Crane boom stability detection method and system

Abstract

The invention provides a crane boom stability detection method and system, and belongs to the technical field of engineering machinery. The method comprises the following steps: acquiring coordinates of the bottom end position of the arm support and coordinates of the current position of the top end of the arm support under the condition that the arm support is determined to be in a full shrinkage and 0-degree variable amplitude state based on vehicle-mounted machine data in a first time period before debugging of the arm support; generating a first debugging instruction so as to obtain vehicle-mounted information machine data in a second time period after the boom stretches out, draws back and changes the amplitude; acquiring the coordinates of the current position of the top end of the boom under the condition that the boom is determined to be in a full-stretching, maximum-angle variable-amplitude and no-load state based on the vehicle-machine data in a second time period; a second debugging instruction is generated so as to be used for obtaining vehicle-machine data in a third time period after the boom is lifted by the rated load in a full-stretching and maximum-angle variable-amplitude mode; collecting the coordinates of the current position of the top end of the boom under the condition of determining suspended load stability based on the vehicle-mounted information machine data in the third time period; and determining the stability of the boom according to the coordinates. According to the method, the stability of the cantilever crane is accurately detected.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery, and specifically relates to a crane boom stability detection method, a crane boom stability detection device, a debugging platform, and a crane boom stability detection system. Background Art

[0002] Large multi-section boom cranes have numerous boom sections that are nested within each other. Due to factors such as the manufacturing process and the on-site hoisting environment, which takes into account wind loads and sunlight, the centerline of each boom section does not coincide with the centerline of the boom head and tail. The boom head will experience lateral displacement perpendicular to the amplitude change plane, which is called lateral bending. Similarly, due to the different loads carried, the boom head will also undergo horizontal displacement along the arm direction, which is called deflection. At the same time, the different loads carried by the boom head and the unbalanced loads can cause the boom to twist, which is called rigid deformation. The same problem also exists for cranes with a full boom section, such as large crawler cranes, truck cranes and other construction machinery. Figure 1 The following is a comparison diagram of a multi-section boom without and with side bending. Figure 2 The figure shows a schematic diagram of a straight boom experiencing lateral deflection. Specifically, lateral deflection is particularly common in cranes with booms longer than 80 meters. The main causes include: 1) Excessive clearance between the sliders of each boom section causes the boom to swing left and right at the joint. Improper positioning of the slider at the head causes the boom to deflect to one side. Since most current booms are multi-section, inaccurate adjustment of the sliders for each section can cause the boom to deflect to one side. 2) Due to process issues during the boom manufacturing process, stress reactions occur in the boom itself during pressing and welding, causing micro-deformations that are invisible to the naked eye and cause lateral deflection after assembly to the crane. 3) Misalignment of the boom tail joint and asymmetric clearance between the sliders at the tail can cause lateral deflection. During the installation of the hinge shaft and the turntable, lateral deflection can occur due to problems with the hinge shaft and the copper sleeve. 4) For straight boom, single-section boom, and multi-section boom cranes, structural deformation can also cause lateral deflection.

[0003] As a key load-bearing component, the boom's structural stability is a crucial factor in determining its mechanical performance. Structural instability can lead to accidents such as boom folding and tipping, resulting in economic losses. To prevent boom structural instability, current research on booms focuses primarily on simulation calculations for structural analysis and deformation measurement. Additionally, research has focused on crane boom stability detection based on visual perception or multi-sensor sensing. However, simulation analysis focuses on simulation and has little practical application value. Crane boom stability detection based on visual perception or multi-sensor sensing primarily relies on single lateral bending or deflection detection. Furthermore, because lateral bending when the boom is unloaded is not considered, the detection results are inaccurate. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a crane boom stability detection method, a crane boom stability detection device, a debugging platform and a crane boom stability detection system to overcome at least one defect in the existing technology of crane boom stability detection based on simulation analysis, visual perception and multi-sensor perception.

