An arm side bending detection method, system, electronic device and storage medium

Abstract

The application discloses an arm frame side 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: measuring a first inclination angle of an arm frame relative to the ground, a first roll angle when the arm frame rotates, and a first distance from the ground to a first endpoint of the arm frame based on a first sensing module installed on the first endpoint; measuring a second inclination angle of the arm frame relative to the ground, a second roll angle when the arm frame rotates, and a second distance from the ground to a second endpoint of the arm frame based on a second sensing module installed on the second endpoint; and detecting a side bending detection result of the arm frame 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, so as to accurately detect the side bending of the arm frame and improve the safety during the operation of the crane.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, and in particular to a boom side bending detection method and system, an electronic device, and a storage medium. BACKGROUND

[0002] The boom is commonly known as a boom, a lifting arm, as a key load-bearing component, which can be a whole arm or a multi-arm nest, and the structural stability is an important factor in determining the mechanical performance. Once the boom structure is unstable (for example, the boom side bending is serious), it is easy to cause the boom folding, tipping and other accidents of the crane, causing serious losses.

[0003] During the daily lifting operation, the boom side bending often occurs, especially in cranes with arms longer than 80 meters. The specific reasons for the boom side bending are as follows: (1) the gap between each arm is too large, which will cause the left and right swing of the arm joint; or the head block position is incorrect, which will cause the arm to deviate to one side, and now the arm is generally multi-section, once the sliding block of a certain section of the arm is not accurately adjusted, the arm will be more obvious after elongation; (2) during the manufacturing process of the boom, due to process problems, stress reaction of the boom itself will occur during pressing and welding, which will cause micro deformation of the boom, although it cannot be found by naked eye, but when assembled on the crane, it will cause obvious boom side bending; (3) the tail block gap of the boom is not symmetrical, which will cause the boom to be stressed and skewed, so the hinge shaft of the boom tail and the rotary table are also easy to cause the boom side bending; (4) for cranes with straight arms, single-section arms and multi-section arms, structural deformation is also a cause of boom side bending.

[0004] Therefore, how to accurately detect the boom side bending is a problem to be solved at present. SUMMARY

[0005] The present application provides a boom side bending detection method, system, electronic device and storage medium, which can accurately detect the boom side bending and improve the safety during the operation of the crane.

[0006] In a first aspect, a boom side bending detection method is provided, the method comprising:

[0007] measuring 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 based on a first sensing module installed on a first end point of the boom;

[0008] 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 based on a second sensing module installed on a second end point of the boom;

[0009] 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, a side bending detection result of the arm support is detected.

[0010] In the embodiments of the present application, first, based on the first sensing module installed on the first endpoint of the arm support, the first inclination angle of the arm support relative to the ground, the first roll angle when the arm support rotates, and the first distance from the first endpoint to the ground are measured; based on the second sensing module installed on the second endpoint of the arm support, the second inclination angle of the arm support relative to the ground, the second roll angle when the arm support rotates, and the second distance from the second endpoint to the ground are measured, so that the side bending data generated during the operation of the arm support 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 side bending detection result of the arm support is detected, the side bending phenomenon of the arm support is considered from different dimensions, so that the side bending detection result of the arm support is more accurate and has reference value, and the safety during the operation of the crane is improved.

[0011] In some embodiments, the detecting the side bending detection result of the arm support 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 comprises:

[0012] According to the first inclination angle, the first distance, the second inclination angle, and the second distance, the arc length of the arm support and the central angle of the arc length are calculated;

[0013] The length difference between the arc length and the straight line length of the arm support is calculated, and the roll angle difference between the first roll angle and the second roll angle is calculated;

[0014] According to the length difference, the central angle, and the roll angle difference, the side bending detection result of the arm support is detected.

[0015] In the above manner, the side bending phenomenon of the arm support can be detected from different dimensions, and the accuracy of the side bending detection result of the arm support is improved.

[0016] In some embodiments, the detecting the side bending detection result of the arm support according to the length difference, the central angle, and the roll angle difference comprises:

[0017] If the length difference is less than or equal to a first length threshold value, the central angle is less than or equal to a first central angle threshold value, and the roll angle difference is less than or equal to a first roll angle threshold value, it is detected that the side bending detection result is to allow full load use of the arm support; or

[0018] if the length difference is greater than the first length threshold and less than or equal to a second length threshold, the central angle is greater than the first central angle threshold and less than or equal to a second central angle threshold, and the roll angle difference is greater than the first roll angle threshold and less than or equal to a second roll angle threshold, the side bending detection result is detected as prohibited full-load use of the arm support; or

[0019] if the length difference is greater than the second length threshold, the central angle is greater than the second central angle threshold, and the roll angle difference is greater than the second roll angle threshold, the side bending detection result is detected as prohibited use of the arm support.

