Hoisting equipment and its amplitude stability evaluation method, device, system and medium

Abstract

The present application relates to the technical field of engineering machinery, and discloses a method, device, system and medium for evaluating the amplitude change stability of a hoisting device and the same. The method comprises: determining a plurality of evaluation parameters for characterizing the fluctuation of a measuring point according to amplitude change-related data of the hoisting device 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 during the amplitude change rotation process, and the measuring points include the arm tip and the suspended cargo; and evaluating the amplitude change stability of the hoisting device according to the plurality of evaluation parameters. The present application determines objective evaluation parameters that characterize the fluctuation of the measuring points (arm tip and suspended cargo), promotes the process-based (throughout the starting stage, the steady speed stage and the parking stage) and data-based evaluation of the amplitude change stability, no longer relies on the subjective perception of the evaluator, and improves the accuracy of the equipment amplitude change stability evaluation.

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 of the lifting equipment during the amplitude change process. 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 test method for the amplitude change balance of lifting equipment, and often can only rely on the subjective perception of the evaluator for estimation. However, the subjective perception criteria of different evaluators cannot be completely consistent. Even the subjective perception of the same evaluator at different times cannot be completely consistent, making it 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 lifting equipment and a method, device, system and medium for evaluating the amplitude stability thereof, 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 based on the amplitude change related data of the lifting equipment in different amplitude change stages under different test conditions, wherein the different amplitude change stages include the starting stage, steady speed stage and 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 based on 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 the amplitude downward, the condition of the basic arm fully loaded and changing the amplitude upward, the condition of the medium-long arm fully loaded and changing the amplitude downward, the condition of the medium-long arm fully loaded and changing the amplitude upward, the condition of the full arm fully loaded and changing the amplitude downward, and the condition of the full arm fully loaded and changing the amplitude upward.

[0006] In the embodiment of the present application, the luffing related data includes any one or more of the following: boom tip position, hoisted 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, based on 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; determining, based on the amplitude variation related data, multiple characteristic parameters of the arm tip and the suspended cargo at the different amplitude variation stages, wherein the multiple characteristic parameters include startup time, stable operating speed, and parking time; forming a three-dimensional spatial projection for the startup stage and the parking stage, and forming a two-dimensional spatial projection for the steady speed stage; forming a three-dimensional coordinate system and a two-dimensional coordinate system corresponding to the three-dimensional spatial projection and the two-dimensional spatial 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 duration as the x-axis and the stable operating 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 duration as the x-axis and the stable operating 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 operating 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 smoothness of the lifting equipment includes: selecting an evaluation parameter 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 determining the amplitude variation smoothness of the lifting equipment based on the amplitude variation smoothness 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 representing 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 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, the deviation state, or 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: comparing 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 degree of deviation from the stability of the first lifting equipment and the second lifting equipment is obtained to be 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 obtained to be equivalent based on the second evaluation criterion, comparing 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 entire vehicle's amplitude variation operation includes: selecting all evaluation parameters from the multiple evaluation parameters, and dividing 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 an evaluation index for the amplitude variation smoothness of the entire 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 the first evaluation criteria, the second evaluation criteria, and the third evaluation criteria respectively, 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 in 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 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 variation 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 variation stability of the lifting equipment when executing the instructions.

[0018] The 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] In a sixth aspect, the present application provides a machine-readable storage medium having stored thereon instructions for enabling a machine to execute any of the above-mentioned amplitude stability evaluation methods.

[0021] Through the above technical solution, 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, thereby avoiding the phenomenon that the evaluation results are inconsistent with the actual status 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 detailed description. 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 detailed description, 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 The following schematically shows a flow chart of a method for evaluating the luffing stability of a hoisting device according to an embodiment of the present application;

[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 The following schematically shows a flow chart of determining multiple evaluation parameters according to an embodiment of the present application;

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

[0028] Figure 5 The diagram schematically shows an envelope surface according to an embodiment of the present application.

