Crane displacement detection method, device and equipment

Abstract

The invention belongs to the technical field of cranes, and particularly relates to a crane displacement detection method, device and equipment, and the method comprises the following steps: obtaining displacement data including vertical displacement data and horizontal displacement data of the head of a crawler crane boom; determining a coordinate position according to the vertical displacement data and the horizontal displacement data; the arm length is calculated according to the coordinate position, a target displacement limit value is determined based on the arm length, displacement data monitoring is carried out on the target variable quantity, graded early warning is carried out on the target displacement limit value, when the target variable quantity reaches 90% of the target displacement limit value, a yellow lamp is triggered for early warning, and the rotation speed or amplitude variation operation is limited; when the target variable quantity reaches 100% of the target displacement limit value, a red light is triggered to give an alarm, and emergency braking is started immediately; otherwise, normal operation is carried out. Therefore, the problems of low measurement efficiency, inherent limitation of a coordinate system, insufficient environmental adaptability, lack of an early warning mechanism and the like in the prior art are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of cranes, and particularly relates to a crane displacement detection method, device and equipment. Background Art

[0002] In the field of construction machinery, as the core operation unit of major equipment, the boom system of crawler cranes bears dynamic alternating loads during hoisting operations. The vertical displacement and horizontal offset caused by wind load at the boom head are directly related to the equipment stability and operation safety. The boom system of crawler cranes needs to conduct two-dimensional dynamic monitoring during hoisting operations.

[0003] However, the traditional manual measurement method relying on total station has significant technical limitations, including low measurement efficiency, being restricted by a fixed coordinate system, poor environmental adaptability, and lack of an effective early warning mechanism, etc. It cannot meet the real-time monitoring requirements of continuous hoisting tests of heavy cranes, and is vulnerable to mechanical motion noise and environmental factors, and lacks real-time early warning function, posing a threat to the safety of cranes. Summary of the Invention

[0004] This application provides a crane displacement detection method, device and equipment to solve the problems of low measurement efficiency, fixed coordinate system limitations, insufficient environmental adaptability and lack of early warning mechanism in the prior art.

[0005] The first aspect of the embodiments of this application provides a crane displacement detection method, including the following steps: obtaining displacement data, where the displacement data includes the vertical displacement data and horizontal displacement data of the boom head of a crawler crane; determining the coordinate position according to the vertical displacement data and the horizontal displacement data; calculating the boom length according to the coordinate position, determining the target displacement limit value based on the boom length, and monitoring the displacement data for the target change amount, where the target displacement limit value is graded for early warning. When the target change amount reaches 90% of the target displacement limit value, a yellow light early warning is triggered, and the slewing speed or luffing operation is restricted; when the target change amount reaches 100% of the target displacement limit value, a red light alarm is triggered, and the emergency brake is immediately activated; otherwise, it runs normally.

[0006] Preferably, determining the coordinate position according to the vertical displacement data and the horizontal displacement data includes: obtaining the initial coordinate point and the current coordinate point; calculating the horizontal displacement component and the vertical displacement component according to the initial coordinate point and the current coordinate point; determining the coordinate position according to the horizontal displacement component and the vertical displacement component.

[0007] Preferably, the boom length is calculated according to the coordinate position, where the formula for the boom length is:

[0008] is the x-axis of the initial coordinate point A, , , is the z-axis of the initial coordinate point B, is the z-axis of the initial coordinate point A.

[0009] Preferably, a target displacement limit value is determined based on the boom length, wherein the formula for the target change amount is: ; ; ; , ; ; ; ; ; , is the new x-axis vector, is the new y-axis vector.

[0010] Preferably, after monitoring the displacement data of the target change amount, it includes: calculating the coordinate position to obtain the boom length.

[0011] Preferably, after obtaining the boom length, it includes: calculating the boom displacement limit value according to the boom length; comparing the displacement limit value with the displacement data to obtain the boom stiffness condition, and predicting the service life of the boom according to the boom stiffness condition.

