Steel truss girder swivel turntable load monitoring method and system

Abstract

The invention provides a method and a system for monitoring the load of a swivel turntable of a steel truss girder, and relates to the technical field of load monitoring, and the method comprises the following steps: arranging a first pressure sensor at the center of the bottom surface of an upper turntable of the swivel turntable; a plurality of second pressure sensors are arranged on the edge of the bottom surface of the upper turntable; before rotation is started, first initial pressure data and second initial pressure data are obtained; first pressure data, second pressure data and a rotation angle are obtained at multiple moments in the rotation process; according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data and the rotation angle, determining rotation turntable load state parameters; and determining the load safety state of the swivel turntable according to the load state parameters of the swivel turntable. According to the method and the device, the load state of the swivel turntable can be determined at multiple moments in the rotating process, potential safety hazards and risks in the swivel process can be conveniently found in time, adjustment can be made in time, and the swivel process can be smoothly completed.

Description

Technical Field

[0001] The present invention relates to the technical field of load monitoring, and particularly to a method and system for monitoring the load of a rotating turntable of a steel truss girder. Background Art

[0002] In the related art, CN116519185A discloses a load swing moment detection device and method for a large spherical hinge joint bearing. The detection device includes a measuring frame, a fixing component, a core shaft component, a load component, and a rocker arm. The fixing component can be selectively detachably installed on the measuring frame in a front and back manner, and the center of the inner ring of the large spherical hinge joint bearing is located at the center of the fixing component. The connection point between the load component and the core shaft component is always located at the center of the inner ring of the large spherical hinge joint bearing. The load component applies different loads to the core shaft component, and the rocker arm is connected to the core shaft component and drives the core shaft to swing, thereby driving the inner ring of the large spherical hinge joint bearing to swing. When the load swing moment detection device for the large spherical hinge joint bearing detects the bearing, the load will not change due to the swing of the inner ring of the bearing, so the measurement accuracy is high, and the bearing can be detected on the other side without disassembling the bearing after it is installed, which is convenient to use.

[0003] CN113280962A discloses an axial load detection device for a slewing bearing and a shield machine. The axial load detection device for the slewing bearing includes: a sensor mounting base for being fixed to one of the inner ring and the outer ring of the bearing to be detected; the sensor mounting base has a ring body corresponding part arranged at an axial interval along the axis of the bearing to be detected with respect to the end face of the other of the inner ring and the outer ring of the bearing to be detected; and a displacement sensor is further included, which is installed on the ring body corresponding part and is arranged at intervals around the rotation axis of the bearing to be detected for detecting the axial displacement of the inner ring or the outer ring arranged at an interval with respect to the ring body corresponding part. When the slewing bearing bears an axial load, an axial displacement occurs between the outer ring and the inner ring, and there is a one-to-one correspondence between the axial displacement between the inner ring and the outer ring of the slewing bearing and the axial load borne by the slewing bearing. Through this axial displacement, the axial load of the slewing bearing under this axial displacement can be correspondingly obtained, so as to realize the real-time detection of the axial load of the slewing bearing.

[0004] Therefore, in the related art, the load and moment of the turntable and the spherical hinge can be detected, but it is difficult to monitor the load distribution and safety state during the rotation process using the rotating turntable, and it is also difficult to determine whether there are risks such as tipping during the rotation process.

[0005] The information disclosed in the background art part of the present application is only intended to deepen the understanding of the general background art of the present application, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0006] The present invention provides a method and system for monitoring the load of a rotating turntable of a steel truss girder, which can solve the technical problems that it is difficult to monitor the load distribution and safety status during the rotation process using the rotating turntable in the related art, and it is also difficult to determine whether there are risks such as tipping during the rotation process.

[0007] According to a first aspect of the present invention, there is provided a method for monitoring the load of a rotating turntable of a steel truss girder, including: arranging a plurality of first pressure sensors at the center of the bottom surface of the upper turntable of the rotating turntable; arranging a plurality of second pressure sensors at the edge of the bottom surface of the upper turntable; before the steel truss girder carried on the rotating turntable starts to rotate, obtaining first initial pressure data detected by the plurality of first pressure sensors and second initial pressure data detected by the plurality of second pressure sensors; at multiple moments during the rotation of the steel truss girder carried on the rotating turntable, obtaining first pressure data detected by the plurality of first pressure sensors, second pressure data detected by the plurality of second pressure sensors, and the rotation angle of the rotation of the steel truss girder; determining the load state parameters of the rotating turntable according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data, and the rotation angle; and determining the load safety state of the rotating turntable according to the load state parameters of the rotating turntable.

[0008] According to the present invention, determining the load state parameters of the rotating turntable according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data, and the rotation angle includes: determining the load loading uniformity coefficient of the rotating turntable according to the first initial pressure data and the second initial pressure data; determining the load uniformity coefficient at the i-th moment according to the first pressure data and the second pressure data at the i-th moment during the rotation of the steel truss girder carried on the rotating turntable and the load loading uniformity coefficient; determining the load distribution change coefficient at the i-th moment according to the first pressure data and the second pressure data at the i-th moment, the first initial pressure data and the second initial pressure data, and the rotation angle; determining the load rotation safety coefficient at the i-th moment according to the rotation angles at the i-th moment and at each moment before the i-th moment; and determining the load state parameters of the rotating turntable at the i-th moment according to the load uniformity coefficient, the load distribution change coefficient, and the load rotation safety coefficient at the i-th moment.

