Hoisting equipment, amplitude variation stability evaluation method, device and system thereof and medium

Abstract

The invention relates to the technical field of engineering machinery, and discloses hoisting equipment, an amplitude variation stability evaluation method, device and system thereof and a medium. The method comprises the steps that according to amplitude variation related data of the hoisting equipment in different amplitude variation stages under different test working conditions, a plurality of evaluation parameters used for representing fluctuation of measuring points are determined, the different amplitude variation stages comprise the starting stage, the speed stabilizing stage and the stopping stage in the amplitude variation rotation process, and the measuring points comprise an arm tip and hoisted goods; and evaluating the amplitude variation stability of the hoisting equipment according to the plurality of evaluation parameters. According to the method, objective evaluation parameters representing the fluctuation of the measuring points (the arm tip and the suspended cargo) are determined, the process (running through the starting stage, the speed stabilizing stage and the parking stage) and datamation of amplitude variation stability evaluation are promoted, the method does not depend on subjective perception of evaluation personnel any more, and the accuracy of equipment amplitude variation stability evaluation is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a hoisting device and a method, device, system and medium for evaluating the amplitude stability thereof. Background Art

[0002] The amplitude change stability of lifting equipment (or hoisting equipment) refers to the intensity of the deformation, vibration, impact and heavy object swing of the boom structure during the amplitude change process of the lifting equipment. The existing evaluation technology for lifting equipment mainly evaluates the safety, reliability and working capacity of the lifting equipment, focusing on parameters such as the structural strength and fatigue life of the lifting equipment, but lacks objective evaluation indicators for the amplitude change stability of the lifting equipment. In addition, the existing technology also lacks an effective testing method for the amplitude change balance of the lifting equipment, and can only rely on the subjective perception of the evaluator for estimation. However, the subjective perception criteria of different evaluators cannot be completely consistent, and even the subjective perception of the same evaluator at different times cannot be completely consistent, so it is impossible to accurately evaluate and test the amplitude change stability of the lifting equipment. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, device, system and medium for evaluating the stability of the amplitude variation of a lifting device and the like, so as to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above-mentioned objectives, the first aspect of the present application provides a method for evaluating the amplitude change stability of a lifting equipment, comprising: determining a plurality of evaluation parameters for characterizing the fluctuation of measuring points according to the amplitude change related data of the lifting equipment at different amplitude change stages under different test conditions, wherein the different amplitude change stages include the starting stage, the steady-speed stage and the parking stage in the amplitude change rotation process, and the measuring points include the arm tip and the hoisted cargo; and evaluating the amplitude change stability of the lifting equipment according to the plurality of evaluation parameters.

[0005] In an embodiment of the present application, the different test conditions include any one or more of the following: the condition of the basic arm fully loaded and changing downward, the condition of the basic arm fully loaded and changing upward, the condition of the medium-long arm fully loaded and changing upward, the condition of the full arm fully loaded and changing downward, and the condition of the full arm fully loaded and changing upward.

[0006] In the embodiment of the present application, the luffing related data includes any one or more of the following: arm tip position, hanging cargo position, luffing winch position, boom luffing angle and luffing winch rope release speed.

[0007] In an embodiment of the present application, determining the multiple evaluation parameters includes: determining the fluctuation distances of the arm tip and the suspended cargo relative to their respective equilibrium positions at the different amplitude variation stages according to the amplitude variation related data; determining multiple characteristic parameters of the arm tip and the suspended cargo at the different amplitude variation stages according to the amplitude variation related data, wherein the multiple characteristic parameters include startup time, stable operating speed and parking time; forming a three-dimensional space projection for the startup stage and the parking stage, and forming a two-dimensional space projection for the steady speed stage; forming a three-dimensional coordinate system and a two-dimensional coordinate system corresponding to the three-dimensional space projection and the two-dimensional space projection, respectively. The three-dimensional coordinate system of the startup phase has the fluctuation distance of the corresponding phase as the z-axis, the startup time as the x-axis and the stable running speed as the y-axis; the three-dimensional coordinate system of the parking phase has the fluctuation distance of the corresponding phase as the z-axis, the parking time as the x-axis and the stable running speed as the y-axis; the two-dimensional coordinate system of the steady speed phase has the fluctuation distance of the corresponding phase as the y-axis and the stable running speed as the x-axis; based on the formed three-dimensional coordinate system and two-dimensional coordinate system, the envelope body and envelope surface for all test conditions are respectively generated; and based on the centroid distance and envelope volume of the envelope body and the centroid distance and envelope area of ​​the envelope surface, the multiple evaluation parameters are obtained.

[0008] In an embodiment of the present application, the evaluation of the amplitude variation stability of the lifting equipment includes: selecting an evaluation parameter from the multiple evaluation parameters to form an amplitude variation stability evaluation index for different amplitude variation stages, different measuring points or the amplitude variation operation of the whole vehicle; and determining the amplitude variation stability of the lifting equipment based on the amplitude variation stability evaluation index.

[0009] In an embodiment of the present application, forming an amplitude variation smoothness evaluation index for different amplitude variation stages or for different measuring points includes: selecting a first evaluation parameter set corresponding to the amplitude variation stage to be evaluated from the multiple evaluation parameters, or selecting a second evaluation parameter set corresponding to the measuring point to be evaluated; performing a two-dimensional data conversion on all evaluation parameters in the first evaluation parameter set to obtain a first plurality of evaluation vectors characterizing the fluctuations of different measuring points in the amplitude variation stage to be evaluated, or performing a two-dimensional data conversion on all evaluation parameters in the second evaluation parameter set to obtain a second plurality of evaluation vectors representing the fluctuations of the measuring point to be evaluated in different amplitude variation stages; performing a weighted operation on the first plurality of evaluation vectors to obtain a first amplitude variation smoothness evaluation index for the amplitude variation stage to be evaluated; and performing a weighted operation on the second plurality of evaluation vectors to obtain a second amplitude variation smoothness evaluation index for the measuring point to be evaluated.

[0010] In an embodiment of the present application, determining the amplitude variation smoothness of the lifting equipment based on the amplitude variation smoothness evaluation index includes: representing the first amplitude variation smoothness evaluation index or the second amplitude variation smoothness evaluation index with a vector formed by the smoothness deviation degree and the deviation state; and determining the amplitude variation smoothness of the lifting equipment based on the smoothness deviation degree, based on the deviation state, or based on the sum of the squares of the smoothness deviation degree and the deviation state.

[0011] In an embodiment of the present application, when the criteria based on the degree of deviation from the stability, based on the deviation state, and based on the sum of the squares of the degree of deviation from the stability and the deviation state are the first evaluation criterion, the second evaluation criterion, and the third evaluation criterion respectively, the amplitude variation stability evaluation method also includes the following steps to compare the amplitude variation stability between different lifting equipment: compare the degree of deviation from the stability of the first lifting equipment and the second lifting equipment based on the first evaluation criterion; when the degrees of deviation from the stability of the first lifting equipment and the second lifting equipment are equivalent based on the first evaluation criterion, compare the deviation states of the first lifting equipment and the second lifting equipment based on the second evaluation criterion; and when the deviation states of the first lifting equipment and the second lifting equipment are equivalent based on the second evaluation criterion, compare the amplitude variation stability of the first lifting equipment and the second lifting equipment based on the third evaluation criterion.

[0012] In an embodiment of the present application, forming an evaluation index for the amplitude variation smoothness of the whole vehicle's amplitude variation operation includes: selecting all evaluation parameters from the multiple evaluation parameters, and dividing the all evaluation parameters into a first data set for the first indicator and a second data set for the second indicator; forming an envelope surface for all test conditions based on the first data set and the second data set; and determining the centroid distance and envelope area of ​​the formed envelope surface as the evaluation index for the amplitude variation smoothness of the whole vehicle's amplitude variation operation.

