific connection medium between the processor 601 and the memory 602 is not limited in the embodiment of the present application. Figure 6 In the example, the processor 601 and the memory 602 are connected via a bus 600. Figure 6 The connection between other components is shown by bold lines, and is not intended to be limiting. The bus 600 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 601 can also be called a controller, and there is no limitation on the name.

[0129] In the embodiment of the present application, the memory 602 stores instructions that can be executed by at least one processor 601. The at least one processor 601 can execute a boom lateral bending detection method discussed above by executing the instructions stored in the memory 602. The processor 601 can implement Figure 5 The functions of each module in the system are shown.

[0130] Among them, the processor 601 is the control center of the system, and can use various interfaces and lines to connect the various parts of the entire control device. By running or executing instructions stored in the memory 602 and calling the data stored in the memory 602, the various functions of the device and processing data, the system can be monitored as a whole.

[0131] In the embodiment of the present application, the processor 601 may include one or more processing units, and the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor 601. In some embodiments, the processor 601 and the memory 602 may be implemented on the same chip, and in some embodiments, they may also be implemented separately on separate chips.

[0132] The processor 601 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of a boom lateral bending detection method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in a processor.

[0133] The memory 602 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 602 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 602 is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 602 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0134] By programming the processor 601, the code corresponding to the boom bending detection method described in the above embodiment can be fixed into the chip, so that the chip can execute the code when running. Figure 3 The embodiment shown is a boom lateral bending detection method. How to design and program the processor 601 is a technology well known to those skilled in the art and will not be described in detail here.

[0135] It should be noted here that the above-mentioned electronic device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0136] Based on the same technical concept, an embodiment of the present application provides a computer storage medium, the computer storage medium includes: computer program code, when the computer program code is run on a computer, the computer executes any one of the boom lateral bending detection methods discussed above. Since the principle of solving the problem by the above computer storage medium is similar to that of a boom lateral bending detection method, the implementation of the above computer storage medium can refer to the implementation of the method, and the repeated parts will not be repeated.

[0137] In the specific implementation process, the computer storage medium may include: Universal Serial Bus Flash Drive (USB), mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other storage media that can store program codes.

[0138] Based on the same technical concept, the embodiment of the present application also provides a computer program product, which includes: computer program code, when the computer program code is run on a computer, the computer executes any one of the boom lateral bending detection methods discussed above. Since the principle of solving the problem by the above computer program product is similar to that of a boom lateral bending detection method, the implementation of the above computer program product can refer to the implementation of the method, and the repeated parts will not be repeated.

[0139] The computer program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more conductors, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0140] The method in the present application can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the present application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, a core network device, an OAM or other programmable device.

[0141] The computer program or instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; it may also be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0142] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0143] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the instructions in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0145] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for detecting lateral bending of a boom, characterized in that: The method comprises: Based on a first sensing module installed on a first end point of the boom, measuring a first tilt angle of the boom relative to the ground, a first roll angle when the boom rotates, and a first distance from the first end point to the ground; Based on a second sensing module installed on a second end point of the boom, measuring a second inclination angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance from the second end point to the ground; A lateral bending detection result of the boom is detected according to the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance.

2. The method according to claim 1, characterized in that The detecting a side bending detection result of the boom according to the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance comprises: Calculate the arc length of the boom and the central angle of the arc length according to the first inclination angle, the first distance, the second inclination angle, and the second distance; Calculating a length difference between the arc length and a straight length of the boom, and calculating a roll angle difference between the first roll angle and the second roll angle; The lateral bending detection result of the boom is detected according to the length difference, the center angle, and the roll angle difference.

3. The method according to claim 2, characterized in that The step of detecting the side bending detection result of the boom according to the length difference, the center angle, and the rolling angle difference comprises: If the length difference is less than or equal to a first length threshold, the center angle is less than or equal to a first center angle threshold, and the roll angle difference is less than or equal to a first roll angle threshold, then the side bend detection result is detected as allowing the boom to be used at full load; or If the length difference is greater than the first length threshold and less than or equal to the second length threshold, the center angle is greater than the first center angle threshold and less than or equal to the second center angle threshold, and the roll angle difference is greater than the first roll angle threshold and less than or equal to the second roll angle threshold, then the side bend detection result is detected as prohibiting the use of the boom with full load; or If the length difference is greater than the second length threshold, the center angle is greater than the second center angle threshold, and the roll angle difference is greater than the second roll angle threshold, then the side bend detection result is detected as prohibiting the use of the boom.

4. The method according to claim 2, characterized in that The arc length of the arm meets the following expression: Wherein, the θ1 represents a first inclination angle of the boom, the θ2 represents a second inclination angle of the boom, the L1 represents a first distance of the boom, and the L2 represents a second distance of the boom.

5. The method according to any one of claims 1 to 4, characterized in that: The first sensing module and the second sensing module are magnetically attracted to the first end point and the second end point respectively.

6. A boom lateral bending detection system, characterized in that: include: A first sensing module, a second sensing module, and a detection module; wherein the first sensing module is mounted on the first end point of the boom, and the second sensing module is mounted on the second end point of the boom; The first sensing module is used to measure a first tilt angle of the boom relative to the ground, a first roll angle when the boom rotates, and a first distance from the first endpoint to the ground; The second sensing module is used to measure a second tilt angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance between the second endpoint and the ground; The detection module is used to detect the lateral bending detection result of the boom according to the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance.

7. The system according to claim 6, characterized in that The detection module is specifically used for: Calculate the arc length of the boom and the central angle of the arc length according to the first inclination angle, the first distance, the second inclination angle, and the second distance; Calculating a length difference between the arc length and a straight length of the boom, and calculating a roll angle difference between the first roll angle and the second roll angle; The lateral bending detection result of the boom is detected according to the length difference, the center angle, and the roll angle difference.

8. The system according to claim 6, characterized in that The first sensing module includes a first tilt sensor and a first laser ranging sensor respectively connected to the serial communication bus; The first inclination sensor is used to measure a first inclination angle of the boom relative to the ground and a first roll angle when the boom rotates; The first laser ranging sensor is used to measure a first distance between the first endpoint and the ground.

9. The system according to claim 6, characterized in that The second sensing module includes a second tilt sensor and a second laser ranging sensor respectively connected to the serial communication bus; The second inclination sensor is used to measure a second inclination angle of the boom relative to the ground and a second roll angle when the boom rotates; The second laser ranging sensor is used to measure a second distance between the second endpoint and the ground.

10. The system according to any one of claims 6 to 9, characterized in that: The first sensing module and the second sensing module are magnetically attracted to the first end point and the second end point respectively.

11. The system according to any one of claims 6 to 9, characterized in that: The first sensing module and the second sensing module also include: an analog-to-digital converter for collecting power, a general input and output port GPIO for power output control, an LED light for displaying status information, and a wireless module connected to the TTL interface.

12. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to implement the method according to any one of claims 1 to 5 when executing a computer program stored in the memory.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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