[0009] According to the present invention, determining the load loading uniformity coefficient of the rotating turntable according to the first initial pressure data and the second initial pressure data includes: according to the formula , determining the load loading uniformity coefficient of the rotating turntable wherein, is the maximum value of the first initial pressure data, is the minimum value of the first initial pressure data, is the average value of the first initial pressure data, is the maximum value of the second initial pressure data, is the minimum value of the second initial pressure data, is the average value of the second initial pressure data, and max is the function for taking the maximum value, is the first serial number of the first pressure sensor corresponding to the maximum value of the first initial pressure data, is the second serial number of the second pressure sensor corresponding to the maximum value of the second initial pressure data, is the number of the first pressure sensors, is the number of the second pressure sensors.

[0010] According to the present invention, based on the first pressure data and the second pressure data at the i-th moment during the rotation of the steel truss girder carried on the slewing turntable, and the load loading uniformity coefficient, determining the load uniformity coefficient at the i-th moment includes: According to the formula , determine the load uniformity coefficient at the i-th moment , where is the maximum value of the first pressure data at the i-th moment, is the minimum value of the first pressure data at the i-th moment, is the average value of the first pressure data at the i-th moment, is the maximum value of the second pressure data at the i-th moment, is the minimum value of the second pressure data at the i-th moment, is the average value of the second pressure data at the i-th moment, and max is the function for taking the maximum value, is the third serial number of the first pressure sensor corresponding to the maximum value of the first pressure data at the i-th moment, is the fourth serial number of the second pressure sensor corresponding to the maximum value of the second pressure data at the i-th moment, is the number of the first pressure sensors, is the number of the second pressure sensors, is the load loading uniformity coefficient.

[0011] According to the present invention, determining the load distribution change coefficient at the i-th moment based on the first pressure data and the second pressure data at the i-th moment, the first initial pressure data and the second initial pressure data, and the rotation angle includes: obtaining the maximum value of the first initial pressure data and the first serial number of the corresponding first pressure sensor; obtaining the maximum value of the second initial pressure data and the second serial number of the corresponding second pressure sensor; obtaining the maximum value of the first pressure data at the i-th moment and the third serial number of the corresponding first pressure sensor; obtaining the maximum value of the second pressure data at the i-th moment and the fourth serial number of the corresponding second pressure sensor; determining the load distribution change coefficient at the i-th moment based on the maximum value of the first initial pressure data, the first serial number, the maximum value of the second initial pressure data, the second serial number, the maximum value of the first pressure data at the i-th moment, the third serial number, the maximum value of the second pressure data at the i-th moment, the fourth serial number, and the rotation angle.

[0012] According to the present invention, determining the load distribution change coefficient at the i-th moment based on the maximum value of the first initial pressure data, the first serial number, the maximum value of the second initial pressure data, the second serial number, the maximum value of the first pressure data at the i-th moment, the third serial number, the maximum value of the second pressure data at the i-th moment, the fourth serial number, and the rotation angle includes: according to the formula , determine the load distribution change coefficient at the i-th moment , where is the maximum value of the first pressure data at the i-th moment, is the maximum value of the first initial pressure data, is the maximum value of the second pressure data at the i-th moment, is the maximum value of the second initial pressure data, is the third serial number of the first pressure sensor corresponding to the maximum value of the first pressure data at the i-th moment, is the first serial number of the first pressure sensor corresponding to the maximum value of the first initial pressure data, is the fourth serial number of the second pressure sensor corresponding to the maximum value of the second pressure data at the i-th moment, is the second serial number of the second pressure sensor corresponding to the maximum value of the second initial pressure data, is the number of the first pressure sensors, is the number of the second pressure sensors, is the rotation angle at the i-th moment, max is the maximum value function, and floor is the floor function.

[0013] According to the present invention, determining the load rotation safety factor at the i-th moment based on the rotation angles at the i-th moment and each moment before the i-th moment includes: according to the formula , determining the load rotation safety factor at the i-th moment , where is the rotation angle at the i-th moment, is the rotation angle at the (i - 1)-th moment, is the rotation angle at the k-th moment, is the rotation angle at the (k - 1)-th moment, 1 ≤ k ≤ i - 1, and both k and i are positive integers.

[0014] According to a second aspect of the present invention, there is provided a load monitoring system for a steel truss girder rotating turntable, including: a first setting module for setting a plurality of first pressure sensors at the center of the bottom surface of the upper turntable of the rotating turntable; a second setting module for setting a plurality of second pressure sensors at the edge of the bottom surface of the upper turntable; an initial pressure module for obtaining first initial pressure data detected by the plurality of first pressure sensors and second initial pressure data detected by the plurality of second pressure sensors before the steel truss girder carried on the rotating turntable starts to rotate; a pressure data module for obtaining first pressure data detected by the plurality of first pressure sensors, second pressure data detected by the plurality of second pressure sensors, and the rotation angle of the steel truss girder during a plurality of moments when the steel truss girder carried on the rotating turntable rotates; a rotating turntable load state parameter module for determining the rotating turntable load state parameter according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data, and the rotation angle; a safety state module for determining the rotating turntable load safety state according to the rotating turntable load state parameter.