[0012] An embodiment of the second aspect of the present application provides a crane displacement detection device, including: an acquisition module for acquiring displacement data, wherein the displacement data includes vertical displacement data and horizontal displacement data of the boom head of a crawler crane; a determination module for determining the coordinate position according to the vertical displacement data and the horizontal displacement data; an early warning module for calculating the boom length according to the coordinate position, determining a target displacement limit value based on the boom length, and monitoring the displacement data of the target change amount, wherein a hierarchical early warning is performed on the target displacement limit value. When the target change amount reaches 90% of the target displacement limit value, a yellow light early warning is triggered, and the slewing speed or the luffing operation is restricted; when the target change amount reaches 100% of the target displacement limit value, a red light alarm is triggered, and an emergency brake is immediately started; otherwise, it operates normally.

[0013] A third aspect embodiment of the present application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the crane displacement detection method as in the above embodiments.

[0014] A fourth aspect embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the crane displacement detection method as in the above embodiments.

[0015] A fifth aspect embodiment of the present application provides a computer program product, including a computer program or instruction to implement the crane displacement detection method as in the above embodiments.

[0016] Therefore, the present application has the following beneficial effects: In the embodiments of the present application, the vertical and horizontal displacement data of the boom head are collected in real time through high-precision sensors, realizing the comprehensive monitoring of the crane's motion state; the boom length is calculated based on the collected coordinate positions, and the target displacement limit value is determined based on the boom length, and the target change amount is continuously monitored. When the target change amount reaches 90% of the target displacement limit value, a yellow light warning is automatically triggered, restricting the slewing speed or prohibiting the luffing operation to prevent potential safety risks. Once the target change amount reaches 100% of the target displacement limit value, a red light alarm is immediately triggered, and the emergency brake is activated to ensure the absolute safety of the equipment and personnel. When the target change amount is lower than the target displacement limit value, the normal operation state is maintained, and data is continuously collected at a regular monitoring frequency, providing data support for equipment management and maintenance. This not only significantly improves the safety and efficiency of crawler crane operations but also effectively avoids safety accidents caused by abnormal displacements through an intelligent warning mechanism. At the same time, it has strong environmental adaptability and data processing capabilities, can maintain the accuracy of monitoring in complex and changing operating environments, and provides an intuitive decision-making basis for operators and management. In addition, through the continuous monitoring and analysis of displacement data, it can also reflect the working state and service life of the crane boom, helping to detect signs of equipment wear or failure in a timely manner, taking preventive maintenance measures, extending the equipment service life, and reducing maintenance costs. Thus, the problems of low measurement efficiency, inherent limitations of the coordinate system, insufficient environmental adaptability, and lack of warning mechanism in the prior art are solved.

[0017] Additional aspects and advantages of the present application will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where: Figure 1It is a flowchart of a crane displacement detection method provided according to an embodiment of the present application; Figure 2 It is a flowchart of a crane displacement detection method provided according to an embodiment of the present application; Figure 3 It is a schematic structural diagram of a crawler crane provided according to an embodiment of the present application; Figure 4 It is a schematic structural diagram of a crane displacement detection device provided according to an embodiment of the present application; Figure 5 It is a schematic structural diagram of an electronic device provided according to an embodiment of the present application. Detailed implementation manners

[0019] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as a limitation to the present application.

[0020] The crane displacement detection method, device and equipment of the embodiments of the present application will be described below with reference to the accompanying drawings. In view of the problem of the lack of an early warning mechanism mentioned in the above background technology, the present application provides a crane displacement detection method. In this method, the vertical and horizontal displacement data of the boom head are collected in real time through high-precision sensors, realizing the comprehensive monitoring of the crane's motion state; the boom length is calculated based on the collected coordinate positions, and the target displacement limit value is determined based on the boom length, and the target change amount is continuously monitored. When the target change amount reaches 90% of the target displacement limit value, a yellow light warning is automatically triggered, restricting the slewing speed or prohibiting the luffing operation to prevent potential safety risks. Once the target change amount reaches 100% of the target displacement limit value, a red light alarm is immediately triggered and an emergency brake is activated to ensure the absolute safety of the equipment and personnel. When the target change amount is lower than the target displacement limit value, the normal operation state is maintained, and data is continuously collected at a conventional monitoring frequency to provide data support for equipment management and maintenance, not only significantly improving the safety and efficiency of crawler crane operations, but also effectively avoiding safety accidents caused by abnormal displacements through an intelligent early warning mechanism. At the same time, it has strong environmental adaptability and data processing capabilities, can maintain the accuracy of monitoring in a complex and changeable operating environment, and provides an intuitive decision-making basis for operators and management. In addition, through the continuous monitoring and analysis of the displacement data, it can also reflect the working state and service life of the crane boom, helping to detect signs of equipment wear or failure in a timely manner, taking preventive maintenance measures, extending the service life of the equipment, and reducing maintenance costs. Thus, the problems of low measurement efficiency, inherent limitations of the coordinate system, insufficient environmental adaptability and lack of an early warning mechanism in the prior art are solved.