[0013] In an embodiment of the present application, determining the amplitude variation smoothness of the lifting equipment based on the amplitude variation smoothness evaluation index includes: determining the amplitude variation smoothness of the lifting equipment based on the centroid distance, based on the envelope area, or based on the product of the centroid distance and the envelope area.

[0014] In an embodiment of the present application, when the criteria based on the centroid distance, the envelope area, or the product of the centroid distance and the envelope area are respectively the first evaluation criteria, the second evaluation criteria, and the third evaluation criteria, the amplitude variation smoothness evaluation method also includes the following steps to compare the amplitude variation smoothness between different lifting equipment: comparing the overall equipment smoothness of the first lifting equipment and the second lifting equipment based on the first evaluation criteria; when the overall equipment smoothness of the first lifting equipment and the second lifting equipment is equivalent based on the first evaluation criteria, comparing the stage smoothness of the first lifting equipment and the second lifting equipment based on the second evaluation criteria; and when the stage smoothness of the first lifting equipment and the second lifting equipment is equivalent based on the second evaluation criteria, comparing the amplitude variation smoothness of the first lifting equipment and the second lifting equipment based on the third evaluation criteria.

[0015] A second aspect of the present application provides a device for evaluating the amplitude change stability of a lifting equipment, comprising: a data processing module, for determining a plurality of evaluation parameters for characterizing the fluctuation of measuring points based on the amplitude change related data of the lifting equipment at different amplitude change stages under different test conditions, wherein the different amplitude change stages include a starting stage, a steady speed stage and a stopping stage during the amplitude change rotation process, and the measuring points include the arm tip and the hoisted cargo; and an evaluation module, for evaluating the amplitude change stability of the lifting equipment based on the plurality of evaluation parameters.

[0016] In an embodiment of the present application, the evaluation module includes: an index forming unit, which is used to select evaluation parameters from the multiple evaluation parameters to form an amplitude variation smoothness evaluation index for different amplitude variation stages, different measuring points or the amplitude variation operation of the whole vehicle; and an amplitude variation smoothness determination unit, which is used to determine the amplitude variation smoothness of the lifting equipment based on the amplitude variation smoothness evaluation index.

[0017] The third aspect of the present application provides a device for evaluating the amplitude change stability of a lifting equipment, comprising: a memory configured to store instructions; and a processor configured to call the instructions from the memory and to implement any of the above-mentioned methods for evaluating the amplitude change stability of the lifting equipment when executing the instructions.

[0018] A fourth aspect of the present application provides a system for evaluating the amplitude variation smoothness of a lifting equipment, comprising a measurement system and any of the above-mentioned amplitude variation smoothness evaluation devices, wherein the measurement system is used to collect and provide the amplitude variation related data of the lifting equipment in different amplitude variation stages under different test conditions to the amplitude variation smoothness evaluation device.

[0019] A fifth aspect of the present application provides a lifting device, comprising any of the above-mentioned amplitude variation stability evaluation systems.

[0020] A sixth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute any of the above-mentioned amplitude stability evaluation methods.

[0021] Through the above technical scheme, the embodiment of the present application determines the objective evaluation parameters that characterize the fluctuations of the measuring points (arm tip and suspended cargo), promotes the process-based (throughout the startup phase, steady speed phase and parking phase) and data-based evaluation of the amplitude variation stability, and no longer relies on the subjective perception criteria of the evaluators for evaluation or testing, thus avoiding the phenomenon that the evaluation results are inconsistent with the actual state due to the differences in the subjective perception of the evaluators, thereby improving the accuracy of the equipment's amplitude variation stability evaluation.

[0022] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0024] Figure 1 A schematic diagram of a flow chart of a method for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application is shown;

[0025] Figure 2 Schematically shows an installation diagram of a position measurement device of a measurement system according to an example of an embodiment of the present application;

[0026] Figure 3 A schematic diagram of a process for determining multiple evaluation parameters according to an embodiment of the present application is shown;

[0027] Figure 4 A schematic diagram of an envelope according to an embodiment of the present application is schematically shown;

[0028] Figure 5 The schematic diagram of the envelope surface according to the embodiment of the present application is schematically shown.

[0029] Figure 6 The schematic diagram shows a flow chart of performing amplitude stability evaluation according to an embodiment of the present application;

[0030] Figure 7 A schematic diagram of a process for obtaining an evaluation index of amplitude variation stability at different amplitude variation stages or at different measuring points according to an embodiment of the present application is schematically shown;

[0031] Figure 8A schematic diagram of a process for obtaining an evaluation index of the amplitude variation stability of a vehicle amplitude variation operation according to an embodiment of the present application is schematically shown;

[0032] Fig. 9 (a1), Fig. 9 (b1), Fig. 9 (a2), Fig. 9 (b2) schematically shows a schematic diagram of the amplitude stability evaluation process of different devices according to the implementation scenario 1 of the embodiment of the present application;

[0033] Fig.10 (a) and Fig.10 (b) is a schematic diagram schematically showing the amplitude stability evaluation results of different devices according to the implementation scenario 1 of the embodiment of the present application;

[0034] Fig.11 The structure diagram of a device for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application is schematically shown;

[0035] Fig.12 A structural block diagram schematically shows another device for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application; and

[0036] Fig.13 The structural block diagram of a system for evaluating the amplitude variation stability of a hoisting equipment according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0038] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0040] Figure 1 The following is a schematic diagram showing a flow chart of a hoisting equipment amplitude stability evaluation according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for evaluating the amplitude change stability of a hoisting equipment, and the method may include the following steps S100 and S200.

[0041] Step S100, determining a plurality of evaluation parameters for characterizing the fluctuation of the measuring points according to the amplitude variation related data of the hoisting equipment at different amplitude variation stages under different test conditions.

[0042] The different amplitude change stages include the start-up stage, steady speed stage (also called steady speed operation stage) and parking stage (also called deceleration parking stage) in the amplitude change rotation process, the measuring points include the arm tip and the suspended cargo, and the measuring point fluctuation refers to the displacement of the arm tip relative to its equilibrium position and the fluctuation of the suspended cargo relative to its equilibrium position. In addition, in combination with the following text, the measuring point fluctuation can be understood as the fluctuation of the center of gravity of the suspended cargo and the displacement of the arm tip.

[0043] In the embodiment of the present application, the luffing related data may include any one or more of the following: boom tip position, hanging cargo position, luffing winch position, boom luffing angle and luffing winch rope release speed. These data can be acquired by joint collection of the measurement system, for example, Figure 2 As shown, the measurement system includes: a position measurement device installed on the arm tip, the hoisted load and the luffing winch, the position measurement device is, for example, a GPS, a laser ranging device, an inertial measurement system, etc., for correspondingly collecting information about the arm tip position, the hoisted cargo position, and the luffing winch position; an angle measurement device for measuring the boom luffing angle, such as an angle sensor; a speed encoder installed on the luffing winch, for obtaining the rope-releasing speed of the luffing winch. In addition, the measurement system may also include a base station installed at a fixed position or a virtual base station provided by a third party, which communicates with the above-mentioned position test equipment, angle measurement equipment, speed encoder, etc., for real-time acquisition of luffing-related data, so as to provide it to, for example, a data processing system of a control center to further perform a method for evaluating the luffing stability of the hoisting equipment.

[0044] It should be noted that, in addition to the boom tip and the suspended cargo, the measuring points here may also include the luffing winch, but the purpose of measuring the corresponding data of the luffing winch is to determine the boom tip fluctuation, and the luffing winch fluctuation is not considered, and the following mainly involves the evaluation of the luffing stability of the boom tip and the suspended cargo. That is, the boom tip and the suspended cargo are the focus positions of the embodiment of the present application, while the luffing winch is not the focus position.

