Calibration method, detection device, processor and storage medium for crane arm

Abstract

The present application relates to the field of engineering machinery manufacturing, and discloses a correction method, detection device, processor, and storage medium for a boom. The correction method includes: obtaining the cylinder data of each boom; determining the measured model of each boom based on the cylinder data of each boom; fitting and aligning the measured model of each boom with the design model of the corresponding boom in the multi-section boom assembly design model; assembling the measured models of any two adjacent booms to obtain multiple assembly cross-sectional data; and determining the correction amount of the two adjacent booms based on the assembly cross-sectional data. The correction method, detection device, processor, and storage medium for a boom of the present application change the traditional wire-pulling detection-guided boom correction process to a digitally guided boom correction process, realizing process transformation and upgrading and effectively improving the boom correction efficiency.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery manufacturing, and specifically relates to a calibration method, a detection device, a processor, and a storage medium for a boom. Background Art

[0002] Currently, during boom calibration on truck cranes, the deviation of the boom slider's sliding position is detected using a wire-pulling method. This data is recorded in the corresponding measured area, and then employees are instructed to perform boom calibration. First, the measuring wire is fixed to each end of the cylinder, and then measurement is started from one end. A measuring point is selected every meter or so, and the detected data is recorded in the corresponding measured area. After recording the test data for each area, it is determined whether the calibrated cylinder slider sliding area meets the requirements. Positions that do not meet the dimensional requirements are further corrected to within the acceptable range using the above method. The wire-pulling method requires repeated testing, calibration, and assembly and disassembly, resulting in low calibration efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a calibration method, detection device, processor and storage medium for a crane arm, which effectively improves the calibration efficiency of the crane arm.

[0004] In order to achieve the above objectives, the present application provides, on one hand, a method for calibrating a boom, the method comprising:

[0005] Obtain the cylinder data of each boom;

[0006] Determine the measured model of each boom according to the cylinder data of each boom;

[0007] Fit and align the measured model of each boom with the design model of the corresponding boom in the multi-section boom assembly design model;

[0008] Assemble the measured models of any two adjacent booms to obtain multiple assembly cross-sectional data;

[0009] The correction amounts of the two adjacent booms are determined according to the assembly cross-section data.

[0010] In some specific embodiments, the fitting and aligning of the measured model of each boom with the design model of the corresponding boom in the design model of the multi-section boom assembly includes:

[0011] Match the measured model of each boom with the design model of each boom in the multi-section boom assembly design model one by one;

[0012] In the measured model and the design model of each boom, multiple cylinder wall feature elements of corresponding parts are selected in a dispersed manner in a one-to-one correspondence;

[0013] The measured model of each boom and the cylinder wall characteristic elements of each corresponding part selected in the design model are fitted and aligned so that the coordinate positions of the measured model of each boom and the cylinder wall characteristic elements of each corresponding part selected in the design model are consistent.

[0014] In some specific embodiments, assembling the measured models of any two adjacent booms includes:

[0015] For any two adjacent booms, a plurality of geometric feature points located in corresponding positions and in the cylindrical cavities of the booms are obtained in a one-to-one correspondence in the measured models of the two adjacent booms;

[0016] The geometric feature points of each corresponding part in the measured models of the two adjacent booms are aligned along the axial direction of the booms.

[0017] In some specific embodiments, the geometric feature points include the intersection point between the center line of the arm pin hole at the tail of the boom and the center line of the cylinder pin and the center of the cross section of the maximum arc cylinder wall at the head of the boom, and the step of obtaining, for any two adjacent booms, a plurality of geometric feature points located in the cylinder cavity of the boom at corresponding positions in the measured models of the two adjacent booms in a one-to-one correspondence manner includes: determining, for any two adjacent booms, feature data of the arm pin hole position, the cylinder pin hole position, and the maximum arc cylinder wall position of each boom according to the measured model of each boom;

[0018] Determining the arm pin hole centerline and the cylinder pin centerline of the measured model of each boom according to the characteristic data of the arm pin hole position and the cylinder pin hole position of the measured model of each boom;

[0019] Determining the intersection point between the center line of the arm pin hole and the center line of the cylinder pin of the measured model of each boom;

[0020] The cross-sectional center of the largest circular arc cylinder wall located at the boom head of the measured model of each boom is determined according to the characteristic data of the position of the largest circular arc cylinder wall located at the boom head of the measured model of each boom.

[0021] In some specific embodiments, any two adjacent booms include an inner boom and an outer boom that are nested, and determining the correction amount of the two adjacent booms based on the assembly cross-section data includes:

[0022] Determining a gap between an outer peripheral wall of an inner boom section and an outer peripheral wall of an outer boom section of the two adjacent boom sections according to the assembly cross-sectional data;

[0023] The correction amount is determined according to the gap between the outer peripheral wall of the inner segment arm and the outer peripheral wall of the outer segment arm of the two adjacent booms, the thickness of the standard slider and the wall thickness of the outer segment arm.