[0020] By setting the above constraint conditions, not only the side bending detection of the arm support can be realized, but also real-time warning during operation of the arm support can be realized, the safety is improved, and the user experience is met.

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

[0022]

[0023] wherein the θ1 represents a first inclination angle of the arm support, the θ2 represents a second inclination angle of the arm support, the L1 represents a first distance of the arm support, and the L2 represents a second distance of the arm support.

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

[0025] By adopting the magnetic attraction installation mode, the difficulty and time of disassembly and assembly of the test tooling can be maximally reduced, and the installation efficiency is improved.

[0026] In a second aspect, an arm support 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 installed on a first end point of an arm support, and the second sensing module is installed on a second end point of the arm support.

[0027] The first sensing module is configured to measure a first inclination angle of the arm support relative to the ground, a first roll angle when the arm support rotates, and a first distance from the first end point to the ground.

[0028] The second sensing module is configured to measure a second inclination angle of the arm support relative to the ground, a second roll angle when the arm support rotates, and a second distance from the second end point to the ground.

[0029] The detection module is configured to detect a side bending detection result of the arm support 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.

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

[0031] calculate an arc length of the arm support and a central angle of the arc length according to the first inclination angle, the first distance, the second inclination angle, and the second distance;

[0032] calculate a length difference between the arc length and a straight line length of the arm support, and calculate a roll angle difference between the first roll angle and the second roll angle;

[0033] detect the side bending detection result of the arm support according to the length difference, the central angle, and the roll angle difference.

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

[0035] The first inclination sensor is configured to measure a first inclination angle of the arm support relative to the ground and a first roll angle when the arm support rotates.

[0036] The first laser ranging sensor is configured to measure a first distance from the first end point to the ground.

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

[0038] The second inclination sensor is configured to measure a second inclination angle of the arm support relative to the ground and a second roll angle when the arm support rotates.

[0039] The second laser ranging sensor is configured to measure a second distance from the second end point to the ground.

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

[0041] In some embodiments, the first sensing module and the second sensing module each further include an analog-to-digital converter for collecting electric quantity, a GPIO for power output control, an LED lamp for displaying state information, and a wireless module connected to a TTL interface.

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

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

[0044] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program, when executed by a processor, implements the method steps of any one of the first aspect.

[0045] The above-mentioned second aspect to fourth aspect and the technical effects that can be achieved by each aspect are described above in the description of the first aspect or the various possible solutions in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 An application scenario suitable for the embodiments of the present application is shown in the figure;

[0047] Figure 2 A structure diagram of a perception module provided by the embodiments of the present application is shown in the figure;

[0048] Figure 3 A flowchart of an arm bracket side bending detection method provided by the embodiments of the present application is shown in the figure;

[0049] Figure 4 A heads-up diagram of a heavy object hoisted by an arm bracket provided by the embodiments of the present application is shown in the figure;

[0050] Figure 5 A structure diagram of an arm bracket side bending detection system provided by the embodiments of the present application is shown in the figure;

[0051] Figure 6 A structure diagram of an electronic device provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will. Moreover, although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0053] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "multiple" in this application can mean at least two, for example, two, three, or more, and the embodiments of this application do not impose limitations.

[0054] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These embodiments should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description. It should be noted that in the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solutions of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0055] The following is a brief introduction to the application scenarios to which the technical solutions of the embodiments of this application are applicable. It should be noted that the application scenarios described below are only for illustrating the embodiments of this application and are not intended to limit the scope. In specific implementation, the technical solutions provided by the embodiments of this application can be flexibly applied according to actual needs.

[0056] Figure 1 This is a schematic diagram illustrating an application scenario applicable to the embodiments of this application. For example... Figure 1 As shown, this application scenario mainly includes: terminal 100, crane 101, and vehicle-mounted gateway 102. The vehicle-mounted gateway 102 is a device used for communication and data transmission between crane 101 and an external network. It acts as a bridge between the internal and external networks of crane 101, allowing crane 101 to interact with terminal 100. It can be installed at the bottom, rear, top, or inside the cab of crane 101. It should be noted that the number of these devices can be greater. Figure 1 The introduction will only use one crane, vehicle-mounted gateway, and terminal as an example.