[0045] It should also be noted that in order to ensure comprehensive coverage of the amplitude-related data, the embodiments of the present application consider multiple test conditions, including any one or more of the following: the basic arm fully loaded downward amplitude change condition, the basic arm fully loaded upward amplitude change condition, the medium-long arm fully loaded downward amplitude change condition, the medium-long arm fully loaded upward amplitude change condition, the full arm length fully loaded downward amplitude change condition, and the full arm length fully loaded upward amplitude change condition. Among them, full load refers to 100% load, and the specific meanings of these 6 conditions are as follows:

[0046] 1) The basic arm is 100% loaded downward, that is, the amplitude change angle is: from the maximum amplitude change angle to the minimum amplitude change angle, from the maximum amplitude change angle to the middle angle, from the middle angle to the minimum angle, etc.;

[0047] 2) The basic arm is 100% loaded upward, that is, the amplitude change angle is changed from the maximum amplitude change angle to the minimum amplitude change angle, from the maximum amplitude change angle to the middle angle, from the middle angle to the minimum angle, etc.;

[0048] 3) The mid-long arm is 100% loaded downward, that is, the amplitude change angle is: from the maximum amplitude change angle to the minimum amplitude change angle, from the maximum amplitude change angle to the middle angle, from the middle angle to the minimum angle, etc.;

[0049] 4) The middle and long arm is 100% loaded upward, that is, the amplitude change angle is: from the maximum amplitude change angle to the minimum amplitude change angle, from the maximum amplitude change angle to the middle angle, from the middle angle to the minimum angle, etc.;

[0050] 5) The full arm length is 100% loaded downward, that is, the amplitude change angle changes from the maximum amplitude change angle to the minimum amplitude change angle, the maximum amplitude change angle to the middle angle, the middle angle to the minimum angle, etc.;

[0051] 6) The full arm length is 100% load-bearing upward amplitude change, that is, the amplitude change angle changes in the form of: maximum amplitude change angle to minimum amplitude change angle, maximum amplitude change angle to middle angle, middle angle to minimum angle, etc.).

[0052] The evaluator selects specific test conditions according to the evaluation needs. In the example of the embodiment of the present application, the selected test conditions must be greater than or equal to 3, and cover various different modes such as stages and focus positions (the focus position is equivalent to the measurement point in the embodiment of the present application).

[0053] Further, in a preferred embodiment, Figure 3 As shown, the above step S100 of determining a plurality of evaluation parameters according to the amplitude variation related data may include the following steps S110 - S160 .

[0054] Step S110, determining the fluctuation distances of the arm tip and the suspended cargo relative to their respective equilibrium positions at different luffing stages according to the luffing related data.

[0055] According to the above description of the amplitude variation related data, in an example, the amplitude variation related data in the following Table 1 may be used, for example.

[0056] Table 1, example amplitude-related data

[0057]

[0058] In the example, a data processing system can be customized or developed to calculate the fluctuation distances of the arm tip and the suspended cargo relative to their respective equilibrium positions based on the example amplitude-related data in Table 1, wherein the equilibrium position of the suspended cargo usually requires that the center line of the hook and the center of gravity of the suspended cargo are on the same plumb line, so that the calculated fluctuation distance reflects the positional relationship and deviation between the center of gravity of the suspended cargo and the end of the boom, as well as the deviation of the arm tip from its equilibrium position. In the embodiment of the present application, the fluctuation distance can be understood as the fluctuation distance of the center of gravity of the cargo and the offset of the arm tip. Further, the following calculations can be performed:

[0059] First, for the suspended cargo, the fluctuation distance (characterizing the offset state) of the suspended cargo relative to the center of gravity can be calculated based on the measurement data in Table 1, where the relative coordinate values ​​xh, yh, and zh are used to represent the corresponding offset, and the three coordinate values ​​represent a function that changes over time, which can be expressed as:

[0060]

[0061] Then, the comprehensive offset distance is recorded as:

[0062]

[0063] Secondly, for the boom tip, similar to formula (1), the relative coordinate value is used. According to the measurement data in Table 1, the relative distance between the boom tip and the measuring point at the luffing winch can be calculated, as shown in the following formula:

[0064]

[0065] Furthermore, the rope release amount can be calculated based on the rope release speed of the luffing winch, and combined with the luffing wire rope multiplier, the theoretical distance change between the two measuring points of the boom tip and the luffing winch can be calculated:

[0066]

[0067] Wherein, n represents the amplitude ratio of the variable-length wire rope.

[0068] Furthermore, the theoretical elastic displacement of the arm tip can be calculated based on the arm amplitude angle:

[0069]

[0070] Among them, K sheng It represents the comprehensive stiffness of the luffing wire rope, and G represents the gravity at the arm tip.

[0071] Thus, combining equations (3) to (5), the elastic fluctuation of the arm tip relative to the theoretical equilibrium position is:

[0072] Lbj(t)=L1(t)-L2(t)-L3(t) (6)

[0073] In this way, the entire amplitude change process can be divided into stages and focus positions to initially form 6 stability characteristic representation parameters, which are recorded as: Hbjqi, Hbjwen, Hbjtin, Hhwqi, Hhwwen, Hhwtin. It should be noted that, for ease of reading, the embodiments of the present application use the first pinyin of qi (or q), wen (or w) and tin (or t) to describe the corresponding parameters for the startup stage, steady speed stage and parking stage, and use the first pinyin combination of bj and hw for the two focus positions of the arm tip and the hoisted cargo to describe the corresponding parameters.

[0074] Therefore, in the example, the above formulas (1) to (6) are combined to record the position data of each measuring point during the test, and then through coordinate transformation and calculation, the center of gravity fluctuation and arm tip offset of the cargo during the variable amplitude operation of the hoisting equipment under different test conditions are obtained. The entire hoisting rotation process can be divided into the starting stage, the steady speed stage, and the parking stage. In different stages, the center of gravity fluctuation of the hoisted cargo is different, and the fluctuation value (maximum value minus minimum value) of the measuring point around the equilibrium position can be extracted to characterize it. That is, the above 6 stability feature representation parameters can be calculated as follows:

[0075]

[0076] Among them, t1 represents the moment of entering the stable speed, which is defined by the luffing cylinder or luffing winch reaching a stable output speed; t2 represents the moment of ending the stable speed, which is defined by the start of pulling the brake handle.

[0077] The six stability characteristic expression parameters calculated by formula (7) are the fluctuation distances of the arm tip and the suspended cargo relative to their respective equilibrium positions at different amplitude change stages determined in step S110.

[0078] Step S120, determining a plurality of characteristic parameters of the arm tip and the suspended cargo at the different luffing stages according to the luffing-related data.

[0079] Among them, the multiple characteristic parameters include the start-up time, the stable operating speed and the parking time. Based on the parameter representation method of formula (7), the characteristic parameters can be represented as [Tqi, Vwen, Ttin]. In this way, the basis of the six stability characteristic representation parameters is determined in step S110, and the three characteristic parameters [Tqi, Vwen, Ttin] are recorded in step S120, so that nine stability characteristic representation parameters [Hbjqi, Hbjwen, Hbjtin, Hhwqi, Hhwwen, Hhwtin, Tqi, Vwen, Ttin] are formed during the entire variable amplitude operation process.

[0080] On the basis of these nine stability characteristic representation parameters, combined with the selection of working conditions, two parallel multi-dimensional and multi-space evaluation systems are finally formed through the following steps S130-S160.

[0081] Step S130, forming a three-dimensional space projection for the starting phase and the parking phase, and forming a two-dimensional space projection for the steady speed phase.

[0082] Step S140: forming a three-dimensional coordinate system and a two-dimensional coordinate system corresponding to the three-dimensional space projection and the two-dimensional space projection respectively.

[0083] Step S150: Generate an envelope volume and an envelope surface for all test conditions based on the formed three-dimensional coordinate system and two-dimensional coordinate system.

[0084] Step S160: obtaining the plurality of evaluation parameters based on the centroid distance and envelope volume of the envelope body and the centroid distance and envelope area of ​​the envelope surface.