[0024] In some specific embodiments, the calibration method further comprises:

[0025] The boom is corrected according to the correction amount.

[0026] In some specific embodiments, obtaining the cylinder data of each boom includes:

[0027] When scanning each of the booms by a scanning device, a plurality of tracking images are acquired by a tracking device, wherein the tracking images include the scanning device and a reference patch;

[0028] determining a first spatial position of the reference patch;

[0029] determining a second spatial position of each reflective target of the scanning device in each of the tracking images according to the first spatial position;

[0030] For each boom, determining a third spatial position of a scanning point on the boom corresponding to each reflective target according to the second spatial position of each reflective target;

[0031] The cylinder data of each boom is determined according to the multiple third spatial positions of each boom.

[0032] In some specific implementations, obtaining the cylinder data of each boom further includes:

[0033] The relative position between the boom and the tracking device is adjusted according to the size of the boom.

[0034] A second aspect of the present application further provides a processor, which is configured to execute the above-mentioned calibration method for a boom.

[0035] The third aspect of the present application further provides a detection device for a boom, which includes the above-mentioned processor.

[0036] In some specific embodiments, the detection device further comprises:

[0037] A tracking device for acquiring tracking images;

[0038] Scanning equipment is used to scan each boom.

[0039] A fourth aspect of the present application further provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned correction method for a boom.

[0040] Through the above technical solution, the measured model of the boom is obtained through the cylinder data of the boom, and then any two adjacent booms are virtually assembled. After assembly, the correction values ​​required for the two adjacent booms to be assembled properly are calculated. In this way, the correction worker can quickly obtain more accurate correction values ​​to guide the correction of the boom. The boom correction method is changed from the traditional wire pulling detection to guide the boom correction process to the digital guidance of the boom correction process, which realizes the process transformation and upgrading and effectively improves the correction qualification rate and operation efficiency.

[0041] 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

[0042] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the drawings:

[0043] Figure 1 A schematic flow chart of a method for calibrating a boom according to a specific embodiment of the present application is shown;

[0044] Figure 2 A schematic structural diagram of a detection device for a boom according to a specific embodiment of the present application is shown;

[0045] Figure 3 A schematic diagram of the assembly structure of two adjacent booms according to a specific embodiment of the present application is shown;

[0046] Figure 4 A schematic cross-sectional view of adjacent arm sections is shown;

[0047] Figure 5 A schematic diagram of the gap showing a cross section of adjacent arm sections;

[0048] Figure 6 Shown Figure 2 Schematic diagram of the optimal measurement area of ​​the tracking device.

[0049] Description of Reference Numerals

[0050] 1- boom; 1a- inner boom; 1b- outer boom; 11- arm pin hole; 12- cylinder pin hole; 13- standard slider; 14- maximum arc cylinder wall; 21- scanning device; 22- tracking device; 23- guide rail; 24- reference patch; 25- lifting platform. DETAILED DESCRIPTION

[0051] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0052] To facilitate understanding of this application, the boom in this application is first described. The boom is an important component of the crane and is responsible for the lifting work. Figure 3 and Figure 4 As shown, a boom typically includes a boom body, a boom head, and a boom tail. Existing crane booms are mostly multi-section booms, each section being assembled in sequence. Any two adjacent booms 1 include nested inner booms 1a and outer booms 1b. To ensure that each boom section can align its centerline with the outer arm and does not deviate from the outer arm after being extended, a slider is often provided on the outer surface of the inner boom 1a. The sliders that need to be adjusted during boom assembly include the tail upper slider, tail side slider, and tail lower slider, as well as the adjustment of the upper and lower guide sliders. The slider is mounted on the inner boom 1a. During operation, the inner boom 1a moves back and forth within the outer boom 1b. The slider maintains contact with the inner surface of the outer boom 1b to ensure that the centerlines of the inner boom 1a and the outer boom 1b coincide, preventing the inner boom 1a from bending to one side after being extended from the outer boom 1b, thereby affecting the overall working performance of the boom.

[0053] In existing technology, achieving this requirement during actual production requires multiple reciprocating movements of the outer boom 1 and inner boom 2, with the gap between the slider and boom adjusted by adjusting shims to compensate for errors. This significantly increases manufacturing costs and reduces production efficiency. In the existing wire-pulling method for calibrating the boom cylinder of a truck crane, calibration is time-consuming, labor-intensive, inefficient, and results in a low assembly pass rate.