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

[0030] Figure 7 The following schematically illustrates a flow chart of obtaining amplitude variation smoothness evaluation indicators for different amplitude variation stages or for different measuring points according to an embodiment of the present application;

[0031] Figure 8The following schematically shows a flow chart of obtaining an evaluation index of the luffing stability of a vehicle luffing operation according to an embodiment of the present application;

[0032] Figure 9 (a1), Figure 9 (b1), Figure 9 (a2), Figure 9 (b2) schematically illustrates a process for evaluating amplitude stability of different devices according to implementation scenario 1 of an embodiment of the present application;

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

[0034] Figure 11 The following schematically shows a structural diagram of a device for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application;

[0035] Figure 12 A block diagram schematically illustrates a structure of another device for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application; and

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

[0037] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications 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 for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0040] Figure 1 The following schematically shows a flow chart of the evaluation of the amplitude stability of a hoisting device 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 variation stability of a hoisting equipment, which may include the following steps S100 and S200.

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

[0042] The different luffing stages include the startup phase, steady-speed phase (also known as the steady-speed operation phase), and parking phase (also known as the deceleration parking phase) during the luffing slewing process. The measuring points include the boom tip and the suspended cargo. The measuring point fluctuation refers to the offset of the boom tip relative to its equilibrium position and the fluctuation of the suspended cargo relative to its equilibrium position. Furthermore, in conjunction 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 offset of the boom 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, load 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: position measurement equipment installed on the boom tip, the suspended load, and the luffing winch. The position measurement equipment, such as GPS, laser ranging equipment, inertial measurement system, etc., is used to collect information about the boom tip position, the suspended load position, and the luffing winch position; an angle measurement equipment, such as an angle sensor, is used to measure the boom luffing angle; and a speed encoder installed on the luffing winch is used to obtain the rope-releasing speed of the luffing winch. In addition, the measurement system may also include a base station installed in a fixed position or a virtual base station provided by a third party, which communicates with the above-mentioned position measurement equipment, angle measurement equipment, speed encoder, etc., and is used to obtain real-time luffing-related data to provide to, for example, a data processing system in a control center for further implementation of the luffing stability evaluation method for the hoisting equipment.

[0044] It should be noted that, while the measurement points here include not only the boom tip and the suspended cargo, but also the luffing winch, the purpose of measuring the corresponding data of the luffing winch is to determine the boom tip fluctuation, and does not consider the luffing winch fluctuation. Furthermore, the following discussion will primarily focus on the luffing stability evaluation of the boom tip and the suspended cargo. In other words, the boom tip and the suspended cargo are the locations of interest in the embodiments of this application, while the luffing winch is not.

[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, specifically 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 mid-length arm fully loaded downward amplitude change condition, the mid-length 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 and the amplitude is changed downward, that is, the amplitude angle changes from the maximum amplitude angle to the minimum amplitude angle, the maximum amplitude angle to the middle angle, the middle angle to the minimum angle, etc.

[0047] 2) The basic arm is 100% loaded and the amplitude is changed upwards, that is, the amplitude angle changes in the form of: maximum amplitude angle to minimum amplitude angle, maximum amplitude angle to middle angle, middle angle to minimum angle, etc.;

[0048] 3) The mid-long arm is 100% loaded and the amplitude is changed downward, that is, the amplitude angle changes in the form of: maximum amplitude angle to minimum amplitude angle, maximum amplitude angle to middle angle, middle angle to minimum angle, etc.

[0049] 4) The mid-long arm is 100% loaded and the amplitude is changed upwards, that is, the amplitude angle changes in the form of: maximum amplitude angle to minimum amplitude angle, maximum amplitude angle to middle angle, middle angle to minimum angle, etc.

[0050] 5) Full arm length 100% load downward 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.;

[0051] 6) The full arm length is 100% loaded upward, 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 (focus positions are equivalent to measurement points in the embodiment of the present application).

[0053] Furthermore, 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 boom 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.

[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 distance of the arm tip and the suspended cargo relative to their respective equilibrium positions based on the example amplitude variation-related data in Table 1. Since the equilibrium position of the suspended cargo generally requires that the center line of the hook and the center of gravity of the suspended cargo are on the same plumb line, 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 calculation can be performed:

[0059] First, for the suspended cargo, the fluctuation distance of the suspended cargo relative to the center of gravity (indicating the offset state) can be calculated based on the measurement data in Table 1. The relative coordinate values ​​xh, yh, and zh are used to represent the corresponding offset. These three coordinate values ​​represent functions that change over time and 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. Combined with the luffing wire rope ratio, 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 luffing wire rope ratio.