[0005] To achieve the above objectives, the first aspect of the present application provides a crane boom stability detection method, comprising: Based on the vehicle data of the first period before the boom debugging, it is determined that the boom is in a fully retracted state with the amplitude variation of 0 degrees, and the coordinates of the bottom end position of the boom and the coordinates of the current position of the top end of the boom are collected; Generate a first debugging instruction for obtaining vehicle computer data in a second period after the boom is extended and luffed; Based on the vehicle data during the second period, it is determined that the boom is in a fully extended, maximum angle variation, and no-load state, and the coordinates of the current position of the boom top are collected; Generate a second debugging instruction for obtaining vehicle computer data for a third period after the boom is fully extended and has lifted the rated load at the maximum angle; When it is determined that the load is stable based on the vehicle data during the third period, the coordinates of the current position of the top end of the boom are collected; The deformation value and stability of the boom are determined based on the collected coordinates.

[0006] In a specific embodiment of the present application, the deformation value and stability of the boom are determined based on the collected coordinates, including: Calculate the multi-dimensional deformation value of the boom based on the collected coordinates; According to the interval range of the corresponding deformation level that each deformation value falls into, determining the highest level in the deformation level corresponding to the interval range; The highest level is taken as the stability test result of the boom.

[0007] In a specific embodiment of the present application, the deformation value includes at least one of a lateral bending value, a deflection value, and a rigid deformation value.

[0008] In a specific embodiment of the present application, the deformation value and stability of the boom are determined based on the collected coordinates, including: Mapping the collected coordinates to the ground to form multiple triangles in the plane control network; Taking a line or an extended line between a position point of the first coordinate in the plane control network and a position point of the second coordinate in the plane control network as a reference line, determining a positional relationship between a position point of the third coordinate in the plane control network, a position point of the fourth coordinate in the plane control network, and the reference line according to a line segment length relationship and / or a point-line relationship in the multi-triangle; Calculating the lateral bending value and / or deflection value of the boom according to the positional relationship; The first coordinate is the coordinate of the bottom end of the boom, and the coordinates of the top end of the boom collected are the second coordinate, the third coordinate and the fourth coordinate in sequence according to the order of collection time.

[0009] In a specific embodiment of the present application, determining the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the reference line based on the line segment length relationship and / or the point-line relationship in the multiple triangles includes: Perform one or more of the following processes to obtain the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the reference line: Determine whether the sum of the length of a line segment between the position points of the first coordinate and the second coordinate in the plane control network, the length of a line segment between the position points of the second coordinate and the third coordinate in the plane control network, and the length of a line segment between the position points of the third coordinate and the fourth coordinate in the plane control network is equal to the length of a line segment between the position points of the first coordinate and the fourth coordinate in the plane control network; Determine whether the sum of the length of a line segment between the position points of the first coordinate and the second coordinate in the plane control network and the length of a line segment between the position points of the second coordinate and the third coordinate in the plane control network is equal to the length of a line segment between the position points of the first coordinate and the third coordinate in the plane control network; sequentially determining a positional relationship between a position point of the third coordinate in the plane control network and the reference line, a positional relationship between the fourth coordinate and a first connecting line or an extension thereof, and a positional relationship between a position point of the fourth coordinate in the plane control network and the reference line, wherein the first connecting line is a connecting line between a position point of the first coordinate in the plane control network and a position point of the third coordinate in the plane control network; The positional relationship between the position point of the third coordinate in the plane control network and the reference line, and the positional relationship between the fourth coordinate and the first connecting line or its extension line are determined in sequence.

[0010] A second aspect of the present application provides a crane boom stability detection device, comprising: The first module is used to determine, based on the vehicle data of the first period before the boom debugging, that the boom is in a fully retracted state with the amplitude variation of 0 degrees, and collect the coordinates of the bottom end position of the boom and the coordinates of the current position of the top end of the boom; The second module is used to generate a first debugging instruction to obtain vehicle computer data in a second period after the boom is extended and luffed; The third module is configured to collect the coordinates of the current position of the boom top when the boom is determined to be in a fully extended, maximum angle variation and no-load state based on the vehicle data during the second period; The fourth module is used to generate a second debugging instruction for obtaining vehicle computer data for a third period after the boom is fully extended and the rated load is lifted at the maximum angle; A fifth module is configured to collect the coordinates of the current position of the boom top when the load is stable based on the vehicle data during the third period; The sixth module is used to determine the deformation value and stability of the arm according to the collected coordinates.