[0054] In view of this, if Figure 1 As shown, the present application provides a method for calibrating a boom, the calibration method comprising:

[0055] Obtain the cylinder data of each boom 1;

[0056] Determine the measured model of each boom 1 according to the cylinder data of each boom 1;

[0057] Fit and align the measured model of each boom 1 with the design model of the corresponding boom 1 in the multi-section boom assembly design model;

[0058] Assembling the measured models of any two adjacent booms 1 to obtain a plurality of assembly cross-sectional data;

[0059] The correction amount of two adjacent booms is determined based on the assembly cross-section data.

[0060] The cylinder data refers to the structural parameters of the boom cylinder, such as the boom length, dimensions of various boom components, and angles. The cylinder data for each boom 1 can be obtained using a scanning device, such as a laser scanner or a camera scanner. This data can be automatically saved in a designated location on the computer. A processor can determine the cylinder data for each boom and, using a software algorithm, reverse engineer it to generate a measured model of each boom 1. A measured model is a virtual model, a visual representation of a physical entity restored in a virtual digital space.

[0061] Each boom 1 is manufactured with a design model. The multi-section boom assembly design model is a final assembly design model formed by virtually assembling the design models of multiple booms 1. The design models of multiple booms 1 are located in the same coordinate system. By fitting and aligning the measured model of each boom 1 with the corresponding design model, the measured model of each boom 1 can be roughly aligned with the multi-section boom assembly design model in the same coordinate system. The measured models of any two adjacent booms 1 are then precisely aligned and assembled in the same coordinate system to obtain multiple assembly cross-sectional data. Two adjacent booms 1 are two booms 1 that can be connected in a telescopic manner, including an inner boom section 1a and an outer boom section 1b.

[0062] The assembly cross-sectional data refers to the structural parameters of the cross-section of two adjacent booms 1 after assembly. Depending on the scanning position of the booms, the acquired assembly cross-sectional data will vary. For example, if the scanning device scans the outer circumferences of both the inner boom 1a and the outer boom 1b, the assembly cross-sectional data may include the gap between the outer circumferences of the inner boom 1a and the outer boom 1b. Alternatively, if the scanning device scans the outer circumferences of both the inner boom 1a and the inner circumferences of the outer boom 1b, the assembly cross-sectional data may include the gap between the outer circumferences of the inner boom 1a and the inner circumferences of the outer boom 1b.

[0063] like Figure 5 As shown, when determining the correction amount for two adjacent booms based on assembly cross-sectional data, for example, when the assembly cross-sectional data is the gap L between the outer circumferential walls of the inner boom 1a and the outer circumferential walls of the outer boom 1b, the correction amount for boom 1 at a specific circumferential position can be calculated by subtracting the thickness of the standard slider 13 and the wall thickness of the outer boom 1b at that circumferential position from the gap L. Once the correction amount is determined, boom 1 can be calibrated based on the correction amount and then assembled.

[0064] It can be seen that the boom calibration method of the present application has changed from the traditional wire-drawing detection-guided boom calibration process to a digitally guided boom calibration process, achieving process transformation and upgrading, and effectively improving the calibration pass rate and operating efficiency. In addition, the present application can determine the simulated assembly calibration amount of two adjacent booms 1 through assembly cross-sectional data, thereby enabling accurate calibration of the boom 1, and the slider can adopt a standard slider 13, without the need to adjust the slider or add or remove shims. The calibration operation is simple, convenient, fast and accurate, which can further improve the calibration pass rate and operating efficiency.

[0065] Optionally, the step of fitting and aligning the measured model of each boom 1 with the design model of the corresponding boom 1 in the design model of the multi-section boom assembly may specifically include:

[0066] Matching the measured model of each boom 1 with the design model of each boom 1 in the multi-section boom assembly design model one by one;

[0067] In the measured model and the design model of each boom 1, multiple cylinder wall characteristic elements of corresponding parts are dispersedly selected in a one-to-one correspondence;

[0068] The measured model of each boom 1 and the cylinder wall characteristic elements of each corresponding part selected in the design model are fitted and aligned so that the coordinate positions of the measured model of each boom 1 and the cylinder wall characteristic elements of each corresponding part selected in the design model are consistent.

[0069] Specifically, the wall feature elements may include structural features such as points, lines, and surfaces on the wall of the boom 1. By discretely selecting and aligning multiple wall feature elements at different locations in the measured and designed models of the boom 1, each boom 1 can be roughly positioned to facilitate subsequent virtual assembly of two adjacent booms 1. The wall feature elements at different locations selected in the measured model of the boom 1 must correspond one-to-one with the wall feature elements at different locations selected in the corresponding designed model of the boom 1.