[0021] Specifically, Figure 1 is a schematic flow chart of the crane displacement detection method provided by the embodiments of the present application.

[0022] As Figure 1 shown, the crane displacement detection method includes the following steps: In step S101, displacement data is acquired, where the displacement data includes the vertical displacement data and the horizontal displacement data of the boom head of the crawler crane.

[0023] Among them, the displacement data generally refers to the linear or angular position change amount of a mechanical component relative to a reference point.

[0024] It can be understood that by comprehensively collecting displacement data in the embodiments of the present application, a rich data basis is provided for subsequent improving the operation accuracy and efficiency of the equipment, which helps to enhance the safety and disaster warning capabilities.

[0025] For example, during the assembly of automobile parts in a certain processing factory, the displacement sensor (such as a magnetostrictive sensor) equipped on the end effector of the robot can accurately feedback the position information of the tool or workpiece in real time. Combining with advanced dynamic error compensation algorithms, such as PID control, the assembly error is greatly reduced from the original ±2 mm to ±0.05 mm, significantly improving the assembly accuracy, and the qualified rate of products also jumps to 99.5%.

[0026] In step S102, the coordinate position is determined according to the vertical displacement data and the horizontal displacement data.

[0027] It can be understood that in the embodiments of the present application, the coordinate position is determined according to the vertical displacement data and the horizontal displacement data, which is a key index for evaluating the structural health state, and can also trace the source of stress concentration, guide the optimization design and predict the fatigue life.

[0028] Taking nuclear power plants and wind farms as examples, displacement anomalies reveal local stiffness problems of the structure, while fatigue life prediction based on displacement time series data effectively warns of the risk of crack propagation.

[0029] In the embodiments of the present application, determining the coordinate position according to the vertical displacement data and the horizontal displacement data includes: acquiring an initial coordinate point and a current coordinate point; calculating a horizontal displacement component and a vertical displacement component according to the initial coordinate point and the current coordinate point; and determining the coordinate position according to the horizontal displacement component and the vertical displacement component.

[0030] It can be understood that in the embodiments of the present application, by accurately obtaining the initial and current coordinate information of an object, further decomposing and calculating the displacement components in the horizontal and vertical directions, and finally summarizing to obtain the coordinate position, not only the acquisition and processing efficiency of displacement data are significantly improved, but also the accuracy of displacement monitoring is greatly enhanced, providing strong data support for fields such as structural stability assessment, mechanical component wear monitoring, and engineering construction safety. By real-time monitoring the displacement change of the object, potential safety hazards can be identified in a timely manner, timely warnings can be provided, and the occurrence of safety accidents can be effectively prevented.

[0031] In step S103, the arm length is calculated based on the coordinate position, the target displacement limit value is determined based on the arm length, and the target change amount is used for displacement data monitoring. Among them, hierarchical early warning is performed on the target displacement limit value. When the target change amount reaches 90% of the target displacement limit value, a yellow light warning is triggered, and the slewing speed or luffing operation is restricted; when the target change amount reaches 100% of the target displacement limit value, a red light alarm is triggered, and the emergency brake is immediately activated; otherwise, normal operation is carried out.