[0015] Technical effects: According to the present invention, comprehensive measurement can be carried out through the first pressure sensor arranged on the central pillar and the second pressure sensor arranged on the bottom surface of the upper turntable, so as to determine the load state of the rotating turntable at multiple moments during the rotation process, thereby determining the safety state of the rotating turntable, facilitating the timely discovery of potential safety hazards and risks during the rotation process, and making timely adjustments, which is conducive to the smooth completion of the rotation process. When determining the load application uniformity coefficient, the relative difference between the maximum value and the minimum value of the initial pressure data can be used to represent the uniformity of the load application, and the azimuth angle corresponding to the pressure sensor corresponding to the maximum load can be used to represent the distribution consistency of the load between the center and the periphery of the rotating turntable, so as to comprehensively describe the overall uniformity of the load application from two aspects. Improve the accuracy and objectivity of the load application uniformity coefficient of the rotating turntable. And the ratio of the overall uniformity of the load at each moment after the start of the rotation process to the overall uniformity of the load before the rotation process has not started can be determined, so as to determine the relative uniformity of the load distribution, and the uniformity of the load distribution can be monitored at multiple moments to check whether it changes and whether there is a risk of tipping, improving the accuracy of the monitoring. When determining the load distribution change coefficient, the stability of the load application azimuth can be determined by comparing the theoretical value and the actual value of the rotation angle, and the stability of the moment of the steel truss beam on the rotating turntable can be determined by the relative deviation between the pressure data at the i-th moment and the initial pressure data, so as to obtain the load distribution change coefficient to accurately and objectively describe the change of the load distribution and the risk of the steel truss beam tipping or shaking. When determining the load rotation safety coefficient, the uniformity of the angular velocity within the time interval between each moment can be used to represent the uniformity of the rotation process, so as to objectively reflect the safety of the rotation process and the probability of risks such as tipping, improving the objectivity and accuracy of the load rotation safety coefficient.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present invention. According to the following detailed description of the exemplary embodiments with reference to the accompanying drawings, other features and aspects of the present invention will be clearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other embodiments can be obtained based on these drawings; Figure 1 Exemplarily shows a flowchart of a method for monitoring the load of a steel truss beam rotating turntable according to an embodiment of the present invention; Figure 2 Exemplarily shows a block diagram of a system for monitoring the load of a steel truss beam rotating turntable according to an embodiment of the present invention. Detailed implementation manners

[0018] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] The technical solutions of the present invention will be described in detail below with specific embodiments. These specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0020] Figure 1 The flowchart of the steel truss girder rotation turntable load monitoring method according to an embodiment of the present invention is exemplarily shown. The method includes: Step S101, setting a plurality of first pressure sensors at the center of the bottom surface of the upper turntable of the rotation turntable; Step S102, setting a plurality of second pressure sensors at the edge of the bottom surface of the upper turntable; Step S103, before the steel truss girder carried on the rotation turntable starts to rotate, obtaining first initial pressure data detected by the plurality of first pressure sensors and second initial pressure data detected by the plurality of second pressure sensors; Step S104, at multiple moments during the rotation of the steel truss girder carried on the rotation turntable, obtaining first pressure data detected by the plurality of first pressure sensors, second pressure data detected by the plurality of second pressure sensors, and the rotation angle of the rotation of the steel truss girder; Step S105, determining the load state parameters of the rotation turntable according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data, and the rotation angle; Step S106, determining the load safety state of the rotation turntable according to the load state parameters of the rotation turntable.

[0021] The steel truss girder rotation turntable load monitoring method according to an embodiment of the present invention can perform comprehensive measurement through the first pressure sensors arranged on the central pillar and the second pressure sensors arranged on the bottom surface of the upper turntable, so as to determine the load state of the rotation turntable at multiple moments during the rotation process, thereby determining the safety state of the rotation turntable, facilitating the timely discovery of potential safety hazards and risks during the rotation process, and making timely adjustments, which is beneficial to the successful completion of the rotation process.

[0022] According to an embodiment of the present invention, the rotation turntable may include an upper turntable and a lower turntable. The upper turntable can carry the steel truss girder for rotation, and the lower turntable can be kept fixed. Among them, the bottom surface of the upper turntable and the top surface of the lower turntable are in contact and can rotate relative to each other. A lubricating layer can be arranged on the contact surface to reduce the resistance during rotation.

[0023] According to an embodiment of the present invention, in step S101, when installing the slewing turntable, a plurality of first pressure sensors may be evenly arranged at the center of the bottom surface of the upper turntable. The first pressure sensor may be a piezoelectric pressure sensor, which can generate an electrical signal when pressed, so that the pressure value it bears can be determined based on the measured electrical signal. The first pressure sensors may be evenly distributed at the center of the bottom surface of the upper turntable. For example, with the centroid of the bottom circular surface as the center, a circle with a relatively small radius (much smaller than the radius of the bottom surface of the upper turntable) is set, and the first pressure sensors may be evenly distributed on this circle with a relatively small radius, and can be fixed to the bottom surface of the upper turntable. Further, a lubricating layer may be laid on the upper surface of the first pressure sensor, so that during the rotation process, the lower surface of the first pressure sensor can smoothly slide relative to the upper surface of the lower turntable.