[0085] The following is a unified description of steps S130 - S160 based on examples.

[0086] Generally, one-dimensional, two-dimensional and three-dimensional projections of space can be performed according to the correlation of each dimension. The embodiment of the present application divides the entire evaluation dimension into three dimensions: the start-up phase, the steady speed phase and the parking phase based on the process characteristics of the variable amplitude motion, wherein the start-up phase forms a three-dimensional space projection, the steady speed phase forms a two-dimensional space projection, and the parking phase forms a three-dimensional space projection. According to the conventional conversion technology of space projection and coordinate system involved in the prior art, a corresponding three-dimensional coordinate system and a two-dimensional coordinate system corresponding to the three-dimensional space projection and the two-dimensional space projection can be further formed.

[0087] Among them, the three-dimensional coordinate system of the startup stage has the fluctuation distance of the corresponding stage as the z-axis, the startup duration as the x-axis and the stable running speed as the y-axis; the three-dimensional coordinate system of the parking stage has the fluctuation distance of the corresponding stage as the z-axis, the parking duration as the x-axis and the stable running speed as the y-axis; the two-dimensional coordinate system of the steady speed stage has the fluctuation distance of the corresponding stage as the y-axis and the stable running speed as the x-axis.

[0088] Specifically, the parameters related to the stability characteristics in the startup phase are a 2x3 matrix expression of four parameters [Tqi, Hbjqi, Vwen; Tqi, Hhwqi, Vwen], with the center of gravity fluctuation distances Hbjqi and Hhwqi as the z-axis, the startup time Tqi as the x-axis, and the final stable operating speed Vwen as the y-axis. Each working condition has a point in this coordinate system, and connecting all the points will form a coordinate system such as Figure 4 The envelope shown in the figure has a centroid distance [Lbjq; Lhwq] between the centroid and the origin of the coordinate system, and a space enclosed by the envelope is an envelope volume [Vbjq; Vhwq], which eventually forms a 2x2 matrix [Lbjq, Vbjq; Lhwq, Vhwq] representation.

[0089] The parameters related to the stability characteristics in the steady speed stage are the 2x2 matrix expressions of three parameters [Hbjwen, Vwen; Hhwwen, Vwen]. The center of gravity fluctuation distances Hbjwen and Hhwwen are the y-axis and the final stable operating speed Vwen is the x-axis. Each working condition has a point in this coordinate system. Connecting all the points will form a coordinate system like Figure 5 The envelope surface shown, the distance between the centroid of the envelope surface and the coordinate origin is the centroid distance of the envelope surface [Lbjw; Lhww], the space enclosed by the envelope body is the envelope area [Sbjw; Shww], and finally a 2x2 matrix [Lbjw, Sbjw; Lhww, Shww] is formed.

[0090] The envelope construction in the parking phase is the same as that in the startup phase, and can be similarly referenced. Figure 4. The parameters related to the stability characteristics of the parking stage are the 2x3-order matrix expressions of the four parameters [Ttin, Hbjtin, Vwen; Ttin, Hhwtin, Vwen]. The center of gravity fluctuation distances Hbjtin and Hhwtin are the z-axis, the parking time Ttin is the x-axis, and the final stable operating speed Vwen is the y-axis. Each working condition has a point in this coordinate system, and connecting all the points will form an envelope. The distance between the centroid of the envelope and the origin of the coordinate is the centroid distance of the envelope [Lbjt; Lhwt], and the space enclosed by the envelope is the envelope volume [Vbjt; Vhwt], which eventually forms a 2x2-order matrix [Lbjt, Vbjt; Lhwt, Vhwt] representation.

[0091] In this way, through the centroid distance of the envelope surface / body and the corresponding area / volume, the two focus positions in the three stages of the amplitude variation process finally formed 12 evaluation parameters [Lbjq, Lbjw, Lbjt, Vbjq, Sbjw, Vbjt; Lhwq, Lhww, Lhwt, Vhwq, Shww, Vhwt], which are represented by a 2x6 matrix.

[0092] Back to Figure 1 After obtaining multiple evaluation parameters in step S100, the following step S200 is further performed.

[0093] Step S200: evaluating the amplitude change stability of the hoisting equipment according to the multiple evaluation parameters.

[0094] In the example, different parameter combinations are used for evaluation according to the purpose of evaluating or testing the stability of the lifting equipment. Figure 6 As shown, in a preferred embodiment, step S200 may include the following steps S210-S220:

[0095] Step S210 , selecting an evaluation parameter from the plurality of evaluation parameters to form an evaluation index of amplitude variation stability for different amplitude variation stages, different measuring points or the amplitude variation operation of the whole vehicle.

[0096] Step S220, determining the amplitude variation stability of the hoisting equipment based on the amplitude variation stability evaluation index.

[0097] Wherein, for step S210, Figure 7 As shown, in the example, forming the amplitude variation stability evaluation index for different amplitude variation stages or for different measuring points may include the following steps S211A-S214A:

[0098] Step S211A: selecting a first evaluation parameter set corresponding to the amplitude variation stage to be evaluated from the multiple evaluation parameters, or selecting a second evaluation parameter set corresponding to the measurement point to be evaluated.

[0099] Step S212A, performing two-dimensional data conversion on all evaluation parameters in the first evaluation parameter set to obtain a first plurality of evaluation vectors characterizing the fluctuations of different measuring points in the amplitude variation stage to be evaluated, or performing two-dimensional data conversion on all evaluation parameters in the second evaluation parameter set to obtain a second plurality of evaluation vectors characterizing the fluctuations of the measuring points to be evaluated in different amplitude variation stages.

[0100] Step S213A: performing a weighted operation on the first plurality of evaluation vectors to obtain a first amplitude variation smoothness evaluation index for the amplitude variation stage to be evaluated.

[0101] Step S214A: performing a weighted operation on the second plurality of evaluation vectors to obtain a second amplitude variation smoothness evaluation index for the measurement point to be evaluated.

[0102] On the basis of steps S211A-S214A, the embodiment of the present application preferably uses a vector formed by the degree of deviation from stability and the state of deviation to represent the first amplitude change stability evaluation index or the second amplitude change stability evaluation index. After determining the index in vector form, the amplitude change stability of the lifting equipment is determined based on the degree of deviation from stability, based on the state of deviation, or based on the sum of the squares of the degree of deviation from stability and the state of deviation. The specific indicator form and evaluation method will be introduced below through examples, which will not be repeated here.

[0103] Further, for step S210, if Figure 8 As shown, in the example, obtaining the amplitude change stability evaluation index of the entire vehicle amplitude change operation includes the following steps S211B-S213B:

[0104] Step S211B: select all evaluation parameters from the multiple evaluation parameters, and divide all evaluation parameters into a first data set related to the first indicator and a second data set related to the second indicator.

[0105] Step S212B: forming an envelope surface for all test conditions based on the first data set and the second data set.

[0106] Step S213B: determining the centroid distance and envelope area of ​​the formed envelope surface as an evaluation index for the amplitude variation stability of the entire vehicle amplitude variation operation.

[0107] On the basis of steps S211B-S213B, the amplitude change stability of the hoisting equipment is further evaluated based on the centroid distance, the envelope area, or the product of the centroid distance and the envelope area. In addition, the specific evaluation method will be introduced by way of example below, which will not be described in detail here.

[0108] The above steps S211A-S214A involve the evaluation of amplitude stability in stages (about different amplitude stages) and positions (about different measuring points), while steps S211B-S213B involve the evaluation of amplitude stability in all stages of the equipment (about the amplitude operation of the whole vehicle). The following describes the evaluation of amplitude stability in these three aspects separately through examples.

[0109] 1. Evaluate the amplitude stability in stages (start-up, operation, and shutdown).