[0032] Among them, the target displacement limit value can be the maximum allowable displacement value set according to the arm length, the target change amount can be the difference between the current actual displacement of the equipment and the initial position or the theoretical position, and the hierarchical early warning refers to an early warning system in which the early warning levels are divided according to the urgency of the occurrence of emergencies and the harm degree of the development trend, and are identified by different colors.

[0033] It can be understood that in the embodiments of the present application, by dynamically calculating the arm length to adapt the displacement limit value and combining the hierarchical early warning mechanism, the safety and efficiency of equipment operation are significantly improved; the displacement change amount is real-time monitored, a yellow light warning is triggered and the operation speed is restricted when it reaches 90% of the limit value to guide safe adjustment; when it reaches 100%, the red light brake is immediately activated to avoid structural damage or collision. It not only manages risks in layers (warning - intervention - braking), but also reduces the frequency of emergency braking through preventive constraints, prolongs the equipment life, and at the same time is compatible with the requirements of multiple working conditions, providing a compliant and efficient safety guarantee framework for complex operation scenarios.

[0034] For example, the PLC three - level early warning system of a certain factory has shown remarkable results in the field of temperature monitoring. This system cleverly sets three - level thresholds (for example, an early warning is triggered at 80°C, standby equipment is started at 90°C, and an emergency shutdown is executed at 100°C), and achieves hierarchical response through precise logical judgment. In the actual application of a chemical enterprise, the abnormal shutdown rate of equipment has been reduced by 42%. In terms of technical details, a hierarchical principle of 5 - 10 - 15% is adopted to scientifically set the thresholds, and combined with the anti - false - alarm logic of vibration sensors (that is, an alarm is triggered only after receiving abnormal signals continuously 5 times), the reliability has been significantly improved. In addition, in the scenario of storage tank liquid level control, the low - low - alarm (LL) mechanism can automatically stop the pump to prevent equipment from idling and being damaged, while the high - high - alarm (HH) mechanism can timely close the feed valve to avoid the risk of overflow.

[0035] By implementing multi - level early warning mechanisms including low - alarm, low - low - alarm, and high - high - alarm, the embodiments of this application can significantly improve the accuracy of risk identification and response efficiency, accurately distinguish the severity of abnormalities, and trigger corresponding differential response measures. It not only automatically classifies early warnings according to the occurrence frequency and coverage area of hazard sources, effectively filters false - alarm information, and concentrates resources to deal with real threats, but also can clearly distinguish the degree of parameter deviation, from the initial warning of low - alarm to the automatic triggering of shutdown protection by low - low - alarm, ensuring the safety of production equipment. In PLC alarm monitoring and multi - environmental parameter monitoring, by using dynamic threshold adjustment and parameter analysis, combined with a multi - level blocking strategy, a composite alarm is triggered through logical association, further optimizing false - alarm filtering and resource allocation, and only triggering the final protection action when reaching the high - level alarm condition, significantly improving the response accuracy and greatly reducing invalid alarms, effectively ensuring safety and operation efficiency.

[0036] In the embodiments of this application, the arm length is calculated based on the coordinate position. Among them, the arm - length formula is:

[0037] is the x - axis of the initial coordinate point A, , , is the z - axis of the initial coordinate point B, is the z - axis of the initial coordinate point A.

[0038] In the embodiments of this application, the target displacement limit is determined based on the arm length. Among them, the formula for the target change amount is: ; ; , ; ; ; ; ; ; , is the new x-axis vector, is the new y-axis vector.

[0039] It can be understood that in the embodiments of the present application, by monitoring the trend of the target displacement limit value, such as controlling the annual growth rate of the vertical displacement within 0.3 mm, and combining with the finite element simulation technology to predict the structural fatigue life, the equipment life extension predictive maintenance strategy can be implemented. The movement of the robotic arm is accurately controlled, thereby effectively reducing the energy waste caused by excessive displacement and improving the overall operation efficiency and equipment durability.

[0040] In the embodiments of the present application, after monitoring the displacement data of the target change amount, it includes: calculating the coordinate position to obtain the boom length.

[0041] In the embodiments of the present application, after obtaining the boom length, it includes: calculating the boom displacement limit value according to the boom length; comparing the displacement limit value with the displacement data to obtain the boom stiffness condition, and predicting the boom service life according to the boom stiffness condition.