[0011] The third aspect of the present application provides a debugging platform, including a memory and a processor, the memory being configured to store instructions and the processor being configured to call the instructions from the memory and being able to implement the crane boom stability detection method according to the first aspect of the present application when executing the instructions.

[0012] A fourth aspect of the present application provides a crane boom stability detection system, comprising the debugging platform described in the third aspect of the present application, a vehicle-mounted data acquisition device, a first positioning device for mounting at the bottom end of the boom, and a second positioning device for mounting at the top end of the boom, wherein the first positioning device, the second positioning device, and the vehicle-mounted data acquisition device are all wirelessly connected to the debugging platform; The vehicle-mounted data acquisition device is used to collect vehicle-mounted data for a first period before boom debugging, vehicle-mounted data for a second period after the boom is extended and luffed, and vehicle-mounted data for a third period after the boom is fully extended and luffed at a maximum angle to lift the rated load, and transmit the vehicle-mounted data for the first period, the second period, and the third period to the debugging platform; The first positioning device is used to generate position data of the bottom end of the boom and send the position data to the debugging platform; The second positioning device is used to generate position data of the top of the boom when the boom is fully retracted and the amplitude is 0 degrees, when the boom is fully extended and the amplitude is at the maximum angle and is unloaded, and when the boom is in a stable load state, and send the position data to the debugging platform.

[0013] In a specific embodiment of the present application, one of the first positioning device and the second positioning device selected from the first positioning device and the second positioning device is a satellite positioning base station, and the remaining first positioning devices and / or second positioning devices are satellite positioning mobile stations. The debugging platform is also used to receive differential correction data transmitted by the satellite positioning base station and distribute the differential correction data to the satellite positioning mobile station.

[0014] In a specific embodiment of the present application, the system also includes a satellite positioning base station wirelessly connected to the debugging platform, the first positioning device and the second positioning device are both satellite positioning mobile stations, and the debugging platform is also used to receive differential correction data transmitted by the satellite positioning base station and distribute the differential correction data to the satellite positioning mobile station.

[0015] The above technical solution abstracts the boom stability detection process into the boom debugging process, and collects the coordinates of the boom bottom position during the debugging process, as well as the coordinates of the boom top position when the boom is fully retracted and the amplitude is 0 degrees, as well as the coordinates of the boom top position when the boom is fully extended, the amplitude is changed to the maximum angle and the load is stable, as the basic data for the boom deformation analysis, and then performs the boom deformation analysis and stability determination. Because the coordinates collected during the debugging process record the boom top position when the boom is in the unloaded state and are used in the deformation analysis, the possible unloaded boom lateral bending phenomenon is taken into account, which overcomes the defect of inaccurate stability detection results caused by not considering the unloaded boom lateral bending in the prior art, and improves the accuracy of the boom stability detection results.

[0016] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings: Figure 1 The figure shows a comparison of the multi-section boom without and with side bending. Figure 2 The diagram shows a straight arm undergoing lateral bending; Figure 3 Shown is a schematic diagram of the boom side bend; Figure 4 Shown is a schematic diagram of boom deflection; Figure 5 The figure shows the schematic diagram of the rigid deformation of the boom; Figure 6 The figure shows the change of the boom posture caused by debugging the boom; Figure 7 Shown is a flow chart of a crane boom stability detection method provided by a specific embodiment of the present application; Figure 8 The figure is a flow chart of a method for determining the positional relationship between a position point of a third coordinate in a plane control network, a position point of a fourth coordinate in the plane control network, and a reference line in a specific application; Figure 9 The figure shows a schematic diagram of the first position relationship; Figure 10 Shown is a schematic diagram of the second positional relationship; Figure 11 Shown is a schematic diagram of the third position relationship; Figure 12 Shown is a schematic diagram of the fourth position relationship; Figure 13 Shown is a schematic diagram of the fifth position relationship; Figure 14 Shown is a schematic diagram of the sixth position relationship; Figure 15 Shown is a schematic diagram of the seventh position relationship; Figure 16 Shown is a schematic diagram of the eighth position relationship; Figure 17 Shown is a ninth schematic diagram of positional relationship; Figure 18 The figure shows a structural block diagram of the debugging platform provided in a specific embodiment of the present application; Figure 19 The figure shows a block diagram of the crane boom stability detection system provided by a specific embodiment of the present application; Figure 20 The figure shows a block diagram of the composition of a first positioning device and a second positioning device used in a specific application; Figure 21 The figure shows a block diagram of the vehicle computer data acquisition device used in a specific application; Figure 22 Shown is a flow chart of a crane boom stability detection method in a specific application. DETAILED DESCRIPTION

[0018] The following describes the specific implementation of the embodiment of the present application in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present application and is not intended to limit the embodiment of the present application.