[0070] Optionally, the step of assembling the measured models of any two adjacent booms 1 may specifically include:

[0071] For any two adjacent booms 1, a plurality of geometric feature points located in the cylinder cavity of the boom 1 are obtained in a one-to-one correspondence in the measured models of the two adjacent booms 1;

[0072] The geometric feature points of each corresponding part in the measured models of two adjacent booms 1 are aligned along the axial direction of the boom 1 .

[0073] Specifically, the geometric feature points may include geometric features such as intersection points, center points, center lines, and other geometric features of the boom 1's structural features. The multiple geometric feature points obtained from the measured model of the boom 1 must correspond one-to-one with the multiple geometric feature points obtained from the corresponding design model of the boom 1. By aligning each geometric feature point of the measured models of two adjacent booms 1 along the axial direction of the boom 1, a high-precision virtual assembly of the two adjacent booms 1 can be performed, effectively improving the accuracy of the correction.

[0074] Optionally, the geometric feature points may include the intersection of the centerline of the arm pin hole at the boom tail and the centerline of the cylinder pin, as well as the center of the cross section of the largest arc cylinder wall at the boom head. In this way, by aligning the heads and tails of two adjacent booms 1, the assembly accuracy of the virtual assembly can be further improved.

[0075] Specifically, for any two adjacent booms 1, the step of obtaining a plurality of geometric feature points located in the cylinder cavity of the boom 1 at corresponding locations in the measured models of the two adjacent booms 1 may specifically include:

[0076] For any two adjacent booms 1, the characteristic data of the arm pin hole position, cylinder pin hole position and maximum arc cylinder wall position of each boom 1 are determined according to the measured model of each boom 1;

[0077] Determine the arm pin hole centerline and the cylinder pin centerline of the measured model of each boom 1 according to the characteristic data of the arm pin hole position and the cylinder pin hole position of the measured model of each boom 1;

[0078] Determine the intersection point between the center line of the arm pin hole and the center line of the cylinder pin of the measured model of each boom 1;

[0079] The cross-sectional center of the largest circular arc cylinder wall at the boom head of the measured model of each boom 1 is determined according to the characteristic data of the position of the largest circular arc cylinder wall at the boom head of the measured model of each boom 1 .

[0080] Among them, through the measured model of the boom 1, the processor can determine the characteristic data of the arm pin hole position, cylinder pin hole position and maximum arc cylinder wall position of each boom 1. The reference processor can determine the arm pin hole center line and the cylinder pin hole center line based on the characteristic data of the arm pin hole position and the cylinder pin hole position in the measured model. The arm pin hole center line refers to the axis passing through the center point of the arm pin hole 11, and the cylinder pin hole center line refers to the axis passing through the center points of the cylinder pin holes 12 on both sides. There is an intersection between the arm pin hole center line and the cylinder pin hole center line. The processor can determine the intersection between the arm pin hole center line and the cylinder pin hole center line of each boom 1. Through the measured model of the boom 1, the processor can determine the characteristic data of the maximum arc cylinder wall position of the boom head of each boom 1. The reference processor can determine the cross-sectional center of the maximum arc cylinder wall 14 based on the characteristic data of the maximum arc cylinder wall position of the boom head in the measured model. For any two adjacent inner boom sections 1a and outer boom sections 1b, the processor can align the two intersection points and the two cross-sectional center points of the two measured models corresponding to the inner boom section 1a and outer boom section 1b along the axial direction of the boom 1. Each measured model is then fitted to the retracted state of the boom 1 for virtual assembly to determine multiple assembly cross-sectional data. Virtually assembling two adjacent boom sections 1 using their measured models enables automated inspection and data analysis. This transition from blind assembly to precise digital assembly achieves a transformation and upgrade of the process.

[0081] Furthermore, the step of determining the correction amount of two adjacent booms 1 according to the assembly cross-section data may specifically include:

[0082] Determine the gap between the outer peripheral wall of the inner boom 1a and the outer peripheral wall of the outer boom 1b of two adjacent booms 1 according to the assembly cross-sectional data;

[0083] The correction amount is determined based on the gap between the outer peripheral walls of the inner boom 1a and the outer boom 1b of two adjacent booms 1, the thickness of the standard slider 13, and the wall thickness of the outer boom 1a.

[0084] like Figure 1 and Figure 5As shown, the scanning device 21 of the present application obtains the cylindrical data of the outer peripheral walls of the inner arm 1a and the outer peripheral walls of the outer arm 1b by scanning the outer peripheral walls of the inner arm 1a and the outer peripheral walls of the outer arm 1b. Therefore, the assembly cross-sectional data includes the cylindrical data of the outer peripheral walls of the inner arm 1a and the outer peripheral walls of the outer arm 1b. The gap L between the outer peripheral walls of the inner arm 1a and the outer peripheral walls of the outer arm 1b of two adjacent booms 1 can be determined by subtracting the thickness of the standard slider 13 and the wall thickness of the outer arm 1a from the gap L between the outer peripheral walls of the inner arm 1a and the outer arm 1b of the two adjacent booms 1 to determine the correction amount. Based on this correction amount, at least one boom of the two adjacent booms 1 can be corrected.