[0042] Among them, the theoretical displacement value of the boom refers to the expected displacement amount of the boom head or key node pre-calculated through a mechanical model or finite element simulation under idealized assumption conditions (ignoring material elastic deformation, external disturbances, sensor errors, etc.).

[0043] It can be understood that in the embodiments of the present application, by establishing a highly accurate theoretical model of stepped beams and hinged beams, the calculation accuracy and efficiency are significantly improved, and the limitations of the finite element method in terms of calculation speed and data requirements are effectively avoided. In addition, the theoretical model also deeply quantifies complex non-linear factors including the second-order effect of axial load and the influence of the deformation of the hinged beam on the stepped beam, so as to accurately predict the displacement of the boom under different load conditions and elevation angles, determine its safe working range, and effectively prevent problems such as path deviation or equipment damage caused by excessive deformation.

[0044] The crane displacement detection method proposed according to the embodiments of the present application collects real-time vertical and horizontal displacement data of the boom head through high-precision sensors, achieving comprehensive monitoring of the crane's motion state; calculates the boom length based on the collected coordinate positions, determines the target displacement limit based on the boom length, and continuously monitors the target change amount. When the target change amount reaches 90% of the target displacement limit, a yellow light warning is automatically triggered, restricting the slewing speed or prohibiting the luffing operation to prevent potential safety risks. Once the target change amount reaches 100% of the target displacement limit, a red light alarm is immediately triggered, and emergency braking is activated to ensure the absolute safety of the equipment and personnel. When the target change amount is lower than the target displacement limit, the normal operating state is maintained, and data is continuously collected at a regular monitoring frequency to provide data support for equipment management and maintenance. This not only significantly improves the safety and efficiency of crawler crane operations but also effectively avoids safety accidents caused by abnormal displacements through an intelligent warning mechanism. At the same time, it has strong environmental adaptability and data processing capabilities, can maintain the accuracy of monitoring in complex and changing operating environments, and provides an intuitive decision-making basis for operators and management. In addition, through continuous monitoring and analysis of displacement data, it can also reflect the working state and service life of the crane boom, helping to promptly detect signs of equipment wear or failure, take preventive maintenance measures, extend the equipment service life, and reduce maintenance costs. Thus, the problems of low measurement efficiency, inherent limitations of the coordinate system, insufficient environmental adaptability, and lack of warning mechanism in the prior art are solved.

[0045] The following will elaborate on the crane displacement detection method through a specific embodiment, as Figure 2 shown, including: Step 1: Displacement data acquisition.

[0046] At the boom head, an RTK differential positioning system (compatible with both Beidou and GPS modes) is installed to enhance the positioning accuracy. At the same time, as Figure 3 shown, at the boom root part of the crawler crane, an RTK differential positioning system is arranged. These devices can capture and record the vertical displacement (z-axis), horizontal displacement (x / y-axis), and various key parameters of the surrounding environment in real time. To accurately describe and track the motion state of the boom, a three-dimensional rectangular coordinate system is constructed with the fixed hinge support of the boom as the coordinate origin. In this coordinate system, the x-axis is defined as horizontal to the right, the y-axis is vertically upward, and the z-axis extends along the length direction of the boom. On this basis, the specific values of the initial coordinate point (marked as point A) on the x, y, and z axes are detailedly recorded, providing a solid foundation for subsequent data analysis and motion control.

[0047] Step 2: Calculate the boom length and displacement change amount based on the displacement data acquisition.

[0048] Obtain the current coordinate point (point B) in real time through the sensor, and calculate the horizontal displacement component (Δx = xB - xA, Δy = yB - yA) and the vertical displacement component (Δz = zB - zA); combined with the boom geometric parameters, through the formula:

[0049] Calculate the current effective length of the boom.

[0050] Step 3: Monitor and give early warning of the target displacement limit value based on the boom length and displacement change amount.