[0110] In the example, the four evaluation parameters of the same stage are dimensionally operated to finally obtain the evaluation index value of the stage. The operation rules are as follows: Taking the amplitude stability of the startup stage as an example, the amplitude stability parameters related to the startup stage include four parameters (Lbjq, Vbjq, Lhwq, Vhwq), which form two vectors of two-dimensional planes, represented by XL1 and XL2 respectively, and obtain:

[0111] XL1=Lbjq*i+Vbjq*j

[0112] XL2=Lhwq*i+Vhwq*j (8)

[0113] Then, the two vectors are superimposed to obtain the evaluation quantity or test quantity represented by XL in the following formula:

[0114] XL=α*XL1+(1-α)*XL2=a*i+b*j (9)

[0115] Among them, α is the weight coefficient of the measurement point index value in the evaluation process, and its value is between 0 and 1, which is determined according to the relative importance of the corresponding measurement point.

[0116] 2. Evaluate the boom stability at different positions (jib tip, suspended cargo).

[0117] The six evaluation parameters at the same measuring point are dimensionally calculated to finally obtain the evaluation index value of this stage. The calculation rules are as follows: Taking the calculation of the variable amplitude stability at the hanging cargo as an example, the stability parameters related to the hanging cargo are (Lhwq, Lhww, Lhwt, Vhwq, Shww, Vhwt), which form three vectors of 2D planes, which are represented by YL1, YL2, and YL3 as follows:

[0118]

[0119] Then the three vectors are superimposed to obtain the evaluation or test quantity represented by YL in the following formula:

[0120] YL=α*YL1+β*YL2+(1-α-β)*YL3=c*i+d*j (11)

[0121] Among them, α, β = 0~1, and α+β<=1, α, β are the weight coefficients of the indicator values ​​at different stages in the evaluation process, which are determined by the relative importance of the corresponding stage.

[0122] 3. Conduct a comprehensive evaluation of the amplitude stability of the equipment during the entire stage.

[0123] The 12 evaluation parameters of all stages and all measuring points in the amplitude variation process are dimensionally calculated to finally obtain the overall amplitude variation smoothness evaluation index value. The calculation rules are as follows: the centroid distance (Lhwq, Lhww, Lhwt, Lbjq, Lbjw, Lbjt) is used as the x-axis (i.e., the centroid distance is the first index corresponding to step S211B), and the envelope volume / area (Vhwq, Shww, Vhwt, Vbjq, Sbjw, Vbjt) is used as the y-axis (i.e., the envelope volume / area is the second index of S211B), and an envelope surface (similar to Figure 5 ); Through the formed envelope surface, the centroid distance Lzh and the envelope area Szh can be calculated, which are determined as the amplitude variation stability evaluation index for the amplitude variation operation of the whole vehicle.

[0124] Corresponding to the above three aspects of amplitude stability evaluation, their respective evaluation criteria are further introduced below.

[0125] 1. When evaluating the amplitude stability of each stage, the evaluation criteria are introduced as follows.

[0126] As shown in formula (9), the final evaluation index of each stage is expressed in the form of a*i+b*j vector, where a represents the degree of deviation from stability (hereinafter referred to as the degree of deviation), b represents the deviation state, and i and j represent the normal vectors used to achieve the two-dimensional data conversion. Further, the following judgment process is performed to determine the amplitude stability of the hoisting equipment:

[0127] 11) Based on the judgment of the degree of deviation, when the degree of deviation is large, it means that the test result of the equipment corresponding to the test condition is far away from the coordinate origin, so the overall evaluation stability of the equipment in this evaluation stage is poor;

[0128] 12) Based on the judgment of the deviation state, if the deviation degree of the test data of the two devices is similar after multi-dimensional calculation, if the deviation state is large, it indicates that the stability of some test conditions of the equipment in this evaluation stage is poor;

[0129] 13) Based on the comprehensive judgment of deviation state and deviation degree, if the deviation degree of the test data of two devices is similar and the deviation state is not much different, the sum of squares of the two will be compared. If the value is large, the stability of the device in this evaluation stage is relatively poor.

[0130] For the three judgment criteria involved in 11)-13) above, the judgment method based on the degree of deviation is the first evaluation criterion, the judgment method based on the deviation state is the second evaluation criterion, and the comprehensive judgment method based on the deviation state and the degree of deviation is the third evaluation criterion. In this way, these three judgment criteria can be used to compare the amplitude stability between different lifting equipment, for example, including: comparing the degree of deviation of stability of the first lifting equipment and the second lifting equipment based on the first evaluation criterion; when the degree of deviation of stability of the first lifting equipment and the second lifting equipment is equivalent based on the first evaluation criterion, comparing the deviation state of the first lifting equipment and the second lifting equipment based on the second evaluation criterion; and when the deviation state of the first lifting equipment and the second lifting equipment is equivalent based on the second evaluation criterion, comparing the amplitude stability of the first lifting equipment and the second lifting equipment based on the third evaluation criterion.

[0131] For example, in practical applications, the first evaluation criterion is better than the second and third evaluation criteria. When the difference of the first evaluation criterion is small (for example, <2%, which can actually be determined according to the requirements of quality inspection), the second evaluation criterion is used for judgment; when the difference of the second evaluation criterion is small (for example, <2%, which can actually be determined according to the requirements of quality inspection), the third evaluation criterion is used; when the difference of the third evaluation criterion is also small (for example, <2%, which can actually be determined according to the requirements of quality inspection), it indicates that the amplitude stability of the two devices at this stage tends to be consistent.

[0132] 2. When evaluating the amplitude stability represented by different positions, the evaluation criteria are introduced as follows.

[0133] As shown in formula (11), the final evaluation index of each stage is expressed in the form of a vector of c*i+d*j, where c represents the degree of deviation from stability and d represents the deviation state. Therefore, its specific evaluation criteria are consistent with the criteria for evaluating the amplitude stability of each stage in the first aspect, so they will not be repeated here.

[0134] 3. When evaluating the amplitude stability of the whole machine, the evaluation criteria are mainly as follows:

[0135] 31) Based on the judgment of the centroid distance, when the centroid distance is large, it means that the test results of the corresponding test conditions of the equipment in the three stages are far away from the coordinate origin, so the overall stability of the equipment is poor;

[0136] 32) Based on the judgment of the spatial envelope area, if the distance between the centroids of the test data of the two devices is similar, when the spatial envelope area is large, it indicates that the stability of some evaluation stages of the whole device is poor;

[0137] 33) Based on the judgment of the product of spatial envelope area and centroid distance, if the test data of two devices form a similar centroid distance and the spatial envelope area is not much different, the two will be multiplied and compared. The overall rotational stability of the device with a larger value will be relatively poor.

[0138] Regarding the three judgment criteria 31)-33), the judgment method based on the centroid distance is the first evaluation criterion, the judgment method based on the spatial envelope area is the second evaluation criterion, and the judgment method based on the product of the spatial envelope area and the centroid distance is the third evaluation criterion. Thus, through these three judgment criteria, the following steps can be used to compare the amplitude stability between different lifting equipment: compare the overall stability of the first lifting equipment and the second lifting equipment based on the first evaluation criterion; when the overall stability of the first lifting equipment and the second lifting equipment is equivalent based on the first evaluation criterion, compare the stage stability of the first lifting equipment and the second lifting equipment based on the second evaluation criterion; and when the stage stability of the first lifting equipment and the second lifting equipment is equivalent based on the second evaluation criterion, compare the amplitude stability of the first lifting equipment and the second lifting equipment based on the third evaluation criterion.

[0139] For example, in actual applications, the first evaluation criterion is better than the second and third evaluation criteria. When the gap of the first evaluation criterion is small (for example, <2%, which can actually be determined according to the requirements of quality inspection), the second evaluation criterion is used for judgment; when the gap of the second evaluation criterion is small (for example, <2%, which can actually be determined according to the requirements of quality inspection), the third evaluation criterion is used; when the gap of the third evaluation criterion is also small (for example, <2%, which can actually be determined according to the requirements of quality inspection), it indicates that the amplitude stability of the two devices tends to be consistent.