[0085] Furthermore, the boom calibration method of the present application may further include:

[0086] The boom 1 is calibrated according to the correction amount.

[0087] Since the boom calibration method has been changed from the traditional wire-pulling detection-guided boom calibration process to a digitally guided boom calibration process, the calibration worker can obtain more accurate calibration values ​​more quickly to guide the boom calibration, effectively improving the calibration pass rate and work efficiency.

[0088] Optionally, the step of calibrating the boom 1 according to the correction amount may specifically include:

[0089] The outer booms 1b of the two adjacent booms 1 are corrected according to the correction amount.

[0090] Among them, correcting only the outer segments 1 b of two adjacent booms 1 according to the correction amount can make the correction efficiency higher.

[0091] In some specific embodiments, the step of obtaining the cylinder data of each boom 1 may specifically include:

[0092] When each boom 1 is scanned by the scanning device 21 , a plurality of tracking images are acquired by the tracking device 22 , and the tracking images include the scanning device 21 and the reference patch 24 ;

[0093] determining a first spatial position of the reference patch 24;

[0094] determining a second spatial position of each reflective target of the scanning device 21 in each tracking image based on the first spatial position;

[0095] For each boom 1, determining a third spatial position of a scanning point on the boom 1 corresponding to each reflective target according to the second spatial position of each reflective target;

[0096] The cylinder data of each boom 1 is determined according to the multiple third spatial positions of each boom 1 .

[0097] Among them, the scanning device 21 can be a laser scanner. The scanning device 21 has functions such as data acquisition, tracking, and communication. The laser beam is emitted through the internal transmitter. The laser hits the surface of the scanning object, scans the scanning object, and obtains three-dimensional data of the laser point through the principle of binocular vision. The scanning device 21 is equipped with scanning software. The scanning software is mainly used to fuse data, analyze and correct the data, display the size, and other functions. The tracking device 22 can be an optical tracker. The optical tracker can track the scanning device 21 in real time and collect tracking images to obtain the three-dimensional position of the reflective target on the scanning ball head, and then use the triangulation method to calculate the coordinate value of each reflective target in the image. After calculation by the data acquisition software, the free-form surface data or geometric data of the object to be measured is displayed in real time. Among them, the tracking image includes the scanning device and the reference patch. Figure 1 The following schematically shows a detection device for a boom according to an embodiment of the present application. Figure 1 As shown, the scanning device 21 and the tracking device 22 are both movably mounted on the guide rail 23 by a manipulator. During scanning, the axial direction of the boom 1 is arranged along the extension direction of the guide rail 23. The scanning device 21 and the tracking device 22 can move along the extension direction of the guide rail 23. The scanning device 21 can adjust the scanning direction through the manipulator, thereby scanning and measuring the entire boom 1.

[0098] When scanning each boom 1 using the scanning device 21, the processor can acquire multiple tracking images using the tracking device 22 and determine the first spatial position of the reference patch 24. The reference patch 24 is mounted on the boom detection platform and serves as a reference for positioning during boom detection. Multiple reference patches 24 can be positioned along the axial direction of the boom 1. The first spatial position refers to the three-dimensional spatial coordinates of the reference patch 24. The processor can then use the first spatial position of the reference patch 24 as a reference to determine the second spatial position of each reflection target in each tracking image. The reflection target is an optical target formed by light reflected from the scanning object by the scanning device 21 after the scanning device 21 emits scanning light to the scanning object. The second spatial position refers to the three-dimensional spatial coordinates of the reflection target on the scanning ball head. Based on the second spatial position of each reflection target, the processor can determine the third spatial position of the scanning point on the boom 1 corresponding to each reflection target. The third spatial position refers to the three-dimensional spatial coordinates of the scanning point on the boom 1. When the scanning device 21 scans the boom 1 at a specific moment, it typically scans a specific portion of the boom 1. The scanning ball head receives scanning light reflected from multiple scanning points on the boom 1, thereby obtaining the third spatial positions of multiple scanning points on the boom, corresponding to multiple reflective targets. The processor can then further determine the barrel data of each boom 1 based on the multiple third spatial positions of each boom 1.