[0051] The threshold setting and hierarchical early warning system ensures safety by setting two key thresholds of 90% and 100%. When the displacement change amount approaches 90% of the target displacement limit value, the yellow light early warning is activated, restricting the slewing speed and prohibiting the luffing operation; once the displacement change amount reaches 100% of the target displacement limit value, the red light alarm is immediately triggered, emergency braking all actions and starting the sound and light alarm. Within the normal range where the displacement change amount is lower than 90% of the target displacement limit value, the system maintains the conventional monitoring frequency to ensure stable operation.

[0052] Step 4: After monitoring the displacement data based on the target displacement limit value, compare the displacement limit values.

[0053] Evaluate the performance and service life of the displacement sensor. By comparing the difference between the actual displacement and the displacement limit value, combined with the analysis of the material damage degree, it is possible to scientifically predict and evaluate the remaining service life of the displacement sensor, providing strong support for the maintenance and management of the equipment.

[0054] Step 5: System integration and execution.

[0055] In terms of hardware deployment, the wireless main module and the multi-sensor node architecture work together to ensure the battery life of the sensor nodes and integrate the automatic sleep function to save energy. The software logic includes: real-time parsing of sensor data, immediately sending early warnings to the driver's cab touch screen; restricting dangerous operations such as prohibiting luffing and slewing; comprehensively recording operation instructions, displacement curves, and alarm logs for in-depth analysis afterwards.

[0056] In summary, the present invention uses high-precision positioning technology and multi-sensor fusion to collect and analyze the boom motion state in real time, monitors and gives early warnings of thresholds by combining the boom length and displacement change amount, corrects errors considering environmental factors to ensure data accuracy, and realizes efficient and safe crane operation management through software and hardware integration.

[0057] Secondly, describe the crane displacement detection device proposed according to the embodiments of the present application with reference to the accompanying drawings.

[0058] Figure 4 It is a block diagram of the crane displacement detection device according to the embodiments of the present application.

[0059] As Figure 4 shown, the crane displacement detection device 10 includes: an acquisition module 100, a determination module 200, and an early warning module 300.

[0060] Among them, the acquisition module 100 is used to acquire displacement data, where the displacement data includes the vertical displacement data and the horizontal displacement data of the boom head of the crawler crane; the determination module 200 is used to determine the coordinate position according to the vertical displacement data and the horizontal displacement data; the early warning module 300 is used to calculate the boom length based on the coordinate position, determine the target displacement limit value based on the boom length, and monitor the displacement data for the target change amount. Among them, hierarchical early warning is performed on the target displacement limit value. When the target change amount reaches 90% of the target displacement limit value, a yellow light early warning is triggered, and the slewing speed or the luffing operation is restricted; when the target change amount reaches 100% of the target displacement limit value, a red light alarm is triggered, and the emergency brake is immediately started; otherwise, normal operation is performed.

[0061] It should be noted that the foregoing explanation of the embodiments of the crane displacement detection method also applies to the crane displacement detection device of this embodiment, and will not be elaborated here.

[0062] According to the crane displacement detection device proposed in the embodiments of the present application, the vertical and horizontal displacement data of the boom head are collected in real time through high-precision sensors, realizing the comprehensive monitoring of the motion state of the crane; the boom length is calculated according to the collected coordinate position, the target displacement limit value is determined based on the boom length, and the target change amount is continuously monitored. When the target change amount reaches 90% of the target displacement limit value, a yellow light early warning is automatically triggered, and the slewing speed is restricted or the luffing operation is prohibited to prevent potential safety risks. Once the target change amount reaches 100% of the target displacement limit value, a red light alarm is immediately triggered and the emergency brake is started to ensure the absolute safety of the equipment and personnel. When the target change amount is lower than the target displacement limit value, the normal operation state is maintained, and data is continuously collected at a regular monitoring frequency, providing data support for equipment management and maintenance. It not only significantly improves the safety and efficiency of crawler crane operations, but also effectively avoids safety accidents caused by abnormal displacements through an intelligent early warning mechanism. At the same time, it has strong environmental adaptability and data processing capabilities, can maintain the accuracy of monitoring in a complex and changeable operating environment, and provides an intuitive decision-making basis for operators and management. In addition, through the continuous monitoring and analysis of displacement data, it can also reflect the working state and service life of the crane boom, help to detect signs of equipment wear or failure in a timely manner, take preventive maintenance measures, extend the service life of the equipment, and reduce maintenance costs. Thus, the problems of low measurement efficiency, inherent limitations of the coordinate system, insufficient environmental adaptability, and lack of an early warning mechanism in the prior art are solved.