[0057] Terminal 100 can communicate with vehicle gateway 102 via cellular mobile communication technology, which may include 5th generation mobile network (5G) technology and future 6th generation mobile network (6G) technology.

[0058] Terminal 100 can also communicate with vehicle gateway 102 via short-range wireless communication, which may include Wireless Fidelity (Wi-Fi) technology.

[0059] Terminal 100 is a device that can provide users with voice and / or data connectivity, including: handheld terminal devices with wireless connectivity, vehicle-mounted terminal devices, etc.

[0060] Terminal 100 includes, but is not limited to: mobile phones, tablets, laptops, handheld computers, mobile internet devices (MID), wireless terminal devices in autonomous driving, and wireless terminal devices in transportation safety. It can display and evaluate the lateral bending data measured by the above-mentioned sensing modules in real time, and can also provide real-time warnings during boom operation to prevent severe lateral bending of the boom from causing accidents such as boom breakage and overturning of the crane.

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

[0062] In some scenarios, the sensing modules installed on the boom of crane 101, such as Figure 1 As shown, a first sensing module installed on the first end point 101a of the boom is used to measure the lateral bending data generated during boom extension, lifting, and other movements at the first end point 101a, such as the first tilt angle of the boom relative to the ground, the first roll angle when the boom rotates, and the first distance of the first end point 101a from the ground. A second sensing module installed on the second end point 101b of the boom is used to measure the lateral bending data generated during boom extension, lifting, and other movements at the second end point 101b, such as the second tilt angle of the boom relative to the ground, the second roll angle when the boom rotates, and the second distance of the second end point 101b from the ground. This facilitates the subsequent detection of the lateral bending detection result of the boom based on the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance.

[0063] In some scenarios, the perception module includes an inclination sensor and a laser ranging sensor; further, it can also include an analog to digital converter (ADC), a general purpose input and output port (GPIO), an LED lamp, a transistor-transistor logic (TTL) interface, etc., and is integrated into a microcontroller unit (MCU) to realize real-time measurement of the side bending data. As shown in Figure 2 FIG. 1 is a structural diagram of the perception module according to an embodiment of the present application.

[0064] In Figure 2 , the inclination sensor 2011 and the laser ranging sensor 2012 in the perception module 200 are connected with a serial communication bus (for example, an RS485 bus); 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 from the end point of the boom to the ground. The model, type and material of the inclination sensor and the laser ranging sensor can be reasonably designed according to actual needs, which are not limited in the embodiments of the present application.

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

[0066] The general purpose input and output port 2014 in the perception module 200 can be used for power output control to realize switch control of the power output.

[0067] The LED lamp 2015 in the perception module 200 can be used to display state information, such as the running state, the starting state and the fault state of the perception module.

[0068] The TTL interface 2016 in the perception module 200 is connected with a wireless module to realize interaction with a terminal.

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

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

[0071] Further, in the case where there are multiple booms of the crane 101, the sensing module can be installed at both ends of each boom.

[0072] In other scenarios, due to the distributed arrangement of structural components on the boom, the extension, lifting and other movements of the boom make the wiring more difficult on the basis of the distributed arrangement, and there are steel structures and strong electromagnetic environments around, so the sensing module is designed to be a wireless and self-powered sensing module.

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

[0074] To further illustrate the technical solutions provided by the embodiments of the present application, the following will be described in detail in conjunction with the drawings and specific embodiments. Although the embodiments of the present application provide the method operation steps as described in the following embodiments or shown in the drawings, more or fewer operation steps can be included in the method based on conventional or non-creative labor. The execution order of these steps is not limited to the execution order provided by the embodiments of the present application in the logical sense. The method can be executed in the order shown in the embodiments or drawings or in parallel during actual processing or device execution.