[0024] According to an embodiment of the present invention, in step S102, when installing the slewing turntable, a plurality of second pressure sensors may be evenly arranged at the edge of the bottom surface of the upper turntable. The second pressure sensor may also be a piezoelectric pressure sensor. The second pressure sensor can be fixed to the bottom surface of the upper turntable. Further, a lubricating layer may be laid on the upper surface of the second pressure sensor, so that during the rotation process, the lower surface of the second pressure sensor can smoothly slide relative to the upper surface of the lower turntable. The number of the first pressure sensors and the second pressure sensors may be equal.

[0025] According to an embodiment of the present invention, in step S103, after the steel truss girder is set on the slewing turntable and before starting the rotation, the first initial pressure data and the second initial pressure data may be obtained as reference data.

[0026] According to an embodiment of the present invention, in step S104, at multiple moments during the rotation process, the first pressure data and the second pressure data may be read, and the rotation angle may also be obtained, so as to determine the load state and the safety state of the slewing turntable based on these data and the above-mentioned first initial pressure data and second initial pressure data, and judge whether there are risks such as tipping during the rotation process.

[0027] According to an embodiment of the present invention, in step S105, the slewing turntable load state parameters may be determined based on the above data to describe the load distribution state and provide a data basis for judging whether there are safety risks during the rotation process.

[0028] According to an embodiment of the present invention, determining the load state parameters of the rotating turntable based on the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data, and the rotation angle includes: determining the load loading uniformity coefficient of the rotating turntable according to the first initial pressure data and the second initial pressure data; determining the load uniformity coefficient at the i-th moment according to the first pressure data and the second pressure data at the i-th moment during the rotation of the steel truss beam carried on the rotating turntable, and the load loading uniformity coefficient; determining the load distribution change coefficient at the i-th moment according to the first pressure data and the second pressure data at the i-th moment, the first initial pressure data and the second initial pressure data, and the rotation angle; determining the load rotation safety coefficient at the i-th moment according to the rotation angles at the i-th moment and each moment before the i-th moment; and determining the load state parameters of the rotating turntable at the i-th moment according to the load uniformity coefficient, the load distribution change coefficient, and the load rotation safety coefficient at the i-th moment.

[0029] According to an embodiment of the present invention, the load loading uniformity coefficient of the rotating turntable can be used to describe the uniformity of the load loading before the start of the rotation process. For example, when the steel truss beam is set on the rotating turntable, it describes the uniformity of the load borne by the rotating turntable.

[0030] According to an embodiment of the present invention, determining the load loading uniformity coefficient of the rotating turntable according to the first initial pressure data and the second initial pressure data includes: determining the load loading uniformity coefficient of the rotating turntable according to formula (1) : (1) Wherein, is the maximum value of the first initial pressure data, is the minimum value of the first initial pressure data, is the average value of the first initial pressure data, is the maximum value of the second initial pressure data, is the minimum value of the second initial pressure data, is the average value of the second initial pressure data, max is the function of taking the maximum value, is the first serial number of the first pressure sensor corresponding to the maximum value of the first initial pressure data, is the second serial number of the second pressure sensor corresponding to the maximum value of the second initial pressure data, is the number of the first pressure sensors, is the number of the second pressure sensors.

[0031] According to an embodiment of the present invention, in formula (1), is the difference between the maximum value and the minimum value of the first initial pressure data. is the relative difference between the maximum value and the minimum value of the first initial pressure data. The larger this difference is, the more uneven the application of the load is. Similarly, is the relative difference between the maximum value and the minimum value of the second initial pressure data. The larger this difference is, the more uneven the application of the load is. The maximum value of the two can be taken to describe the unevenness of the load application. can represent the degree of uniformity of the load application.

[0032] According to an embodiment of the present invention, can be used to represent the azimuth angle of the first pressure sensor corresponding to the maximum value of the first initial pressure data. As described above, the first pressure sensors are evenly distributed at the center of the lower surface of the upper turntable. Therefore, the azimuth angle of the first pressure sensor increases evenly as the serial number of the first pressure sensor increases. Therefore, is the azimuth angle of the first pressure sensor corresponding to the maximum value of the first initial pressure data. Similarly, is the azimuth angle of the second pressure sensor corresponding to the maximum value of the second initial pressure data. is the difference between the azimuth angle of the first pressure sensor corresponding to the maximum value of the first initial pressure data and the azimuth angle of the second pressure sensor corresponding to the maximum value of the second initial pressure data. The larger this difference is, the greater the distribution difference of the load between the center and the periphery of the rotating turntable is, and it can also represent the uneven distribution of the load. can represent the relative distribution difference of the load between the center and the periphery of the rotating turntable. can represent the distribution consistency of the load between the center and the periphery of the rotating turntable.

[0033] According to an embodiment of the present invention, is the load loading uniformity coefficient of the rotating turntable, which can be used to describe the overall uniformity of the load loading.

[0034] In this way, the degree of uniformity of the load application can be represented by the relative difference between the maximum value and the minimum value of the initial pressure data, and the distribution consistency of the load between the center and the periphery of the rotating turntable can be represented by the azimuth angle of the pressure sensor corresponding to the maximum value of the load, so as to comprehensively describe the overall uniformity of the load loading by combining the two aspects. Improve the accuracy and objectivity of the load loading uniformity coefficient of the rotating turntable.