[0019] If there are descriptions involving "first", "second", etc. in the embodiments of this application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0020] like Figure 3 As shown in the figure, lateral bending refers to the lateral displacement change of the top of the boom reflected to the ground before and after the boom is loaded or empty. The vehicle boom does not extend or rotate during the whole process. Indicates the side bend value.

[0021] like Figure 4 As shown in the figure, deflection refers to the horizontal displacement change (longitudinal change distance) of the top of the boom reflected to the ground before and after the boom is hoisted. The vehicle boom does not extend or rotate during the entire process. Indicates the deflection value.

[0022] like Figure 5 As shown in the figure, rigid deformation refers to the amount of sinking of the top of the boom before and after the boom is hoisted. The vehicle boom does not extend or rotate during the entire process. Represents the rigid deformation value.

[0023] An embodiment of the method of the present application provides a crane boom stability detection method, which implements boom stability detection in the following manner: based on the vehicle-computer data of the first period before boom debugging, when the boom is in a fully retracted state with a range of 0 degrees, the coordinates of the bottom end position of the boom and the coordinates of the current position of the top end of the boom are collected; a first debugging instruction is generated to obtain the vehicle-computer data of the second period after the boom is extended and retracted; based on the vehicle-computer data of the second period, when the boom is in a fully extended state, with a maximum range of angular variation and no-load state, the coordinates of the current position of the top end of the boom are collected; a second debugging instruction is generated to obtain the vehicle-computer data of the third period after the boom is fully extended, with a maximum range of angular variation and no-load state; based on the vehicle-computer data of the third period, when the boom is fully extended, with a maximum range of angular variation and lifting a rated load; when the load is determined to be stable based on the vehicle-computer data of the third period, the coordinates of the current position of the top end of the boom are collected; and the deformation value and stability of the boom are determined based on the coordinates collected in the aforementioned steps.

[0024] Specifically, the deformation value includes one or more of lateral bending, deflection, and rigid deformation.

[0025] In the above embodiment of the present application, the boom stability detection process is abstracted as the boom debugging process, and the boom is debugged so that the boom is in the following states in sequence: the boom is fully retracted and the amplitude is 0 degrees; the boom is fully extended, the amplitude is changed to the maximum angle and it is unloaded; the load is stable after the rated load is lifted with the boom fully extended and the amplitude is changed to the maximum angle. Through the debugging process, the coordinates of the bottom end position of the boom, the coordinates of the top end position of the boom when the boom is in the fully retracted and the amplitude is 0 degrees, the coordinates of the top end position of the boom when the boom is in the fully extended, the amplitude is changed to the maximum angle and it is unloaded, and the coordinates of the top end position of the boom when the load is stable are collected. The above coordinate collection process records the position of the top end of the boom when it is unloaded, and incorporates it into the subsequent deformation analysis, thereby taking into account the possible unloaded lateral bending of the boom, overcoming the defect of inaccurate stability detection results caused by not considering the unloaded lateral bending of the boom in the prior art, and improving the accuracy of the boom stability detection results. Figure 6 The figure shows a schematic diagram of the boom posture change caused by debugging the boom, and shows various measurement points. The position of each measurement point is the four coordinates collected as described above. To simplify the description, the coordinate of the boom bottom position is defined as the first coordinate. According to the order of collection time, the coordinates of the boom top position collected are defined as the second coordinate, the third coordinate and the fourth coordinate, that is, the second coordinate is the coordinate of the boom top position collected when the boom is in a fully retracted state with a 0-degree amplitude change, the third coordinate is the coordinate of the boom top position collected when the boom is in a fully extended state with a maximum angle amplitude change and no load, and the fourth coordinate is the coordinate of the boom top position collected when the load is stable. Among them, the reference 0 point is indicated as point A, and the coordinate of point A is the first coordinate. The fully retracted state point 1 is indicated as point D, and the coordinate of point D is the second coordinate. The boom head no-load point 2 is indicated as point B, and the coordinate of point B is the third coordinate. The boom head loaded point 3 is indicated as point C, and the coordinate of point C is the fourth coordinate.