[0140] Furthermore, by using the above-mentioned various criteria, the embodiments of the present application can be used to compare the amplitude stability of different types of equipment, and can also be used to inspect and judge the stability of factory equipment. It can be compared and judged in stages, and can also be compared and judged for the whole machine. The application of the amplitude stability evaluation method of the embodiments of the present application is specifically introduced below through two implementation scenarios.

[0141] Implementation scenario 1: Comparison of amplitude stability of different devices.

[0142] In the implementation scenario 1, equipment A and equipment B are operated under the proposed standard test conditions. First, the center of gravity fluctuation of the hoisted load, the position deviation of the arm tip, the start time, the stop time, the stable amplitude change speed, and other amplitude change related data are obtained through the test system and the data processing system under different working conditions as shown in Table 2. It should be noted that the time in the table refers to the duration rather than the time point.

[0143] Table 2 Characteristic values ​​of amplitude stability of different equipment under various working conditions

[0144]

[0145] Secondly, according to the data in Table 2, Fig. 9 (a1), Fig. 9 (b1), Fig. 9 (a2), Fig. 9 As shown in (b2), the coordinate system is constructed in stages and each coordinate point is described, and then the envelope volume / area calculation, centroid / normal distance calculation, envelope volume / area and centroid / normal distance product calculation, vector calculation, vector product and calculation, etc. are performed for each stage, each measuring point and the whole machine evaluation. Fig. 9 (a1), and Fig. 9 (a2) For device A, Fig. 9 (b1) and Fig. 9 (b2) For device B.

[0146] Then, the stability evaluation criteria were used to evaluate the stability of the stage, measuring point, and the whole machine. The results are shown in Table 3 below, and Fig.10 (a)- Fig.10 (b), where Fig.10 (a) For device A, Fig.10 (b) For device B.

[0147] Table 3 Evaluation characteristic values ​​of different equipment at different stages / measurement points / overall

[0148]

[0149] Finally, by processing and calculating the data in Table 3, the following conclusions are drawn:

[0150] 1. Evaluation based on focus position.

[0151] 1.1) Based on the first evaluation criterion, the stability of device B at the arm tip is better than that of device A.

[0152] 1.2) Based on the first evaluation criterion, the stability of device A at the weight position is better than that of device B.

[0153] 2. Based on stage evaluation.

[0154] 2.1) Based on the first evaluation criterion, the stability of device A during the startup phase is better than that of device B.

[0155] 2.2) Based on the third evaluation criterion, the stability of equipment A during the parking phase is better than that of equipment B.

[0156] 2.3) Based on the third evaluation criterion, the stability of device A in the stable stage is better than that of device B.

[0157] 3. Overall evaluation of the whole machine.

[0158] Based on the first evaluation criterion, device A is better than device B in terms of overall stability.

[0159] Implementation scenario two: rotation stability test of equipment of the same model.

[0160] For the amplitude stability test of the same type of equipment, the implementation steps of data collection are consistent with the implementation scenario 1. First, the center of gravity fluctuation of the load, the position deviation of the arm tip, the startup time, the parking time, the stable amplitude speed and other data under different working conditions are obtained through the test system and the data processing system, as shown in Table 4.

[0161] Table 4 Characteristic values ​​of amplitude stability of different measurement samples of the same type of equipment under various working conditions

[0162]

[0163] Then, the coordinate system is constructed in stages and each coordinate point is described. Then, the envelope volume / area calculation, centroid / normal distance calculation, envelope volume / area and centroid / normal distance product calculation, vector calculation, vector product and calculation are performed for each stage, each measuring point and the whole machine evaluation. Finally, the acquired data is judged according to the three criteria.

[0164] According to the test data in Table 4, the stability evaluation characteristic values ​​of each test device at different stages and the stability evaluation characteristic values ​​of the whole machine can be calculated, as shown in Tables 5 and 6.

[0165] Table 5 Evaluation dimension parameter values ​​of different devices

[0166]

[0167] Table 6 Evaluation characteristic values ​​of different devices at different stages / focus / overall

[0168]

[0169] The following conclusions can be drawn from the data in Table 6:

[0170] First, the stability of test equipment 1 is evaluated.

[0171] 1. Evaluation based on focus position.

[0172] 1.1) Based on the first evaluation criterion, the stability at the arm tip is better than that of the standard prototype.

[0173] 1.2) Based on the second evaluation criterion, the stability at the weight is lower than that of the standard prototype.

[0174] 2. Based on stage evaluation.

[0175] 2.1) Based on the first evaluation criterion, the stability during the startup phase is better than that of the standard prototype.

[0176] 2.2) Based on the first evaluation criterion, the stability during the parking phase is better than that of the standard prototype.

[0177] 2.3) Based on the first, second and third evaluation criteria, the stability of the stationary phase is equivalent to that of the standard prototype;

[0178] 3. Overall evaluation of the whole machine.

[0179] Based on the first evaluation criterion, the overall stability of the machine is better than that of the standard prototype.

[0180] Second, the stability of test equipment 2 is evaluated.

[0181] 1. Evaluation based on focus position.

[0182] 1.1) Based on the second evaluation criterion, the stability at the arm tip is better than that of the standard prototype.

[0183] 1.2) Based on the first criterion, the stability at the weight is lower than that of the standard prototype.

[0184] 2. Based on stage evaluation.

[0185] 2.1) Based on the first evaluation criterion, the stability during the startup phase is better than that of the standard prototype.

[0186] 2.2) Based on the second evaluation criterion, the stability during the parking phase is better than that of the standard prototype.

[0187] 2.3) Based on the second evaluation criterion, the stability of the stationary phase is comparable to that of the standard prototype.

[0188] 3. Overall evaluation of the whole machine.

[0189] Based on the first evaluation criterion, the overall stability of the machine is better than that of the standard prototype.

[0190] Third, test the stability of equipment 3.

[0191] 1. Evaluation based on focus position.

[0192] 1.1) Based on the first, second, and third evaluation criteria, the stability of the arm tip is comparable to that of the standard prototype.

[0193] 1.2) Based on the third evaluation criterion, the stability at the weight position is lower than that of the standard prototype.

[0194] 2. Based on stage evaluation.

[0195] 2.1) Based on the first evaluation criterion, the smoothness of the startup phase is lower than that of the standard prototype.

[0196] 2.2) Based on the second evaluation criterion, the smoothness during the parking phase is lower than that of the standard prototype.

[0197] 2.3) Based on the first evaluation criterion, the stability of the stationary phase is lower than that of the standard prototype.

[0198] 3. Overall evaluation of the whole machine.

[0199] Based on the third evaluation criterion, the overall stability of the machine is lower than that of the standard prototype.

[0200] In summary, through the above examples and implementation scenarios, it can be seen that the method for evaluating the amplitude stability of the hoisting equipment in the embodiment of the present application has at least the following advantages:

[0201] 1. The method for evaluating the boom stability of the embodiment of the present application determines the objective evaluation parameters that characterize the fluctuations of the measuring points (arm tip and suspended cargo), promotes the process-based (throughout the startup phase, steady speed phase and parking phase) and data-based evaluation of the boom stability, and no longer relies on the subjective perception criteria of the evaluators for evaluation. This avoids the phenomenon that the evaluation (or test) results are inconsistent with the actual status due to differences in the subjective perception of the evaluators, thereby improving the accuracy of the evaluation and testing of the boom stability of the lifting equipment.

[0202] 2. The method for evaluating the stability of the amplitude change of the embodiment of the present application has established a process-based evaluation system, which solves the problem that the traditional evaluation method cannot be systematically operated and the evaluation standards are not unified, and truly and effectively completes the evaluation of the stability of the amplitude change of the lifting equipment.