[0035] According to an embodiment of the present invention, determining the load uniformity coefficient at the i-th moment based on the first pressure data and the second pressure data at the i-th moment during the rotation of the steel truss beam carried on the swivel turntable, and the load loading uniformity coefficient, includes: determining the load uniformity coefficient at the i-th moment according to formula (2) : (2) wherein is the maximum value of the first pressure data at the i-th moment, is the minimum value of the first pressure data at the i-th moment, is the average value of the first pressure data at the i-th moment, is the maximum value of the second pressure data at the i-th moment, is the minimum value of the second pressure data at the i-th moment, is the average value of the second pressure data at the i-th moment, max is the function to take the maximum value, is the third serial number of the first pressure sensor corresponding to the maximum value of the first pressure data at the i-th moment, is the fourth serial number of the second pressure sensor corresponding to the maximum value of the second pressure data at the i-th moment, is the number of the first pressure sensors, is the number of the second pressure sensors, is the load loading uniformity coefficient.

[0036] According to an embodiment of the present invention, in formula (2), The interpretations of each item in are similar to those in formula (1) and will not be elaborated here. This product can represent the overall uniformity of the load at the i-th moment. And represents the overall uniformity of the load before the rotation process starts. Therefore, represents the relative uniformity of the load at the i-th moment compared to before the rotation process starts, and can also be used to determine whether the uniformity of the load changes as the rotation process progresses. If , it indicates that the load distribution condition remains stable and the risk of tipping is low. While if , it indicates that the non-uniformity degree of the load distribution condition increases, the load distribution condition cannot remain stable, and there is a risk of tipping.

[0037] In this way, the ratio of the overall uniformity of the load at each moment after the start of the rotation process to that before the rotation process starts can be determined, so as to determine the relative uniformity of the load distribution, and the uniformity of the load distribution can be monitored at multiple moments to check whether it changes and whether there is a risk of tipping, improving the accuracy of the monitoring.

[0038] According to an embodiment of the present invention, determining the load distribution change coefficient at the i-th moment based on the first pressure data and the second pressure data at the i-th moment, the first initial pressure data and the second initial pressure data, and the rotation angle includes: obtaining the maximum value of the first initial pressure data and the first serial number of the corresponding first pressure sensor; obtaining the maximum value of the second initial pressure data and the second serial number of the corresponding second pressure sensor; obtaining the maximum value of the first pressure data at the i-th moment and the third serial number of the corresponding first pressure sensor; obtaining the maximum value of the second pressure data at the i-th moment and the fourth serial number of the corresponding second pressure sensor; determining the load distribution change coefficient at the i-th moment based on the maximum value of the first initial pressure data, the first serial number, the maximum value of the second initial pressure data, the second serial number, the maximum value of the first pressure data at the i-th moment, the third serial number, the maximum value of the second pressure data at the i-th moment, the fourth serial number, and the rotation angle.

[0039] According to an embodiment of the present invention, determining the load distribution change coefficient at the i-th moment based on the maximum value of the first initial pressure data, the first serial number, the maximum value of the second initial pressure data, the second serial number, the maximum value of the first pressure data at the i-th moment, the third serial number, the maximum value of the second pressure data at the i-th moment, the fourth serial number, and the rotation angle includes: determining the load distribution change coefficient at the i-th moment according to formula (3). : (3) Wherein, is the maximum value of the first pressure data at the i-th moment, is the maximum value of the first initial pressure data, is the maximum value of the second pressure data at the i-th moment, is the maximum value of the second initial pressure data, is the third serial number of the first pressure sensor corresponding to the maximum value of the first pressure data at the i-th moment, is the first serial number of the first pressure sensor corresponding to the maximum value of the first initial pressure data, is the fourth serial number of the second pressure sensor corresponding to the maximum value of the second pressure data at the i-th moment, is the second serial number of the second pressure sensor corresponding to the maximum value of the second initial pressure data, is the number of the first pressure sensors, is the number of the second pressure sensors, is the rotation angle at the i-th moment, max is the maximum value function, and floor is the floor function.

[0040] According to an embodiment of the present invention, in formula (3), the angular difference between the two first pressure sensors is , and at the rotation angle of , if there is no change in the load distribution, the change rule of the serial number of the pressure sensor detecting the maximum value of the first pressure data is theoretically as follows: If , the first pressure sensor detecting the maximum value of the first pressure data remains unchanged. If , the change amount of the serial number of the first pressure sensor detecting the maximum value of the first pressure data is 1. If , the change amount of the serial number of the first pressure sensor detecting the maximum value of the first pressure data is 2... That is, when exceeding the angular bisector of the azimuth angles of more than two first pressure sensors, the serial number of the pressure sensor detecting the maximum value of the first pressure data changes once. Based on this rule, theoretically, at the rotation angle of , the theoretical change amount of the serial number of the first pressure sensor detecting the maximum value of the first pressure data is , while the actual change amount of the serial number of the first pressure sensor detecting the maximum value of the first pressure data is . The change of the serial number is equivalent to the change of the azimuth angle of the first pressure sensor detecting the maximum value of the first pressure data. Therefore, the difference between the theoretical change amount and the actual change amount can be used to describe the change of the azimuth angle of the first pressure sensor detecting the maximum value of the first pressure data, and can also represent that the application azimuth of the load changes relative to the initial state, that is, the steel truss girder not only rotates, but may also tilt, shake, etc., resulting in a change in the application azimuth of the load. can represent the relative change amount of the application azimuth of the load detected by the first pressure sensor. The larger this relative change amount is, the greater the change in the load distribution, and the higher the probability of risks such as tilting and shaking. Similarly, can represent the relative change amount of the application azimuth of the load detected by the second pressure sensor. The maximum value of the two can be taken as the overall change amount of the application azimuth of the load. Subtracting this maximum value from 1 can represent the stability of the application azimuth of the load.