[0068] Furthermore, the theoretical elastic displacement of the boom tip can be calculated based on the boom 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, by dividing the entire amplitude variation process into stages and focus positions, six parameters representing the stability characteristics can be initially formed, which are recorded as: Hbjqi, Hbjwen, Hbjtin, Hhwqi, Hhwwen, and Hhwtin. It should be noted that for ease of reading, in the embodiments of this application, the first pinyin letters qi (or q), wen (or w), and tin (or t) are used to describe the corresponding parameters for the startup stage, steady speed stage, and parking stage, while the first pinyin letters bj and hw of the names of the two focus positions are used to describe the corresponding parameters.

[0074] Therefore, in this example, the above equations (1) to (6) are combined to record the position data of each measuring point during the test. Then, through coordinate transformation and calculation, the fluctuation of the center of gravity of the cargo and the arm tip offset 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. 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 six 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 the 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 variation stages determined in step S110.

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

[0079] 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 expressed as [Tqi, Vwen, Ttin]. In this way, the basis of determining the six stationary characteristic representation parameters in step S110 and recording the three characteristic parameters [Tqi, Vwen, Ttin] in step S120 form nine stationary characteristic representation parameters [Hbjqi, Hbjwen, Hbjtin, Hhwqi, Hhwwen, Hhwtin, Tqi, Vwen, Ttin] 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 spatial projection for the starting phase and the parking phase, and forming a two-dimensional spatial 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 : generating 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.

[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 an example.

[0086] Typically, one-dimensional, two-dimensional, and three-dimensional spatial projections can be performed based on the correlations between the various dimensions. This embodiment of the present application divides the entire evaluation dimension into three dimensions: the startup phase, the steady-speed phase, and the parking phase, based on the process characteristics of the variable amplitude motion. A three-dimensional spatial projection is formed for the startup phase, a two-dimensional spatial projection is formed for the steady-speed phase, and a three-dimensional spatial projection is formed for the parking phase. Conventional conversion techniques for spatial projections and coordinate systems in the prior art can further form corresponding three-dimensional and two-dimensional coordinate systems corresponding to the three-dimensional and two-dimensional spatial projections, respectively.

[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 of the startup phase are a 2x3 matrix expression of the four parameters [Tqi, Hbjqi, Vwen; Tqi, Hhwqi, Vwen]. The center of gravity fluctuation distances Hbjqi and Hhwqi are the z-axis, the startup time Tqi 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. Connecting all the points will form a coordinate system like Figure 4 The envelope shown in FIG5 has a centroid distance [Lbjq; Lhwq] between the centroid and the origin of the coordinate system, and a space enclosed by the envelope is the envelope volume [Vbjq; Vhwq], which ultimately forms a 2x2 matrix [Lbjq, Vbjq; Lhwq, Vhwq] representation.

[0089] The parameters related to the stability characteristics in the steady speed stage are expressed as a 2x2 matrix 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 forms a 2x2 matrix [Lbjw, Sbjw; Lhww, Shww] representation.

[0090] The envelope construction of the parking phase is the same as that of the startup phase, and can be similarly referenced. Figure 4The parameters related to the smoothness characteristics of the parking phase are expressed in a 2x3 matrix of 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 coordinate origin is the centroid distance of the envelope [Lbjt; Lhwt], and the space enclosed by the envelope is the envelope volume [Vbjt; Vhwt], which ultimately forms a 2x2 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: Evaluate the amplitude change stability of the hoisting equipment according to the multiple evaluation parameters.

[0094] In this example, different parameter combinations are used to evaluate or test 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 smoothness for different amplitude variation stages, different measuring points or the amplitude variation operation of the entire vehicle.

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

[0097] Among them, for step S210, if Figure 7 As shown, in the example, forming the amplitude variation smoothness evaluation index for different amplitude variation stages or for different measurement 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, or selecting a second evaluation parameter set corresponding to the measurement point to be evaluated, from the plurality of evaluation parameters.

[0099] Step S212A: Perform 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 perform 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 in different amplitude variation stages to be evaluated.