[0203] 3. The amplitude change stability evaluation method of the embodiment of the present application proposes a variety of test conditions for evaluating or testing the amplitude change stability of the lifting equipment, and establishes a unified standard for comparing the stability between different equipment.

[0204] 4. The method for evaluating the stability of the boom length variation in the embodiment of the present application takes into account that the stability of the hoisting equipment during the boom length variation process is mainly caused by the fluctuation of the center of gravity of the hoisted cargo and the displacement of the arm tip, and innovatively proposes to evaluate the stability of the boom length variation by evaluating the fluctuation of the center of gravity of the hoisted cargo and the displacement of the arm tip.

[0205] 5. The existing technology mainly uses GPS, laser ranging, inertial measurement system, etc. to measure the posture of the suspended cargo. The center of gravity changes of the cargo and the whole vehicle during the amplitude change of the lifting equipment must be measured and solved through the joint arrangement of the measurement system and the solution of multiple coordination equations to find out the changes of each center of gravity and key positions during the amplitude change. In this regard, the amplitude change stability evaluation method of the embodiment of the present application uses GPS to simultaneously measure the motion trajectory of the arm tip, hook, and amplitude change calibration point when obtaining the amplitude change related data. By calculating the spatial position coordinate difference between different positions and combining with theoretical calculation and derivation, the fluctuation distance of the suspended cargo and the arm tip relative to their respective equilibrium positions is obtained in real time (indicating the swing amount of the suspended cargo and the swing fluctuation amount of the arm tip), which can solve the problem that the measurement method of the prior art only measures the running trajectory of the cargo to calculate the swing amount, resulting in inaccurate measurement results.

[0206] 6. The amplitude change stability evaluation method of the embodiment of the present application formulates an evaluation criterion for the amplitude change stability of the lifting equipment, uses the centroid distance, envelope area and the product of the two, as well as two vector values ​​and the vector square as evaluation indicators, and combines the three evaluation criteria for evaluation. It not only considers the overall stability of the lifting equipment under multiple working conditions, but also considers the stability of a single stage under multiple working conditions and the stability of different focus positions, thereby solving the problem that the traditional extreme working condition method is not comprehensive enough in stability evaluation.

[0207] 7. The amplitude variation stability evaluation method of the embodiment of the present application provides a complete amplitude variation stability evaluation system and criteria, which can evaluate the different stages, different focus positions and the amplitude variation operation status of the lifting equipment according to actual evaluation needs, can be applied to a variety of implementation scenarios, and has high applicability.

[0208] Fig.11 The schematic diagram of the structure of a device for evaluating the amplitude variation stability of a lifting equipment according to an embodiment of the present application is schematically shown. The device for evaluating the amplitude variation stability and the method for evaluating the amplitude variation stability of the above embodiment are based on the same inventive concept.

[0209] like Fig.11 As shown, in an embodiment of the present application, the amplitude variation smoothness evaluation device includes: a data processing module, used to determine a plurality of evaluation parameters for characterizing the fluctuation of measuring points according to the amplitude variation related data of different amplitude variation stages of the lifting equipment under different test conditions, wherein the different amplitude variation stages include the starting stage, the steady speed stage and the parking stage in the amplitude variation rotation process, and the measuring points include the arm tip and the hoisted cargo; and an evaluation module, used to evaluate the amplitude variation smoothness of the lifting equipment according to the plurality of evaluation parameters.

[0210] In a preferred embodiment, the evaluation module includes: an index forming unit, which is used to select evaluation parameters from the multiple evaluation parameters to form an amplitude variation smoothness evaluation index for different amplitude variation stages, different measuring points or the amplitude variation operation of the whole vehicle; and an amplitude variation smoothness determination unit, which is used to evaluate the amplitude variation smoothness of the lifting equipment based on the amplitude variation smoothness evaluation index.

[0211] For other implementation details and effects of the amplitude variation stability evaluation device, reference may be made to the above-mentioned embodiment of the amplitude variation stability evaluation method, which will not be described in detail here.

[0212] Fig.12 The structure block diagram of another device for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application is schematically shown. Fig.12 As shown, an embodiment of the present application provides a device for evaluating the amplitude variation stability of a lifting equipment, which may include: a memory configured to store instructions; and a processor configured to call the instructions from the memory and to implement the amplitude variation stability evaluation method according to the above embodiment when executing the instructions.

[0213] For other implementation details and effects of the amplitude variation stability evaluation device, reference may also be made to the above-mentioned embodiment of the amplitude variation stability evaluation method, which will not be described in detail here.

[0214] Fig.13 The structure block diagram of a system for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application is schematically shown. Fig.13 As shown, the amplitude variation smoothness evaluation system includes: a measurement system and an amplitude variation smoothness evaluation device of any of the above-mentioned embodiments, wherein the measurement system is used to collect and provide the amplitude variation related data of the lifting equipment in different amplitude variation stages under different test conditions to the amplitude variation smoothness evaluation device.

[0215] The measurement system includes, for example: position measurement equipment installed on the arm tip, the hoisted load and the luffing winch, such as GPS, laser ranging equipment, inertial measurement system, etc., for correspondingly collecting information about the arm tip position, the hoisted cargo position and the luffing winch position; angle measurement equipment for measuring the boom luffing angle, such as an angle sensor; a speed encoder installed on the luffing winch, for obtaining the rope-releasing speed of the luffing winch. In addition, the measurement system may also include a base station installed at a fixed position or a virtual base station provided by a third party, which communicates with the above-mentioned position test equipment, angle measurement equipment and speed encoder, etc., for real-time acquisition of luffing-related data, so as to provide it to the luffing stability evaluation device for evaluating the luffing stability of the hoisting equipment.

[0216] Among them, the amplitude change stability evaluation device can, for example, form a data processing system of the control center, which performs a comprehensive evaluation based on the multi-dimensional space envelope theory through a stability stage evaluation program according to a variety of amplitude change related data and calculated evaluation parameters, obtains a stability stage evaluation conclusion, and further obtains a stability whole machine evaluation conclusion through a stability whole machine evaluation program. For specific evaluation details, please refer to the above-mentioned embodiment of the amplitude change stability evaluation method, which will not be repeated here.

[0217] An embodiment of the present application also provides a lifting device, which may include the above-mentioned amplitude variation stability evaluation system.

[0218] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute any of the above-mentioned methods for evaluating the amplitude stability of lifting equipment.

[0219] 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, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0220] 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 1 A device that provides the functions specified in a block or multiple blocks.

[0221] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0222] 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.

[0223] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0224] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0225] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0226] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0227] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for evaluating the amplitude stability of a hoisting equipment, characterized in that: include: Determine a plurality of evaluation parameters for characterizing fluctuations of measuring points according to amplitude variation-related data of different amplitude variation stages of the hoisting equipment under different test conditions, wherein the different amplitude variation stages include a start-up stage, a steady speed stage and a parking stage during the amplitude variation rotation process, and the measuring points include the boom tip and the hoisted cargo; as well as The amplitude change stability of the hoisting equipment is evaluated according to the multiple evaluation parameters.

2. The method for evaluating amplitude stability according to claim 1, characterized in that: The different test conditions include any one or more of the following: the condition of the basic arm fully loaded and changing downward, the condition of the basic arm fully loaded and changing upward, the condition of the medium-long arm fully loaded and changing downward, the condition of the medium-long arm fully loaded and changing upward, the condition of the full arm fully loaded and changing downward, and the condition of the full arm fully loaded and changing upward.

3. The method for evaluating amplitude stability according to claim 1, characterized in that: The luffing related data include any one or more of the following: boom tip position, hanging cargo position, luffing winch position, boom luffing angle and luffing winch rope-releasing speed.