[0075] Figure 3 A flowchart of an arm side bending detection method provided by an embodiment of the present application. The flowchart can be executed by an arm side bending detection system to accurately detect the arm side bending and improve the operation safety of the crane. As shown in Figure 3 The flowchart includes the following steps:

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

[0077] Taking the scenario shown in the above Figure 1 As an example, the first sensing module installed at the first end point 101a is the sensing module 200 shown in Figure 2 The inclination sensor 2011 in the sensing module 200 can be used to measure the first inclination angle (θ1) of the boom relative to the ground and the first roll angle (φ1) when the boom rotates in real time. The laser ranging sensor 2012 in the sensing module 200 can also be used to measure the first distance (L1) from the first end point 101a to the ground in real time, which is used as the side bending data measured at the first end point, and is used as the basis for subsequent detailed analysis of the degree of side bending of the boom.

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

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

[0080] It should be noted that the order of execution for 301 and 302 is not important. 301 and 302 can be executed simultaneously, or 302 can be executed first and 301 can be executed later.

[0081] 303: Detect the lateral bending test results of the boom based on the first tilt angle, first roll angle, first distance, second tilt angle, second roll angle, and second distance.

[0082] In some embodiments, detecting the lateral bending detection result of the boom can specifically involve: calculating the arc length of the boom and the central angle of the arc length based on the first tilt angle, the first distance, the second tilt 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; and detecting the lateral bending detection result of the boom based on the length difference, the central angle, and the roll angle difference. This allows for the detection of the lateral bending phenomenon of the boom from different dimensions, improving the accuracy of the boom lateral bending detection result.

[0083] Furthermore, based on Figure 4 The above-view diagram of a heavy object being lifted by a boom shows how to calculate the arc length of the boom and the central angle of that arc. This can be achieved through the following process:

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

[0085] Secondly, make parallel line of ground at A point, and make vertical line of ground at B point, get right triangle ABD, and calculate the length of BD as L2-L1, according to Thus, the arc length is converted to

[0086] Then, according to the diameter of the vertical arc bisecting chord, and bisecting chord of two arcs, make the median OE of AB; according to the tangent of the circle vertical through the tangent, and the tangent through the tangent vertical line through the center of the circle, make the vertical OA and OB of A and B points, and the above median, two auxiliary lines intersect at the center of the circle, and calculate

[0087] Further, extend OE to intersect the tangent x-axis at A point and F point, since ∠OAF=90°=∠OAD+θ1, thus the conversion of ∠OAD=90°-θ1, further ∠OAE=∠OAD+θ2=90°-θ1+θ2.

[0088] Similarly, in the right triangle OAE, according to The arc radius is converted to Further conversion to And in EOA, according to Thus, sinα=cos(90°-θ1+θ2), further α=arcsin[cos(90°-θ1+θ2)].

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

[0090] 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] Further, the above Figure 4 For example, in the ideal case, the arm is straight when lifting the load, the ideal arm is a straight line of length AC=L, due to the influence of structural deformation, manufacturing welding process, and lifting the load, empty load extension, telescopic load operation, the actual shape of the arm is arc length AB=L3; Therefore, the calculated length difference ΔL=L3-L.

[0092] Further, in the deformation of the arm support, not only the changes of the tilt angle and the arc length are embodied, but also the changes of the arm support at the A point and the C point in the roll direction (also referred to as the deformation degree of the twist deformation) are embodied. In an ideal case, the roll angles measured at the A point and the C point should be consistent. Therefore, the roll angle difference

[0093] Further, according to the length difference (ΔL), the central angle (2α), and the roll angle difference The side bending detection result of the arm support at least includes the following cases:

[0094] Case 1, if the length difference is less than or equal to a first length threshold, the central angle is less than or equal to a first central angle threshold, and the roll angle difference is less than or equal to a first roll angle threshold, it is detected that the side bending detection result is to allow full-load use of the arm support, indicating that the arm support is in a safe operating range. In some embodiments, the first length threshold is set based on the straight length of the arm support, for example, the first length threshold is 1.2%*L; the first central angle threshold is set based on the maximum bending angle of the arm support, for example, the first central angle threshold is 35%α max ; the first roll angle threshold is set based on the maximum deformation degree of the arm support in the roll direction, for example, the first roll angle threshold is 35%α

[0095] Case 2, if the length difference is greater than the first length threshold and less than or equal to a second length threshold (for example, ≤2%*L), the central angle is greater than the first central angle threshold and less than or equal to a second central angle threshold (for example, ≤65%α max ), the roll angle difference is greater than the first roll angle threshold and less than or equal to a second roll angle threshold (for example, ≤65%α ), it is detected that the side bending detection result is to prohibit full-load use of the arm support.