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

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

[0104] Step S211B: Select all evaluation parameters from the plurality of 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 smoothness of the amplitude variation operation of the whole vehicle.

[0107] Based on steps S211B-S213B, the luffing 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. The specific evaluation method will be described below through examples and will not be further elaborated here.

[0108] Steps S211A-S214A above involve phase-by-phase (relating to different luffing stages) and position-by-position (relating to different measurement points) evaluations of luffing smoothness, while steps S211B-S213B involve comprehensive luffing smoothness evaluations of the entire equipment phase (relating to the entire vehicle's luffing operation). The following describes these three aspects of luffing smoothness evaluation separately using examples.

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

[0110] In this example, the four evaluation parameters of the same stage are dimensionalized to obtain the evaluation index value of the stage. The calculation 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 two-dimensional vectors, 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 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, which ranges from 0 to 1 and is determined according to the relative importance of the corresponding measurement point.

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

[0117] The six evaluation parameters at the same measuring point are dimensionalized to 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 in the two-dimensional plane, 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 throughout 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 is formed in the plane coordinate system (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 evaluation index of the amplitude variation stability of the whole vehicle amplitude variation operation.

[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. Furthermore, 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 results of the equipment corresponding to the test condition are 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 deviation status, 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 the stability of the first lifting equipment and the second lifting equipment based on the first evaluation criterion; when the degree of deviation of the 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 actual applications, the first evaluation criterion is superior to the second and third evaluation criteria. When the difference in the first evaluation criterion is small (for example, <2%, which can actually be determined according to quality inspection requirements), the second evaluation criterion is used for judgment; when the difference in the second evaluation criterion is small (for example, <2%, which can actually be determined according to quality inspection requirements), the third evaluation criterion is used; when the difference in the third evaluation criterion is also small (for example, <2%, which can actually be determined according to quality inspection requirements), it indicates that the amplitude stability of the two devices in that stage is tending 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 Equation (11), the final evaluation index for each stage is expressed in the form of a vector of c*i + d*j, where c represents the degree of deviation from stationarity and d represents the state of deviation. Therefore, the specific evaluation criteria are consistent with the criteria for evaluating the amplitude stability of each stage in the first aspect and will not be elaborated 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 equipment corresponding to the test conditions 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 two devices is similar, when the spatial envelope area is large, it indicates that the stability of some evaluation stages of the entire 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 have similar centroid distances and little difference in spatial envelope area, the two will be multiplied and compared. The device with the larger value will have relatively poor overall rotational stability.

[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. In this way, 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 are 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 are 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, using the various criteria described above, the embodiments of this 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-produced equipment. Comparison and evaluation can be performed both in stages and on the entire machine. The following describes the application of the amplitude stability evaluation method of the embodiments of this application in detail through two implementation scenarios.

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

[0142] In this implementation scenario, Equipment A and Equipment B were operated under the proposed standard test conditions. First, the test system and data processing system determined the fluctuation in the center of gravity of the load, boom tip position deviation, start-up time, stop-time, and stable boom speed during the start-up, steady-speed, and parking phases under different operating conditions, as shown in Table 2. It should be noted that the times in the table refer to durations, not points in time.

[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, Figure 9 (a1), Figure 9 (b1), Figure 9 (a2), Figure 9 As shown in (b2), 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 sum calculation, etc. are performed for each stage, each measuring point and the whole machine evaluation. Figure 9 (a1), and Figure 9 (a2) For device A, Figure 9 (b1) and Figure 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 Figure 10 (a)- Figure 10 (b), where Figure 10 (a) For device A, Figure 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 location.

[0151] 1.1) Based on the first evaluation criterion, the stability of the arm tip of device B 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 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 luffing stability test of the same model of equipment, the data collection implementation steps are consistent with implementation scenario 1. First, the test system and data processing system are used to obtain data such as the center of gravity fluctuation of the load, the position deviation of the boom tip, the startup time, the shutdown time, and the stable luffing speed during the startup phase, the steady-speed operation phase, and the parking phase under different working conditions, 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, and product calculation of envelope volume / area and centroid / normal distance, vector calculation, and vector product and calculation are performed for each stage, each measuring point, and the entire machine evaluation. Finally, the acquired data is judged based on 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 the test equipment 1 is evaluated.