[0099] Furthermore, determining the second spatial position of each reflection target in each local image based on the first spatial position includes: for each tracking image, determining the first image position and the second image position of the reference patch 24 and each reflection target in the tracking image respectively; for each tracking image, determining the image spacing distance between the first image position and the second image position; and determining the second spatial position of each reflection target in each tracking image based on the image spacing distance and the first spatial position.

[0100] Furthermore, when each boom 1 is scanned by the scanning device 21, the processor can obtain multiple tracking images through the tracking device 22. For each tracking image, the processor can determine the first image position where the reference patch 24 appears in the tracking image, and the second image position where each reflective target of the scanning ball head appears in the tracking image. Specifically, the processor can determine the position of the target object in the image through the target detection algorithm. The processor can then determine the image spacing distance between the first image position and the second image position. The image spacing distance refers to the pixel distance between the reflective target and the reference patch in the tracking image. Taking the first spatial position of the reference patch as a reference, the processor can determine the actual distance between the reference patch and the reflective target of the scanning ball head based on the image spacing distance between the two image positions, thereby determining the second spatial position of the reflective target.

[0101] For each boom 1, determining the third spatial position of the scanning point corresponding to each reflective target on the boom 1 according to the second spatial position of each reflective target includes: for each boom 1, determining the distance between each reflective target and the scanning point corresponding to each reflective target; determining the scanning angle of the scanning device 21; and determining the third spatial position of the scanning point corresponding to each reflective target on the boom according to the distance, the scanning angle, and the second spatial position of each reflective target.

[0102] When the scanning device 21 scans the boom 1 at a certain moment, it usually scans a certain part of the boom 1. After diffuse reflection from the surface of the object, the scanning ball head can receive the reflected scanning light from multiple scanning points in the local part of the boom, thereby obtaining the third spatial positions of multiple scanning points on the boom corresponding to multiple reflection targets. Among them, the processor can determine the distance between each reflection target on the scanning ball head and the scanning point corresponding to each reflection target. The distance between the reflection target and the corresponding scanning point can be determined by the emission time and reflection time of the scanning laser beam. In addition, the processor can determine the scanning angle of the scanning device 21 when performing the scanning operation. The scanning angle refers to the horizontal scanning angle and the vertical scanning angle of the laser pulse emitted by the scanning device. The processor can then determine the third spatial position of the scanning point on the boom 1 corresponding to the reflection target based on the above-mentioned distance, scanning angle, and the second spatial position of the reflection target.

[0103] During the measurement process, the relative positions of the tracking device 22, scanning head, boom 1, and reference patch 24 all affect measurement accuracy and range. Therefore, a global simulation can be used to determine the optimal measurement position, ensuring that the detection device can capture data from all boom models while meeting measurement accuracy requirements.

[0104] Therefore, the step of obtaining the cylinder data of each boom 1 may further include:

[0105] The relative position between the boom 1 and the tracking device 22 is adjusted according to the size of the boom 1 .

[0106] The sizes of different types of booms 1 vary. To ensure that the boom 1 is in the optimal measurement field of the tracking device 22 for boom data collection, the relative position between the boom and the tracking device 22 can be adjusted according to the size of the boom 1. Figure 6 As shown, the tracking device 22 has a high-precision measurement range in the X, Y, and Z directions. A lifting platform 25 supports the boom 1. The relative position between the boom 1 and the tracking device 22 can be adjusted in the Z direction by raising or lowering the boom 1. The tracking device 22 is mounted on guide rails 23 using a manipulator, which adjusts the relative position of the boom 1 and tracking device 22 in the Y and Z directions. Using 3D simulation software to control and adjust the lifting platform 25 and the manipulator further improves calibration accuracy.

[0107] A second aspect of the present application further provides a processor, which is configured to execute the above-mentioned calibration method for a boom.

[0108] The third aspect of the present application further provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned correction method for the boom.

[0109] Optionally, the machine-readable storage medium may store program units such as a cylinder data determination module, an assembly cross-section data determination module, a correction amount determination module, and a boom correction module. The cylinder data determination module is used to determine the cylinder data of each boom 1. The assembly cross-section data determination module is used to determine the assembly cross-section data based on the cylinder data of each boom 1 and the design data of the multi-section boom assembly design model. The correction amount determination module may determine the correction amount based on the assembly cross-section data, the thickness of the standard slider, and the wall thickness of the boom 1. The boom correction module is used to correct two adjacent booms based on the correction amount to achieve boom assembly operations.

[0110] Optionally, the barrel data determination module is used to: when each boom 1 is scanned by the scanning device 21, obtain multiple tracking images by the tracking device 22, the tracking images including the scanning device 21 and the reference patch 24; determine the first spatial position of the reference patch 24; determine the second spatial position of each reflection target of the scanning device 21 in each tracking image according to the first spatial position; for each boom 1, determine the third spatial position of the scanning point corresponding to each reflection target on the boom 1 according to the second spatial position of each reflection target; and determine the barrel data of each boom 1 according to the multiple third spatial positions of each boom 1.