[0096] In some other embodiments, in the case of detecting that the side bending detection result is to prohibit full-load use of the arm support, prompt information for prompting to prohibit use of the arm support in a full-load state can be generated and sent to an associated terminal (such as the terminal 100 shown in the figure), so as to facilitate prompting the user to safely operate the arm support according to the restriction requirement. Figure 1

[0097] Case 3, if the length difference is greater than the second length threshold, the central angle is greater than the second central angle threshold, and the roll angle difference is greater than the second roll angle threshold, it is detected that the side bending detection result is to prohibit use of the arm support, indicating that the arm support is not in a safe operating range.

[0098] ​In some embodiments, in the case that the side-bending detection result is detected as the arm support being prohibited from use, alarm information for prompting that the arm support has a side-bending safety hazard can be generated and sent to the associated terminal (such as the terminal 100 shown in FIG. 1) to facilitate the user to take timely measures. Figure 1

[0099] Case 4: If the length difference is less than or equal to a third length threshold (for example, ≤ 0.65%*L), the central angle is less than or equal to a third central angle threshold (for example, ≤ 65%a max ), and the roll angle difference is less than or equal to a third roll angle threshold (for example, ≤ 65%a ), the side-bending detection result is detected as the side-bending degree of the arm support being almost none, within the optimal range.

[0100] In some embodiments, in the above-mentioned cases, if any one of the constraint conditions in a certain case is not met, the side-bending detection result is detected as the arm support having a significant side-bending phenomenon, and the arm support is unqualified. Notification information (which can include information such as the reason for the arm support being unqualified, the model of the arm support, and the size of the arm support) for prompting that the arm support is unqualified can be generated and sent to the associated terminal (such as the terminal 100 shown in FIG. 1) to facilitate the user to perform maintenance processing based on the notification information. Figure 1

[0101] In the embodiments of the present application, by setting the above-mentioned constraint conditions, not only the side-bending detection of the arm support can be realized, but also real-time early warning during the operation of the arm support can be realized, the safety is improved, and the user experience is met.

[0102] It should be noted that the above-mentioned constraint conditions are only examples, and in actual judgment, they can be flexibly set, which is not limited in the embodiments of the present application.

[0103] In the embodiments of the present application, first, based on the first sensing module installed on the first end point of the arm support, the first inclination angle of the arm support relative to the ground, the first roll angle when the arm support rotates, and the first distance from the first end point to the ground are measured; based on the second sensing module installed on the second end point of the arm support, the second inclination angle of the arm support relative to the ground, the second roll angle when the arm support rotates, and the second distance from the second end point to the ground are measured, so that the side-bending data generated during the operation of the arm support can be measured intelligently and in real time; second, 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 side-bending detection result of the arm support is detected, the side-bending phenomenon of the arm support is considered from different dimensions, so that the side-bending detection result of the arm support is more accurate and more referential, and the safety during the operation of the crane is improved.

[0104] Based on the above-mentioned Figure 3 ​​The method shown can install a sensing module at both end points of each boom in the case of multiple booms of the crane to realize real-time measurement of the side bending data of each boom.

[0105] Based on the above Figure 3 According to the above description of the arc length, the central angle, and the roll angle difference of the multiple booms, it can be inferred that the arc length, the central angle, and the roll angle difference of the multiple booms satisfy the following expressions respectively:

[0106] wherein r n denotes the arc radius of the nth boom, θ1 n denotes the first inclination angle of the first end point of the nth boom, θ2 n+1 denotes the second inclination angle of the second end point of the nth boom, L1 n denotes the first distance of the first end point of the nth boom from the ground, L2 n+1 denotes the second distance of the second end point of the nth boom from the ground;

[0107] 2α n = 2 * arcsin [cos (90° - θ1 n + θ2 n+1 )]; wherein 2α n denotes the central angle of the nth boom;

[0108] wherein L3 n denotes the arc length of the nth boom;

[0109] wherein, denotes the roll angle of the first end point of the nth boom, denotes the roll angle of the second end point of the nth boom.

[0110] In some embodiments, when detecting the side bending of the booms of the crane, a set of different or same length thresholds, central angle thresholds, and roll angle thresholds can be respectively set for each boom for detection, and the side bending detection results of each boom are detected, so as to pinpoint which boom of the crane has a serious boom side bending phenomenon.