[0041] According to an embodiment of the present invention, can represent the relative difference between the maximum value of the first pressure data at the i-th moment and the maximum value of the first initial pressure data. If the steel truss girder tilts, shakes, etc., the moment of the steel truss girder on the rotating turntable may change, resulting in this relative difference not being 0. And the larger this relative difference is, the greater the change in the moment of the steel truss girder on the rotating turntable, the greater the change in the load distribution, and the higher the risk of the steel truss girder tilting, shaking, etc. Similarly, It can also represent the moment change of the steel truss girder on the slewing turntable. The maximum value of the two can be taken to represent the overall moment change of the steel truss girder on the slewing turntable, and 1 minus this maximum value can represent the stability of the moment of the steel truss girder on the slewing turntable.

[0042] According to an embodiment of the present invention, multiplying the term representing the stability of the load application orientation and the term representing the stability of the moment of the steel truss girder on the slewing turntable can obtain the load distribution change coefficient at the i-th moment. The larger this coefficient is, the closer the load distribution is to the initial state, that is, the load distribution remains stable. Otherwise, it means that the load distribution has changed, and there are risks such as the steel truss girder tipping over or swaying.

[0043] In this way, the stability of the load application orientation can be determined by comparing the theoretical value and the actual value of the rotation angle, and the stability of the moment of the steel truss girder on the slewing turntable can be determined by the relative deviation between the pressure data at the i-th moment and the initial pressure data, so as to obtain the load distribution change coefficient to accurately and objectively describe the change of the load distribution and the risk of the steel truss girder tipping over or swaying.

[0044] According to an embodiment of the present invention, according to the rotation angles at the i-th moment and each moment before the i-th moment, the load rotation safety coefficient at the i-th moment is determined, including: determining the load rotation safety coefficient at the i-th moment according to formula (4) : (4) Wherein, is the rotation angle at the i-th moment, is the rotation angle at the (i - 1)-th moment, is the rotation angle at the k-th moment, is the rotation angle at the (k - 1)-th moment, 1 ≤ k ≤ i - 1, and both k and i are positive integers.

[0045] According to an embodiment of the present invention, in formula (4), represents the average angular velocity in the past i - 1 moments. Therefore, is the difference between the angular velocity in the time period between the (i - 1)-th moment and the i-th moment and the average angular velocity in the past i - 1 moments, is the time interval between adjacent moments. Therefore, is the relative deviation of the angular velocity between the (i - 1)-th moment and the i-th moment from the average angular velocity of the past (i - 1) moments. The greater this relative deviation, the greater the change in the angular velocity between the (i - 1)-th moment and the i-th moment, indicating that there may be a sudden increase or sudden decrease in the rotational resistance, etc. between the (i - 1)-th moment and the i-th moment. This situation may be caused by a change in the torque of the steel truss girder on the slewing turntable, and a change in the torque of the steel truss girder on the slewing turntable indicates that the steel truss girder may be at risk of tipping over, etc., presenting an unsafe condition. Therefore, can represent the uniformity of the angular velocities at multiple past moments, and can also represent the uniformity and safety of the slewing process. The higher the load rotation safety factor at the i-th moment, the higher the rotational safety at the i-th moment, and the lower the probability of risks such as tipping over.

[0046] In this way, the uniformity of the slewing process can be represented by the uniformity of the angular velocities within the time intervals between each moment, thereby objectively reflecting the safety of the slewing process and the probability of risks such as tipping over, and improving the objectivity and accuracy of the load rotation safety factor.

[0047] According to an embodiment of the present invention, after obtaining the load uniformity coefficient, the load distribution change coefficient, and the load rotation safety factor at the i-th moment, weighted summation can be performed to determine the slewing turntable load state parameter at the i-th moment. The larger the slewing turntable load state parameter, the more stable the load distribution state of the slewing turntable, and the more uniform and safe the slewing process.

[0048] According to an embodiment of the present invention, in step S106, based on the slewing turntable load state parameter, the slewing turntable load safety state can be determined. For example, a safety threshold (e.g., 0.8) can be set. If the slewing turntable load state parameter is higher than or equal to the safety threshold, it is determined that the slewing turntable is in a safe state; otherwise, it can be determined that the slewing turntable is in an unsafe state and timely remedies are required, such as applying an external force to the steel truss girder through a traction device, etc., to reduce the risk of the steel truss girder tipping over.