[0026] Based on the above embodiments, Figure 7 FIG. 1 is a specific implementation of the above embodiment. Figure 7 As shown, the crane boom stability detection method provided in this specific embodiment includes steps 100 to 105 .

[0027] Step 100: Obtain vehicle data for the first period before boom debugging, determine based on the vehicle data that the boom is in a fully retracted state with a 0-degree amplitude, and collect the coordinates of the bottom end of the boom and the coordinates of the current position of the top end of the boom.

[0028] Step 101: Generate a first debugging instruction for obtaining vehicle data in a second period after the boom is extended and luffed.

[0029] Step 102 , obtaining vehicle data for the second period, and determining based on the vehicle data for the second period that the boom is in a fully extended, maximum angle variation, and no-load state, and collecting the coordinates of the current position of the top end of the boom.

[0030] Step 103 : Generate a second debugging instruction for obtaining vehicle computer data for a third period of time after the boom is fully extended and has lifted the rated load at the maximum angle.

[0031] Step 104 , obtaining vehicle-mounted data for the third period, and collecting the coordinates of the current position of the boom top when determining that the load is stable based on the vehicle-mounted data for the third period.

[0032] Step 105 : determining the deformation value and stability of the boom according to the coordinates collected in the above steps.

[0033] Specifically, because there are many types of deformation values ​​of the boom, the boom deformation value calculated in this application is one or more of the lateral bending value, deflection value, and rigid deformation. According to the specific application requirements, the boom stability evaluation standard that needs to be established also corresponds to the specific deformation value type. For example, a stability evaluation standard based on a single lateral bending value can be established, a stability evaluation standard based on a single deflection value can be established, and a stability evaluation standard based on a single rigid deformation value can be established. In addition, when the deformation value includes multiple of the lateral bending value, deflection value, and rigid deformation, a joint stability evaluation standard based on multiple deformation values ​​needs to be established. It can be seen that the stability evaluation standard is differentiated and formulated based on the different types of deformation values ​​in specific application requirements.

[0034] In one optional embodiment, the process of determining the deformation value and stability of the boom based on the coordinates collected in the aforementioned steps includes: calculating the lateral bending value of the boom based on the collected coordinates; determining the deformation level corresponding to the range of deformation levels within which the lateral bending value falls; and using the determined deformation level as the boom stability test result. In another optional embodiment, the process of determining the deformation value and stability of the boom based on the coordinates collected in the aforementioned steps includes: calculating the deflection value of the boom based on the collected coordinates; determining the deformation level corresponding to the range of deformation levels within which the deflection value falls; and using the determined deformation level as the boom stability test result. In another optional embodiment, the process of determining the deformation value and stability of the boom based on the coordinates collected in the aforementioned steps includes: calculating the rigid deformation value of the boom based on the collected coordinates; determining the deformation level corresponding to the range of deformation levels within which the rigid deformation value falls; and using the determined deformation level as the boom stability test result. In the above three optional implementation schemes, the stability test result of the boom is determined according to the interval range within which the deformation value of a single type falls.

[0035] When the deformation value is multi-dimensional, in an optional implementation scheme, the process of determining the deformation value and stability of the boom according to the coordinates collected in the aforementioned steps includes: calculating the multi-dimensional deformation value of the boom according to the collected coordinates; determining the highest level of the deformation level corresponding to the interval range in which each deformation value falls according to the interval range in which the deformation value falls; and using the highest level as the stability detection result of the boom.