[0111] In some other embodiments, when detecting the side bending of the booms of the crane, only a set of length thresholds, central angle thresholds, and roll angle thresholds can be set for comprehensive detection, for example, the length difference, the central angle, and the roll angle difference of the calculated multiple booms are respectively averaged, and then the length difference average, the central angle average, and the roll angle average difference are respectively compared with the length threshold, the central angle threshold, and the roll angle threshold to detect the side bending detection result of the booms as a whole, so as to comprehensively determine the boom side bending phenomenon of the crane as a whole.

[0112] Based on the same technical concept, the application also provides an arm frame side bending detection system, which can realize the arm frame side bending detection method flow provided in the application.

[0113] Figure 5 A structural schematic diagram of an arm frame side bending detection system provided in the application. The system comprises a first sensing module 501, a second sensing module 502, and a detection module 503. The first sensing module 501 is installed on a first end point of the arm frame, and the second sensing module 502 is installed on a second end point of the arm frame.

[0114] The first sensing module 501 is configured to measure a first inclination angle of the arm frame relative to the ground, a first roll angle when the arm frame rotates, and a first distance from the first end point to the ground.

[0115] The second sensing module 502 is configured to measure a second inclination angle of the arm frame relative to the ground, a second roll angle when the arm frame rotates, and a second distance from the second end point to the ground.

[0116] The detection module 503 is configured to detect a side bending detection result of the arm frame 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.

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

[0118] According to the first inclination angle, the first distance, the second inclination angle, and the second distance, the arc length of the arm frame and the central angle of the arc length are calculated, the length difference between the arc length and the straight line length of the arm frame is calculated, and the roll angle difference between the first roll angle and the second roll angle is calculated; and according to the length difference, the central angle, and the roll angle difference, the side bending detection result of the arm frame is detected.

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

[0120] If the length difference value is less than or equal to a first length threshold value, the central angle is less than or equal to a first central angle threshold value, and the roll angle difference is less than or equal to a first roll angle threshold value, it is detected that the side-bending detection result is to allow full-load use of the arm support; or if the length difference value is greater than the first length threshold value and less than or equal to a second length threshold value, the central angle is greater than the first central angle threshold value and less than or equal to a second central angle threshold value, the roll angle difference is greater than the first roll angle threshold value and less than or equal to a second roll angle threshold value, it is detected that the side-bending detection result is to prohibit full-load use of the arm support; or if the length difference value is greater than the second length threshold value, the central angle is greater than the second central angle threshold value, and the roll angle difference is greater than the second roll angle threshold value, it is detected that the side-bending detection result is to prohibit use of the arm support.

[0121] In some embodiments, the first perception module 501 includes a first inclination sensor and a first laser ranging sensor connected with the serial communication bus respectively; the first inclination sensor is configured to measure a first inclination angle of the arm support relative to the ground and a first roll angle when the arm support rotates; and the first laser ranging sensor is configured to measure a first distance from the first end point to the ground.

[0122] In some embodiments, the second perception module 502 includes a second inclination sensor and a second laser ranging sensor connected with the serial communication bus respectively; the second inclination sensor is configured to measure a second inclination angle of the arm support relative to the ground and a second roll angle when the arm support rotates; and the second laser ranging sensor is configured to measure a second distance from the second end point to the ground.

[0123] In some embodiments, the first perception module and the second perception module are respectively magnetically attracted to the first end point and the second end point.

[0124] In some embodiments, the first perception module and the second perception module each further include an analog-to-digital converter for collecting electric quantity, a general-purpose input and output port for power output control, an LED lamp for displaying state information, and a wireless module connected with a TTL interface.

[0125] It should be noted that the above system provided by the embodiments of the present application can implement all method steps in the above method embodiments and achieve the same technical effects, and therefore, the same parts and beneficial effects of the method embodiments will not be described in detail herein.

[0126] Based on the same technical concept, the embodiments of the present application also provide an electronic device, which can realize the functions of the above-described arm support side-bending detection system.

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

[0128] The at least one processor 601 and the memory 602 connected with 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 embodiment, the connection between the processor 601 and the memory 602 is taken as an example connected through the bus 600. The bus 600 is used to transmit data and instructions between the processor 601 and the memory 602. Figure 6 In the embodiment, the connection between the processor 601 and the memory 602 is taken as an example connected through the bus 600. The bus 600 is used to transmit data and instructions between the processor 601 and the memory 602. Figure 6 In the embodiment, the connection between the processor 601 and the memory 602 is taken as an example connected through the bus 600. The bus 600 is used to transmit data and instructions between the processor 601 and the memory 602.