[0111] Optionally, the barrel data determination module is also used to: determine, for each tracking image, the first image position and the second image position of the reference patch 24 and each reflective target in the tracking image respectively; determine, for each tracking image, the image spacing distance between the first image position and the second image position; and determine the second spatial position of each reflective target in each tracking image based on the image spacing distance and the first spatial position.

[0112] Optionally, the cylinder data determination module is also used to: determine the distance between each reflective target and the scanning point corresponding to each reflective target for each boom 1; determine the scanning angle of the scanning device 21; and determine the third spatial position of the scanning point corresponding to each reflective target on the boom based on the distance, the scanning angle and the second spatial position of each reflective target.

[0113] Optionally, the assembly cross-section data determination module is used to: determine the measured model of each boom based on the cylinder data of each boom; fit and align the measured model of each boom with the design model of the corresponding boom in the multi-section boom assembly design model; assemble the measured models of any two adjacent booms to obtain multiple assembly cross-section data.

[0114] Optionally, the assembly cross-section data determination module is also used to: pair the measured model of each boom with the design model of each boom in the multi-section boom assembly design model one by one; select multiple corresponding parts of the cylinder wall feature elements in the measured model and design model of each boom in a dispersed manner; fit and align the measured model of each boom and the selected cylinder wall feature elements of each corresponding part in the design model, so that the coordinate positions of the measured model of each boom and the selected cylinder wall feature elements of each corresponding part in the design model are consistent.

[0115] Optionally, the assembly cross-section data determination module is also used to: for any two adjacent booms, obtain a plurality of geometric feature points of corresponding parts and located in the cylindrical cavity of the boom in a one-to-one correspondence in the measured models of the two adjacent booms; and align the geometric feature points of each corresponding part in the measured models of the two adjacent booms along the axial direction of the boom.

[0116] Optionally, the assembly cross-section data determination module is also used to: for any two adjacent booms, determine the characteristic data of the arm pin hole position, cylinder pin hole position and maximum arc cylinder wall position of each boom according to the measured model of each boom; determine the arm pin hole center line and cylinder pin center line of the measured model of each boom according to the characteristic data of the arm pin hole position and cylinder pin hole position of the measured model of each boom; determine the intersection point between the arm pin hole center line and the cylinder pin center line of the measured model of each boom; determine the cross-section center of the maximum arc cylinder wall located at the boom head of the measured model of each boom according to the characteristic data of the maximum arc cylinder wall position located at the boom head of the measured model of each boom.

[0117] Optionally, the correction amount determination module can be used to: determine the gap between the outer peripheral wall of the inner arm and the outer peripheral wall of the outer arm in two adjacent booms based on the assembly cross-sectional data; determine the correction amount based on the gap between the outer peripheral wall of the inner arm and the outer peripheral wall of the outer arm in two adjacent booms, the thickness of the standard slider and the wall thickness of the outer arm.

[0118] The fourth aspect of the present application also provides a detection device for a crane arm, which includes the above-mentioned processor and machine-readable storage medium, and the processor can execute the above-mentioned program module stored in the machine-readable storage medium to implement the corresponding function. The processor includes a kernel, and the kernel retrieves the corresponding program unit from the machine-readable storage medium. One or more kernels can be set, and the correction method for the crane arm can be implemented by adjusting the kernel parameters. The machine-readable storage medium may include non-permanent memory, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the machine-readable storage medium includes at least one memory chip. The processor may include measurement software, and the measurement software has functions such as data analysis, data comparison, virtual assembly, and output of crane arm correction reports.

[0119] 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 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 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.

[0120] Alternatively, as Figure 2 As shown, the detection apparatus may further include a tracking device 22 for acquiring a tracking image and a scanning device 21 for scanning each boom 1 .

[0121] It should be noted that the structural principles of components such as the scanning device 21, tracking device 22, guide rail 23, manipulator, and reference patch 24 are well known to those skilled in the art and do not belong to the core improvement part of this application, so they will not be repeated here.

[0122] In summary, the crane arm calibration method, detection device, processor, and storage medium described in this application can improve the assembly accuracy and calibration efficiency of adjacent crane arms. Through automated detection and virtual assembly, the required calibration amount for optimal alignment of the sliding positions of two adjacent crane arm sliders is determined, guiding workers in the calibration process. Crane arm calibration has been upgraded from the traditional wire-drawing detection-guided crane arm calibration process to a digitally guided crane arm calibration process, increasing efficiency by 50% and the calibration pass rate to 99%.