[0171] 1. Evaluation based on focus location.

[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 position 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 of 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 comparable to that of the standard prototype;

[0178] 3. Overall evaluation of the 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 location.

[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 position 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 of 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 machine.

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

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

[0191] 1. Evaluation based on focus location.

[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 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 luffing stability of a hoisting device according to the embodiment of the present application has at least the following advantages:

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

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

[0203] 3. The amplitude variation stability evaluation method of the embodiment of the present application proposes a variety of test conditions for evaluating or testing the amplitude variation stability of 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 offset 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 offset of the arm tip.

[0205] 5. The existing technology for measuring the posture of suspended cargo mainly adopts GPS, laser ranging, inertial measurement system, etc., to measure and solve the changes in the center of gravity of the cargo and the whole vehicle during the amplitude change of the lifting equipment. The changes in each center of gravity and key positions during the amplitude change must be calculated through the joint arrangement of the measurement system and the solution of multiple coordination equations. 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 amplitude change related data. By calculating the spatial position coordinate difference between different positions and combining theoretical calculation derivation, the fluctuation distance of the suspended cargo and the arm tip relative to their respective equilibrium positions (indicating the swing amount of the suspended cargo and the swing fluctuation amount of the arm tip) is obtained in real time. This can solve the problem that the measurement method of the existing technology only measures the trajectory of the cargo to calculate the swing amount, resulting in inaccurate measurement results.

[0206] 6. The amplitude variation stability evaluation method of the embodiment of the present application formulates an evaluation criterion for the amplitude variation 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 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, solving the problem that the traditional extreme working condition method is not comprehensive 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. It can be applied to various implementation scenarios and has high applicability.

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

[0209] like Figure 11 As shown, in an embodiment of the present application, the amplitude variation smoothness evaluation device includes: a data processing module for determining a plurality of evaluation parameters for characterizing the fluctuation of measuring points based on the amplitude variation related data of the lifting equipment in 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; and an evaluation module for evaluating the amplitude variation smoothness of the lifting equipment based on 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] Figure 12 The following schematically shows a structural block diagram of another device for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application. Figure 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] Figure 13 The following schematically shows a structural block diagram of a system for evaluating the amplitude stability of a hoisting device according to an embodiment of the present application. Figure 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 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 may include, for example, position measurement equipment installed on the boom tip, the hoisted load, and the luffing winch. The position measurement equipment may be, for example, a GPS, a laser rangefinder, an inertial measurement system, etc., for correspondingly collecting information about the boom tip position, the hoisted load position, and the luffing winch position; an angle measurement device, such as an angle sensor, for measuring the boom luffing angle; and a speed encoder installed on the luffing winch for obtaining the rope-releasing speed of the luffing winch. Furthermore, the measurement system may also include a base station installed at a fixed location or a virtual base station provided by a third party, which communicates with the aforementioned position testing equipment, angle measurement equipment, speed encoder, etc., for real-time acquisition of luffing-related data to be provided to the luffing stability evaluation device for evaluating the luffing stability of the lifting equipment.

[0216] The amplitude stability evaluation device can, for example, form a data processing system in a control center. Based on various amplitude-related data and calculated evaluation parameters, it performs a comprehensive evaluation based on multi-dimensional spatial envelope theory through a stage stability evaluation program to obtain a stage stability evaluation conclusion. This is then followed by a full-machine stability evaluation program to obtain a full-machine stability evaluation conclusion. Specific evaluation details can be found in the aforementioned embodiments of the amplitude stability evaluation method and will not be further elaborated 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 further provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute any of the above-mentioned methods for evaluating the amplitude stability of a lifting device.

[0219] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The 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 the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0223] In a typical configuration, a computing device includes one or more processors (CPUs), 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 includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory media such as modulated data signals and carrier waves.