[0049] According to the method for monitoring the load of the rotating turntable of a steel truss girder according to an embodiment of the present invention, comprehensive measurement can be carried out through the first pressure sensor provided on the central pillar and the second pressure sensor provided on the bottom surface of the upper turntable, so as to determine the load state of the rotating turntable at multiple moments during the rotation process, thereby determining the safety state of the rotating turntable, facilitating the timely discovery of potential safety hazards and risks during the rotation process, and making timely adjustments, which is conducive to the smooth completion of the rotation process. When determining the load loading uniformity coefficient, the relative difference between the maximum value and the minimum value of the initial pressure data can be used to represent the uniformity of the load application, and the azimuth angle corresponding to the pressure sensor corresponding to the maximum load can be used to represent the distribution consistency of the load between the center and the periphery of the rotating turntable, so as to comprehensively describe the overall uniformity of the load loading by combining the two aspects. Improve the accuracy and objectivity of the load loading uniformity coefficient of the rotating turntable. And the ratio of the overall uniformity of the load at each moment after the start of the rotation process to the overall uniformity of the load before the start of the rotation process can be determined, so as to determine the relative uniformity of the load distribution, and the uniformity of the load distribution can be monitored at multiple moments to check whether it changes and whether there is a risk of tipping, improving the accuracy of the monitoring. When determining the load distribution change coefficient, the stability of the load application azimuth can be determined by comparing the theoretical value and the actual value of the rotation angle, and the stability of the moment of the steel truss girder on the rotating turntable can be determined by the relative deviation between the pressure data at the i-th moment and the initial pressure data, so as to obtain the load distribution change coefficient to accurately and objectively describe the change of the load distribution and the risk of tipping or shaking of the steel truss girder. When determining the load rotation safety coefficient, the uniformity of the angular velocity within the time interval between each moment can be used to represent the uniformity of the rotation process, so as to objectively reflect the safety of the rotation process and the probability of risks such as tipping, improving the objectivity and accuracy of the load rotation safety coefficient.

[0050] Figure 2The block diagram of the load monitoring system for the rotating turntable of a steel truss girder according to an embodiment of the present invention is exemplarily shown. The system includes: a first setting module for setting a plurality of first pressure sensors at the center of the bottom surface of the upper turntable of the rotating turntable; a second setting module for setting a plurality of second pressure sensors at the edge of the bottom surface of the upper turntable; an initial pressure module for obtaining first initial pressure data detected by the plurality of first pressure sensors and second initial pressure data detected by the plurality of second pressure sensors before the steel truss girder carried on the rotating turntable starts to rotate; a pressure data module for obtaining first pressure data detected by the plurality of first pressure sensors and second pressure data detected by the plurality of second pressure sensors, as well as the rotation angle of the rotation of the steel truss girder, at multiple moments during the rotation of the steel truss girder carried on the rotating turntable; a load state parameter module for the rotating turntable to determine the load state parameters of the rotating turntable according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data, and the rotation angle; a safety state module for determining the load safety state of the rotating turntable according to the load state parameters of the rotating turntable.

[0051] The present invention can be a method, apparatus, system, and / or computer program product. The computer program product can include a computer-readable storage medium having thereon computer-readable program instructions for performing various aspects of the present invention.

[0052] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention can have any deformation or modification without departing from the principle.

Claims

1. A method for monitoring the load of a steel truss swivel turntable, characterized in that: include: A plurality of first pressure sensors are arranged at the center of the bottom surface of the upper turntable of the rotating body turntable; A plurality of second pressure sensors are arranged on the bottom edge of the upper turntable; Before the steel truss beam carried on the rotating turntable starts to rotate, first initial pressure data detected by a plurality of first pressure sensors and second initial pressure data detected by a plurality of second pressure sensors are obtained; At multiple moments during the rotation of the steel truss carried on the rotating turntable, first pressure data detected by multiple first pressure sensors and second pressure data detected by multiple second pressure sensors, as well as a rotation angle of the steel truss are obtained; Determine the swivel turntable load state parameters according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data and the rotation angle; determine the swivel turntable load safety state according to the swivel turntable load state parameters.

2. The method for monitoring the load of a steel truss beam rotating turntable according to claim 1, characterized in that: Determine the load state parameters of the rotating turntable according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data and the rotation angle, including: determine the load loading uniformity coefficient of the rotating turntable according to the first initial pressure data and the second initial pressure data; determine the load uniformity coefficient at the i-th moment according to the first pressure data and the second pressure data at the i-th moment in the process of rotation of the steel truss carried on the rotating turntable, and the load loading uniformity coefficient; determine the load distribution variation coefficient at the i-th moment according to the first pressure data and the second pressure data at the i-th moment, the first initial pressure data and the second initial pressure data and the rotation angle; determine the load rotation safety factor at the i-th moment according to the rotation angles at the i-th moment and each moment before the i-th moment; determine the load state parameters of the rotating turntable at the i-th moment according to the load uniformity coefficient, the load distribution variation coefficient and the load rotation safety factor at the i-th moment.