[0063] Figure 5Schematic diagram of the structure of the electronic device provided by the embodiment of the present application. The electronic device may include: A memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.

[0064] When the processor 502 executes the program, it implements the crane displacement detection method provided in the above embodiment.

[0065] Furthermore, the electronic device further includes: A communication interface 503 for communication between the memory 501 and the processor 502.

[0066] The memory 501 is used to store a computer program executable on the processor 502.

[0067] The memory 501 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0068] If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be interconnected through a bus and communicate with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 5 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0069] Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may communicate with each other through an internal interface.

[0070] The processor 502 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiment of the present application.

[0071] The embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned crane displacement detection method is implemented.

[0072] In addition, the embodiments of the present application further provide a computer program product, including a computer program or instruction, and when the computer program or instruction is executed, the above-mentioned crane displacement detection method is implemented.

[0073] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection 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 are not necessarily directed 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, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0074] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0075] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0076] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0077] Those of ordinary skill in the art can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0078] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A crane displacement detection method, characterized in that: include: Acquiring displacement data, wherein the displacement data includes vertical displacement data and horizontal displacement data of the boom head of the crawler crane; Determine a coordinate position according to the vertical displacement data and the horizontal displacement data; The arm length is calculated according to the coordinate position, the target displacement limit is determined based on the arm length, and the target change is subjected to displacement data monitoring, wherein the target displacement limit is subjected to graded warning, when the target change reaches 90% of the target displacement limit, a yellow light warning is triggered, and the rotation speed or amplitude change operation is limited; when the target change reaches 100% of the target displacement limit, a red light alarm is triggered, and emergency braking is immediately initiated; otherwise, normal operation is performed.

2. The crane displacement detection method according to claim 1, characterized in that: Determining a coordinate position according to the vertical displacement data and the horizontal displacement data includes: Get the initial coordinate point and the current coordinate point; Calculate a horizontal displacement component and a vertical displacement component according to the initial coordinate point and the current coordinate point; A coordinate position is determined according to the horizontal displacement component and the vertical displacement component.

3. The crane displacement detection method according to claim 1, characterized in that: The arm length is calculated according to the coordinate position, wherein the formula of the arm length is: ； The x-axis of the initial coordinate point A , , is the z-axis of the initial coordinate point B, is the z-axis of the initial coordinate point A.

4. The crane displacement detection method according to claim 1, characterized in that: The target displacement limit is determined based on the arm length, wherein the formula for the target change is: ； ； ， ； ； ； ； ； ； , is the new x-axis vector, is the new y-axis vector.

5. The crane displacement detection method according to claim 1, characterized in that: After the target change is monitored by displacement data, the coordinate position is calculated to obtain the boom length.

6. The crane displacement detection method according to claim 5, characterized in that: After getting the boom length, including: Calculate the arm displacement limit value according to the arm length; The displacement limit value is compared with the displacement data to obtain the boom stiffness, and the service life of the boom is predicted based on the boom stiffness.

7. A crane displacement detection device, characterized in that: include: An acquisition module, used for acquiring displacement data, wherein the displacement data includes vertical displacement data and horizontal displacement data of the boom head of the crawler crane; A determination module, used to determine a coordinate position according to the vertical displacement data and the horizontal displacement data; The early warning module is used to calculate the arm length according to the coordinate position, determine the target displacement limit based on the arm length, and monitor the displacement data of the target change, wherein the target displacement limit is graded for early warning. When the target change reaches 90% of the target displacement limit, a yellow light early warning is triggered, and the rotation speed or amplitude change operation is limited; when the target change reaches 100% of the target displacement limit, a red light alarm is triggered, and emergency braking is immediately started; otherwise, normal operation is performed.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the crane displacement detection method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the crane displacement detection method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the crane displacement detection method according to any one of claims 1 to 6 is implemented.

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