[0226] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0227] The above are merely 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 modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all 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: Determining a plurality of evaluation parameters for characterizing fluctuations at measuring points based on amplitude variation-related data of the hoisting equipment at different amplitude variation stages under different test conditions, wherein the different amplitude variation stages include a start-up stage, a steady-speed stage, and a stop stage during the amplitude variation rotation process, and the measuring points include the boom tip and the hoisted cargo; as well as Evaluating the amplitude change stability of the hoisting equipment according to the multiple evaluation parameters; Wherein, determining the multiple evaluation parameters includes: determining, based on the luffing-related data, the fluctuation distances of the boom tip and the suspended cargo relative to their respective equilibrium positions at the different luffing stages; determining, based on the luffing-related data, a plurality of characteristic parameters of the arm tip and the suspended cargo at the different luffing stages; forming a three-dimensional spatial projection for the starting phase and the stopping 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; 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.

2. The amplitude stability evaluation method 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 the amplitude downward, the condition of the basic arm fully loaded and changing the amplitude upward, the condition of the medium-long arm fully loaded and changing the amplitude downward, the condition of the medium-long arm fully loaded and changing the amplitude upward, the condition of the full arm fully loaded and changing the amplitude downward, and the condition of the full arm fully loaded and changing the amplitude upward.

3. The amplitude variation stability evaluation method according to claim 1, characterized in that: The luffing related data include any one or more of the following: boom tip position, hoisted 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, wherein: The multiple characteristic parameters include start-up time, stable running speed and parking time; 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.

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

6. The amplitude variation stability evaluation method according to claim 5, characterized in that: The evaluation indicators of amplitude stability at different amplitude stages or at different measuring points include: 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; 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 in different amplitude variation stages to be evaluated; 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 smoothness evaluation index for the measurement point to be evaluated.

7. The amplitude variation stability evaluation method 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: expressing the first amplitude variation smoothness evaluation index or the second amplitude variation smoothness evaluation index by a vector formed by both the degree of smoothness deviation and the deviation state; and The luffing smoothness of the hoisting equipment is determined based on the smoothness deviation degree, the deviation state, or the sum of squares of the smoothness deviation degree and the deviation state.

8. The amplitude variation stability evaluation method according to claim 7, characterized in that: When the criteria based on the stability deviation degree, the deviation state, and 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 luffing stability evaluation method further includes performing a luffing stability comparison between different lifting equipment by using the following steps: 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 determined based on the first evaluation criterion that the first hoisting device and the second hoisting device have similar degrees of deviation from 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, wherein: The evaluation indicators for the luffing stability of the vehicle luffing operation 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 the amplitude variation smoothness evaluation index for the amplitude variation operation of the whole vehicle.

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 amplitude variation stability evaluation method according to claim 10, characterized in that: 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 criterion, the second evaluation criterion, and the third evaluation criterion, the amplitude variation stability evaluation method further includes performing the following steps to compare the amplitude variation stability of different lifting equipment: comparing the overall stability of the first hoisting equipment and the second hoisting equipment based on the first evaluation criterion; When the overall stability of the first hoisting device and the second hoisting device is comparable based on the first evaluation criterion, comparing the stage stability of the first hoisting device and the second hoisting device based on the second evaluation criterion; as well as When the stage stability of the first hoisting equipment and the second hoisting equipment is equivalent based on the second evaluation criterion, 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 for determining a plurality of evaluation parameters for characterizing fluctuations at measuring points based on amplitude variation-related data of the hoisting equipment at different amplitude variation stages under different test conditions, wherein the different amplitude variation stages include a start-up stage, a steady-speed stage, and a stop stage during the amplitude variation rotation process, and the measuring points include the boom tip and the hoisted cargo; as well as An evaluation module, configured to evaluate the amplitude change stability of the hoisting equipment according to the plurality of evaluation parameters; The data processing module is used to determine the multiple evaluation parameters, including: determining, based on the luffing-related data, the fluctuation distances of the boom tip and the suspended cargo relative to their respective equilibrium positions at the different luffing stages; determining, based on the luffing-related data, a plurality of characteristic parameters of the arm tip and the suspended cargo at the different luffing stages; forming a three-dimensional spatial projection for the starting phase and the stopping 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; 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.

13. The amplitude variation stability evaluation device 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 smoothness in different amplitude variation stages, different measuring points, or the amplitude variation operation of the entire vehicle; and The amplitude variation stability determining 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 luffing stability of a hoisting 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 hoisting 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 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.

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 a machine to execute the method for evaluating the luffing stability of a hoisting equipment according to any one of claims 1 to 11.

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