4. The method for evaluating amplitude stability according to claim 1, characterized in that: Determining the plurality of evaluation parameters comprises: Determine, according to the amplitude variation related data, the fluctuation distances of the arm tip and the suspended cargo relative to their respective equilibrium positions at the different amplitude variation stages; Determine, according to the amplitude change related data, a plurality of characteristic parameters of the arm tip and the suspended cargo at the different amplitude change stages, wherein the plurality of characteristic parameters include a start-up time, a stable operating speed, and a parking time; forming a three-dimensional spatial projection for the starting phase and the parking phase, and forming a two-dimensional spatial projection for the steady speed phase; forming a three-dimensional coordinate system and a two-dimensional coordinate system corresponding to the three-dimensional space projection and the two-dimensional space projection respectively, wherein the three-dimensional coordinate system of the startup stage has the fluctuation distance of the corresponding stage as the z-axis, the startup duration as the x-axis and the stable running speed as the y-axis, the three-dimensional coordinate system of the parking stage has the fluctuation distance of the corresponding stage as the z-axis, the parking duration as the x-axis and the stable running speed as the y-axis, and the two-dimensional coordinate system of the steady speed stage has the fluctuation distance of the corresponding stage as the y-axis and the stable running speed as the x-axis; Generate an envelope volume and an envelope surface for all test conditions based on the formed three-dimensional coordinate system and two-dimensional coordinate system respectively; and The plurality of evaluation parameters are obtained based on the centroid distance and envelope volume of the envelope body and the centroid distance and envelope area of ​​the envelope surface.

5. The method for evaluating amplitude stability according to claim 1, characterized in that: The evaluation of the amplitude stability of the hoisting equipment includes: Selecting an evaluation parameter from the plurality of evaluation parameters to form an evaluation index of amplitude variation stability for different amplitude variation stages, different measuring points or the amplitude variation operation of the whole vehicle; and The amplitude variation stability of the hoisting equipment is determined based on the amplitude variation stability evaluation index.

6. The method for evaluating amplitude stability according to claim 5, characterized in that: The evaluation indexes of amplitude stability at different amplitude variation stages or at different measuring points include: Selecting a first evaluation parameter set corresponding to the amplitude variation stage to be evaluated from the plurality of evaluation parameters, or selecting a second evaluation parameter set corresponding to the measurement point to be evaluated; Performing two-dimensional data conversion on all evaluation parameters in the first evaluation parameter set to obtain a first plurality of evaluation vectors representing fluctuations of different measuring points in the amplitude variation stage to be evaluated, or performing two-dimensional data conversion on all evaluation parameters in the second evaluation parameter set to obtain a second plurality of evaluation vectors representing fluctuations of the measuring points to be evaluated in different amplitude variation stages; Performing a weighted operation on the first plurality of evaluation vectors to obtain a first amplitude variation stability evaluation index for the amplitude variation stage to be evaluated; and A weighted operation is performed on the second plurality of evaluation vectors to obtain a second amplitude variation stability evaluation index for the measurement point to be evaluated.

7. The method for evaluating amplitude stability according to claim 6, characterized in that: Determining the amplitude variation stability of the hoisting equipment based on the amplitude variation stability evaluation index includes: The first amplitude variation smoothness evaluation index or the second amplitude variation smoothness evaluation index is represented by a vector formed by both the degree of smoothness deviation and the deviation state; and The luffing stability of the hoisting equipment is determined based on the stability deviation degree, based on the deviation state, or based on the sum of squares of the stability deviation degree and the deviation state.

8. The method for evaluating amplitude stability according to claim 7, characterized in that: In the case where the criteria based on the stability deviation degree, based on the deviation state, and based on the sum of the squares of the stability deviation degree and the deviation state are respectively the first evaluation criterion, the second evaluation criterion, and the third evaluation criterion, the amplitude change stability evaluation method further comprises performing the following steps to compare the amplitude change stability between different lifting equipment: Comparing the degree of deviation of the stability of the first hoisting equipment and the second hoisting equipment based on the first evaluation criterion; When it is obtained based on the first evaluation criterion that the first hoisting device and the second hoisting device have similar degrees of deviation in stability, comparing the deviation states of the first hoisting device and the second hoisting device based on the second evaluation criterion; as well as When it is determined based on the second evaluation criterion that the deviation states of the first hoisting equipment and the second hoisting equipment are similar, the amplitude variation smoothness of the first hoisting equipment and the second hoisting equipment are compared based on the third evaluation criterion.

9. The method for evaluating amplitude stability according to claim 5, characterized in that: The evaluation indexes for the stability of the variable amplitude operation of the whole vehicle include: Selecting all evaluation parameters from the plurality of evaluation parameters, and dividing the all evaluation parameters into a first data set related to a first indicator and a second data set related to a second indicator; forming an envelope surface for all test conditions based on the first data set and the second data set; and The centroid distance and envelope area of ​​the formed envelope surface are determined as evaluation indicators for the amplitude variation stability of the whole vehicle amplitude variation operation.

10. The amplitude variation stability evaluation method according to claim 9, characterized in that: Determining the amplitude variation stability of the hoisting equipment based on the amplitude variation stability evaluation index includes: The amplitude variation smoothness of the hoisting equipment is determined based on the centroid distance, the envelope area, or the product of the centroid distance and the envelope area.

11. The method for evaluating amplitude stability according to claim 10, characterized in that: In the case where the criteria based on the centroid distance, the envelope area, or the product of the centroid distance and the envelope area are respectively the first evaluation criteria, the second evaluation criteria, and the third evaluation criteria, the amplitude variation stability evaluation method further comprises performing the following steps to compare the amplitude variation stability between different hoisting equipment: Comparing the overall stability of the first hoisting equipment and the second hoisting equipment based on the first evaluation criterion; When it is obtained based on the first evaluation criterion that the overall stability of the first hoisting equipment and the second hoisting equipment are equivalent, comparing the stage stability of the first hoisting equipment and the second hoisting equipment based on the second evaluation criterion; as well as When it is determined based on the second evaluation criterion that the stage stability of the first hoisting equipment and the second hoisting equipment are equivalent, the amplitude variation stability of the first hoisting equipment and the second hoisting equipment are compared based on the third evaluation criterion.

12. A device for evaluating the amplitude stability of a hoisting device, characterized in that: include: A data processing module, used to determine a plurality of evaluation parameters for characterizing the fluctuation of the measuring points according to the amplitude variation related data of the lifting equipment at different amplitude variation stages under different test conditions, wherein the different amplitude variation stages include the starting stage, the steady speed stage and the parking stage in the amplitude variation rotation process, and the measuring points include the arm tip and the hoisted cargo; as well as An evaluation module is used to evaluate the amplitude change stability of the hoisting equipment according to the multiple evaluation parameters.

13. The device for evaluating amplitude stability according to claim 12, characterized in that: The evaluation module includes: an index forming unit, configured to select an evaluation parameter from the plurality of evaluation parameters to form an evaluation index for amplitude variation stability at different amplitude variation stages, at different measuring points or during the amplitude variation operation of the entire vehicle; and The amplitude variation stability determination unit is used to determine the amplitude variation stability of the hoisting equipment based on the amplitude variation stability evaluation index.

14. A device for evaluating the amplitude stability of a hoisting device, characterized in that: include: a memory configured to store instructions; as well as The processor is configured to call the instructions from the memory and implement the method for evaluating the amplitude change stability of the lifting equipment according to any one of claims 1 to 11 when executing the instructions.

15. A system for evaluating the stability of the amplitude variation of a lifting equipment, characterized in that: It comprises a measurement system and an amplitude variation smoothness evaluation device as described in any one of claims 12 to 14, wherein the measurement system is used to collect and provide to the amplitude variation smoothness evaluation device the amplitude variation related data of the lifting equipment at different amplitude variation stages under different test conditions.

16. A lifting device, characterized in that: Including the amplitude variation stability evaluation system as described in claim 15.

17. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable the machine to execute the method for evaluating the amplitude change stability of the hoisting equipment according to any one of claims 1 to 11.

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