3. The method for monitoring the load of a steel truss beam rotating turntable according to claim 2, characterized in that: Determining the load uniformity coefficient of the rotating disk according to the first initial pressure data and the second initial pressure data includes: according to the formula ， Determine the load uniformity coefficient of the rotating turntable ,in, is the maximum value of the first initial pressure data, is the minimum value of the first initial pressure data, is the average value of the first initial pressure data, is the maximum value of the second initial pressure data, is the minimum value of the second initial pressure data, is the average value of the second initial pressure data, max is the maximum value function, is the first serial number of the first pressure sensor corresponding to the maximum value of the first initial pressure data, is the second serial number of the second pressure sensor corresponding to the maximum value of the second initial pressure data, is the number of the first pressure sensor, is the number of the second pressure sensors.

4. The method for monitoring the load of a steel truss beam rotating turntable according to claim 2, characterized in that: According to the first pressure data and the second pressure data at the i-th moment in the process of rotation of the steel truss carried on the rotating turntable, and the load loading uniformity coefficient, the load uniformity coefficient at the i-th moment is determined, including: according to the formula ， Determine the load uniformity coefficient at the i-th moment ,in, is the maximum value of the first pressure data at the i-th moment, is the minimum value of the first pressure data at the i-th moment, is the average value of the first pressure data at the i-th moment, is the maximum value of the second pressure data at the i-th moment, is the minimum value of the second pressure data at the i-th moment, is the average value of the second pressure data at the i-th moment, max is the maximum value function, is the third serial number of the first pressure sensor corresponding to the maximum value of the first pressure data at the i-th moment, is the fourth serial number of the second pressure sensor corresponding to the maximum value of the second pressure data at the i-th moment, is the number of the first pressure sensor, is the number of the second pressure sensor, The uniformity factor for the load is given.

5. The method for monitoring the load of a steel truss beam rotating turntable according to claim 2, characterized in that: Determine the load distribution variation coefficient at the i-th moment according to the first pressure data and the second pressure data at the i-th moment, the first initial pressure data and the second initial pressure data, and the rotation angle, including: obtaining the maximum value of the first initial pressure data, and the first serial number of the first pressure sensor corresponding thereto; obtaining the maximum value of the second initial pressure data, and the second serial number of the second pressure sensor corresponding thereto; obtaining the maximum value of the first pressure data at the i-th moment, and the third serial number of the first pressure sensor corresponding thereto; obtaining the maximum value of the second pressure data at the i-th moment, and the fourth serial number of the second pressure sensor corresponding thereto; determine the load distribution variation coefficient at the i-th moment according to the maximum value of the first initial pressure data, the first serial number, the maximum value of the second initial pressure data, the second serial number, the maximum value of the first pressure data at the i-th moment, the third serial number, the maximum value of the second pressure data at the i-th moment, the fourth serial number, and the rotation angle.

6. The method for monitoring the load of a steel truss swivel turntable according to claim 5, characterized in that: Determining the load distribution variation coefficient at the i-th moment according to the maximum value of the first initial pressure data, the first serial number, the maximum value of the second initial pressure data, the second serial number, the maximum value of the first pressure data at the i-th moment, the third serial number, the maximum value of the second pressure data at the i-th moment, the fourth serial number and the rotation angle, comprising: according to the formula ， Determine the load distribution variation coefficient at the i-th moment ,in, is the maximum value of the first pressure data at the i-th moment, is the maximum value of the first initial pressure data, is the maximum value of the second pressure data at the i-th moment, is the maximum value of the second initial pressure data, is the third serial number of the first pressure sensor corresponding to the maximum value of the first pressure data at the i-th moment, is the first serial number of the first pressure sensor corresponding to the maximum value of the first initial pressure data, is the fourth serial number of the second pressure sensor corresponding to the maximum value of the second pressure data at the i-th moment, is the second serial number of the second pressure sensor corresponding to the maximum value of the second initial pressure data, is the number of the first pressure sensor, is the number of the second pressure sensor, is the rotation angle at the ith moment, max is the maximum value function, and floor is the rounding function.

7. The method for monitoring the load of a steel truss beam rotating turntable according to claim 2, characterized in that: According to the rotation angles at the i-th moment and at each moment before the i-th moment, determine the load rotation safety factor at the i-th moment, including: according to the formula , determine the load rotation safety factor at the i-th moment ,in, is the rotation angle at the i-th moment, is the rotation angle at the i-1th moment, is the rotation angle at the kth moment, is the rotation angle at the k-1th moment, 1≤k≤i-1, and k and i are both positive integers.

8. A steel truss beam swivel turntable load monitoring system, characterized in that: include: A first setting module, used for setting a plurality of first pressure sensors at the center of the bottom surface of the upper turntable of the rotating body turntable; A second setting module, used for setting a plurality of second pressure sensors on the bottom edge of the upper turntable; An initial pressure module, used for obtaining first initial pressure data detected by a plurality of first pressure sensors and second initial pressure data detected by a plurality of second pressure sensors before the steel truss beam carried on the rotating turntable starts to rotate; A pressure data module, used for obtaining, at multiple moments during the rotation of the steel truss carried on the rotating turntable, first pressure data detected by multiple first pressure sensors and second pressure data detected by multiple second pressure sensors, as well as a rotation angle of the steel truss; a swivel turntable load state parameter module, used to determine the swivel turntable load state parameter according to the first initial pressure data, the second initial pressure data, the first pressure data, the second pressure data and the rotation angle; The safety status module is used to determine the safety status of the rotating turntable load according to the rotating turntable load status parameters.

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