[0123] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0124] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0125] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0126] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for calibrating a boom, characterized in that: include: Obtaining the cylinder data of each boom (1); Determining a measured model of each boom (1) based on the cylinder data of each boom (1); Fitting and aligning the measured model of each boom (1) with the design model of the corresponding boom (1) in the multi-section boom assembly design model; Assembling measured models of any two adjacent booms (1) to obtain a plurality of assembly cross-sectional data, wherein the any two adjacent booms (1) include an inner boom (1a) and an outer boom (1b) that are nested; Determining a gap between an outer peripheral wall of an inner boom (1a) and an outer peripheral wall of an outer boom (1b) in the two adjacent booms (1) according to the assembly cross-sectional data; The correction amount of the two adjacent booms (1) is determined based on the gap between the outer peripheral wall of the inner boom (1a) and the outer peripheral wall of the outer boom (1b) in the two adjacent booms (1), the thickness of the standard slider (13) and the wall thickness of the outer boom (1b).

2. The method for calibrating a boom according to claim 1, characterized in that: The step of fitting and aligning the measured model of each boom (1) with the design model of the corresponding boom (1) in the design model of the multi-section boom assembly comprises: Matching the measured model of each boom (1) with the design model of each boom (1) in the multi-section boom assembly design model; Selecting a plurality of cylinder wall characteristic elements at corresponding locations in a one-to-one correspondence between the measured model and the design model of each boom (1); The measured model of each boom (1) and the cylinder wall characteristic elements of each corresponding part selected in the design model are fitted and aligned, so that the coordinate positions of the measured model of each boom (1) and the cylinder wall characteristic elements of each corresponding part selected in the design model are consistent.

3. The method for calibrating a boom according to claim 1, characterized in that: The step of assembling the measured models of any two adjacent booms (1) comprises: For any two adjacent booms (1), a plurality of geometric feature points located in the cylinder cavity of the booms (1) are obtained in a one-to-one correspondence in the measured models of the two adjacent booms (1); The geometric feature points of each corresponding part in the measured models of the two adjacent booms (1) are aligned along the axial direction of the boom (1).

4. The method for calibrating a boom according to claim 3, wherein: The geometric feature points include the intersection point between the center line of the arm pin hole at the tail of the boom and the center line of the cylinder pin and the center of the cross section of the maximum arc cylinder wall at the head of the boom. For any two adjacent booms (1), the geometric feature points located in the cylinder cavity of the boom (1) and obtained in a one-to-one correspondence in the measured models of the two adjacent booms (1) include: For any two adjacent booms (1), characteristic data of the arm pin hole position, cylinder pin hole position and maximum arc cylinder wall position of each boom (1) are determined based on a measured model of each boom (1); Determining the arm pin hole centerline and the cylinder pin centerline of the measured model of each boom (1) based on the characteristic data of the arm pin hole position and the cylinder pin hole position of the measured model of each boom (1); Determine the intersection point between the center line of the arm pin hole and the center line of the cylinder pin of the measured model of each boom (1); The center of the cross section of the largest circular arc cylinder wall located at the boom head of the measured model of each boom (1) is determined based on characteristic data of the position of the largest circular arc cylinder wall located at the boom head of the measured model of each boom (1).

5. The method for calibrating a boom according to claim 1, wherein: The correction method further comprises: The boom (1) is corrected according to the correction amount.

6. The method for calibrating a boom according to claim 1, characterized in that: The step of obtaining the cylinder data of each boom (1) includes: When scanning each of the booms (1) by means of a scanning device (21), a plurality of tracking images are acquired by means of a tracking device (22), wherein the tracking images include the scanning device (21) and a reference patch (24); Determining a first spatial position of the reference patch (24); Determining a second spatial position of each reflective target of the scanning device (21) in each tracking image according to the first spatial position; For each boom (1), determining a third spatial position of a scanning point on the boom (1) corresponding to each reflective target according to the second spatial position of each reflective target; The cylinder data of each boom (1) is determined according to the multiple third spatial positions of each boom (1).

7. The method for calibrating a boom according to claim 6, wherein: The step of obtaining the cylinder data of each boom (1) further includes: The relative position between the boom (1) and the tracking device (22) is adjusted according to the size of the boom (1).

8. A processor, characterized in that: The method is configured to execute the method for calibrating a boom according to any one of claims 1 to 7.

9. A detection device for a boom, characterized in that: comprising the processor of claim 8.

10. The detection device for a boom according to claim 9, characterized in that: The detection device also includes: A tracking device (22) for acquiring a tracking image; The scanning device (21) is used to scan each boom.

11. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor is configured to perform the calibration method for a boom according to any one of claims 1 to 7.

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