[0129] In the embodiment of the present application, the memory 602 stores instructions executable by the at least one processor 601, and the at least one processor 601 can execute the arm bracket bending detection method discussed above by executing the instructions stored in the memory 602. The processor 601 can realize the functions of various modules in the system shown in the embodiment. Figure 5 In the embodiment of the present application, the memory 602 stores instructions executable by the at least one processor 601, and the at least one processor 601 can execute the arm bracket bending detection method discussed above by executing the instructions stored in the memory 602. The processor 601 can realize the functions of various modules in the system shown in the embodiment.

[0130] In the embodiment of the present application, the memory 602 stores instructions executable by the at least one processor 601, and the at least one processor 601 can execute the arm bracket bending detection method discussed above by executing the instructions stored in the memory 602. The processor 601 can realize the functions of various modules in the system shown in the embodiment.

[0131] In the embodiment of the present application, the processor 601 can include one or more processing units, and the processor 601 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, the user interface and the application program, etc., and the modem processor mainly processes the wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 601. In some embodiments, the processor 601 and the memory 602 can be realized on the same chip, and in some embodiments, they can also be realized on independent chips respectively.

[0132] The processor 601 can be a general 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 component, a discrete hardware component, and can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general processor can be a microprocessor or any conventional processor. The steps of the arm bending detection method disclosed in the embodiments of the present application can be directly embodied by the hardware processor for execution, or executed by a combination of hardware and software modules in the processor.

[0133] The memory 602 is a non-volatile computer readable storage medium, which can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 602 can include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. The memory 602 is any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but is not limited to this. The memory 602 in the embodiments of the present application can also be a circuit or any other device capable of realizing the storage function, used for storing program instructions and / or data.

[0134] By designing and programming the processor 601, the code corresponding to the arm bending detection method introduced in the foregoing embodiments can be fixed in the chip, so that the chip can execute the arm bending detection method of the embodiments shown in the running time. Figure 3 How to design and program the processor 601 is a technology known to those skilled in the art, which will not be described here.

[0135] It should be noted that the above electronic device provided by the embodiments of the present application can realize all method steps realized by the above method embodiments, and can achieve the same technical effects, and the same parts and beneficial effects in the embodiments will not be described here.

[0136] Based on the same technical concept, the embodiment of the present application provides a computer storage medium, which comprises computer program codes, and when the computer program codes run on a computer, the computer program codes make the computer execute the arm lateral bending detection method as any one of the above. Since the principle of solving problems of the above computer storage medium is similar to the arm lateral bending detection method, the implementation of the above computer storage medium can be referred to the implementation of the method, and the repeated parts will not be described here.

[0137] In the implementation process, the computer storage medium can include a universal serial bus flash drive (USB), a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various 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 comprises computer program codes, and when the computer program codes run on a computer, the computer program codes make the computer execute the arm lateral bending detection method as any one of the above. Since the principle of solving problems of the above computer program product is similar to the arm lateral bending detection method, the implementation of the above computer program product can be referred to the implementation of the method, and the repeated parts will not be described here.

[0139] The computer program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include an electrical connection having one or more wires, 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 of the above.

[0140] The methods in the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the methods 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 loaded and executed by a computer, the computer programs or instructions perform the processes or functions described in the present application 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 equipment, a core network device, an OAM, or other programmable devices.

[0141] The computer programs or instructions can 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 programs or instructions can be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center through wired or wireless means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The available media can be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; an optical medium, such as a digital video disc; and a semiconductor medium, such as a solid-state disk. The computer-readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0142] Those skilled in the art will understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take 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.) containing computer-usable program code.

[0143] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a device that implements the processes described in the flowcharts and / or block diagrams. Figure 1 one flow or multiple flows and / or blocks Figure 1apparatus that performs the specific functions specified in the block or blocks. These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 flow or flows and / or blocks Figure 1 the function specified in the block or blocks.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 flow or flows and / or blocks Figure 1 the function specified in the block or blocks.

[0145] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A method for detecting boom lateral bending, characterized in that, The method includes: Based on a first sensing module installed at the first end of the boom, 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 to the ground are measured. Based on a second sensing module installed at the second end of the boom, a second tilt angle of the boom relative to the ground, a second roll angle when the boom rotates, and a second distance from the second end to the ground are measured; The lateral bending detection result of the boom is detected based on the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance; The step of detecting the lateral deflection detection result of the boom based on the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance includes: Calculate the arc length of the boom and the central angle of the arc length based on the first tilt angle, the first distance, the second tilt angle, and the second distance; Calculate the length difference between the arc length and the straight length of the boom, and calculate the roll angle difference between the first roll angle and the second roll angle; The lateral bending detection result of the boom is detected based on the length difference, the central angle, and the roll angle difference. The step of detecting the lateral deflection of the boom based on the length difference, the central angle, and the roll angle difference includes: If the length difference is less than or equal to a first length threshold, the central angle is less than or equal to a first central angle threshold, and the roll angle difference is less than or equal to a first roll angle threshold, then the side bend detection result indicates that the boom can 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 central angle is greater than the first central angle threshold and less than or equal to the second central 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 indicates that the boom should not be used under full load; or If the length difference is greater than the second length threshold, the central angle is greater than the second central angle threshold, and the roll angle difference is greater than the second roll angle threshold, then the side bend detection result indicates that the boom is prohibited from use.

2. The method as described in claim 1, characterized in that, The arc length of the boom satisfies the following expression: Among them, the Characterizing the first tilt angle of the boom, the The second tilt angle of the boom is represented by L1, the first distance of the boom is represented by L2, and the second distance of the boom is represented by L2.

3. The method as described in claim 1 or 2, characterized in that, The first sensing module and the second sensing module are magnetically attached to the first endpoint and the second endpoint, respectively.

4. A boom lateral bending detection system, characterized in that, include: The system comprises a first sensing module, a second sensing module, and a detection module; wherein the first sensing module is installed at the first end point of the boom, and the second sensing module is installed at the second end point of the boom. The first sensing module is used to measure the first tilt angle of the boom relative to the ground, the first roll angle when the boom rotates, and to measure the first distance between the first endpoint and the ground; The second sensing module is used to measure the second tilt angle of the boom relative to the ground, the second roll angle when the boom rotates, and to measure the second distance between the second endpoint and the ground; The detection module is used to detect the lateral bending detection result of the boom based on the first tilt angle, the first roll angle, the first distance, the second tilt angle, the second roll angle, and the second distance. Specifically, the detection module is used for: Calculate the arc length of the boom and the central angle of the arc length based on the first tilt angle, the first distance, the second tilt angle, and the second distance; Calculate the length difference between the arc length and the straight length of the boom, and calculate the roll angle difference between the first roll angle and the second roll angle; The lateral bending detection result of the boom is detected based on the length difference, the central angle, and the roll angle difference. Specifically, the detection module is used for: If the length difference is less than or equal to a first length threshold, the central angle is less than or equal to a first central angle threshold, and the roll angle difference is less than or equal to a first roll angle threshold, then the side bend detection result indicates that the boom can 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 central angle is greater than the first central angle threshold and less than or equal to the second central 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 indicates that the boom should not be used under full load; or If the length difference is greater than the second length threshold, the central angle is greater than the second central angle threshold, and the roll angle difference is greater than the second roll angle threshold, then the side bend detection result indicates that the boom is prohibited from use.

5. The system as described in claim 4, characterized in that, The first sensing module includes a first tilt sensor and a first laser rangefinder, which are respectively connected to a serial communication bus. The first tilt sensor is used to measure the first tilt angle of the boom relative to the ground and the first roll angle when the boom rotates; The first laser ranging sensor is used to measure the first distance between the first endpoint and the ground.

6. The system as described in claim 4, characterized in that, The second sensing module includes a second tilt sensor and a second laser rangefinder, both connected to a serial communication bus. The second tilt sensor is used to measure the second tilt angle of the boom relative to the ground and the second roll angle when the boom rotates; The second laser rangefinder is used to measure the second distance between the second endpoint and the ground.

7. The system according to any one of claims 4-6, characterized in that, The first sensing module and the second sensing module are magnetically attached to the first endpoint and the second endpoint, respectively.

8. The system according to any one of claims 4-6, characterized in that, The first sensing module and the second sensing module further include: an analog-to-digital converter for collecting power, a general-purpose input and output port (GPIO) for power output control, an LED for displaying status information, and a wireless module connected to a TTL interface.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method of any one of claims 1-3.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-3.

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