[0036] For example, the deformation levels are ranked from low to high as the first deformation level, the second deformation level, the third deformation level and the fourth deformation level. Among them, the first deformation level indicates that the boom is suitable for any working condition, the second deformation level indicates that the boom can be used with full load, the third deformation level indicates that the boom should be avoided from being used in a fully loaded and fully extended working condition, and the fourth deformation level indicates that the boom is strictly prohibited from being used. For the lateral bending value, the interval range corresponding to the first deformation level is , where L represents the full extension length of the boom, and the range corresponding to the second deformation level is , the interval range corresponding to the third deformation level is , the interval range corresponding to the fourth deformation level is For the deflection value, the range corresponding to the first deformation level is , where L represents the full extension length of the boom, and the range corresponding to the second deformation level is , the interval range corresponding to the third deformation level is , the interval range corresponding to the fourth deformation level is For the rigid deformation value, the range corresponding to the first deformation level is , where L represents the full extension length of the boom, and the range corresponding to the second deformation level is , the interval range corresponding to the third deformation level is , the interval range corresponding to the fourth deformation level is For example, based on the currently determined multi-type deformation values, the interval range in which the lateral bending value falls corresponds to the third deformation level, the interval range in which the deflection value falls corresponds to the second deformation level, and the interval range in which the rigid deformation value falls corresponds to the fourth deformation level. Then the generated stability test result is the fourth deformation level, indicating that the boom is strictly prohibited from use.

[0037] In a specific implementation scheme of the present application, after executing various debugging instructions and collecting various coordinates, in order to obtain one or more of the lateral bending value and the deflection value, the process of determining the deformation value of the boom includes: mapping the collected coordinates to the ground to form multiple triangles in the plane control network; using the connecting line or extension line between the position point of the first coordinate in the plane control network and the position point of the second coordinate in the plane control network as the baseline, and determining the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the baseline according to the line segment length relationship and / or point-line relationship in the aforementioned multiple triangles; and calculating the deformation value of the boom based on the positional relationship.

[0038] In the above-mentioned specific implementation scheme, the collected coordinates are mapped to the ground to form a strapdown triangle in the plane control network, and the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the baseline is determined with the boom fully retracted and the inclination angle of 0 degrees as the reference benchmark. Different positional relationships represent different lateral bending situations, and different lateral bending situations correspond to different calculation schemes. Therefore, after determining the specific positional relationship, the boom deformation value is calculated according to the calculation scheme corresponding to the positional relationship, thereby achieving accurate deformation value calculation, thereby obtaining accurate boom stability detection results.

[0039] According to different bending situations, the process of determining the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network and the baseline includes: executing one or more of the following processing to obtain the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network and the baseline: 1) judging whether the sum of the length of the line segment between the position point of the first coordinate in the plane control network and the position point of the second coordinate in the plane control network, the length of the line segment between the position point of the second coordinate in the plane control network and the position point of the third coordinate in the plane control network, and the length of the line segment between the position point of the third coordinate in the plane control network and the position point of the fourth coordinate in the plane control network is equal to the length of the line segment between the position point of the first coordinate in the plane control network and the position point of the fourth coordinate in the plane control network; 2) judging whether the sum of the length of the line segment between the position point of the first coordinate in the plane control network and the position point of the fourth coordinate in the plane control network is equal to the length of the line segment between the position point of the first coordinate in the plane control network and the position point of the fourth coordinate in the plane control network; Whether the sum of the lengths of the line segments between the position point in the control network and the position point of the second coordinate in the plane control network, and the lengths of the line segments between the position point of the second coordinate in the plane control network and the position point of the third coordinate in the plane control network is equal to the length of the line segment between the position point of the first coordinate in the plane control network and the position point of the third coordinate in the plane control network; 3) sequentially determining the positional relationship between the position point of the third coordinate in the plane control network and the baseline, the positional relationship between the fourth coordinate and the first connecting line or its extension, and the positional relationship between the position point of the fourth coordinate in the plane control network and the baseline, where the first connecting line is the connecting line between the position point of the first coordinate in the plane control network and the position point of the third coordinate in the plane control network; 4) sequentially determining the positional relationship between the position point of the third coordinate in the plane control network and the baseline, and the positional relationship between the fourth coordinate and the first connecting line or its extension.

[0040] Specifically, the positional relationships between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, the baseline, and the first connecting line or its extension line can be determined by cross product operation or coordinate comparison.

[0041] For example, when the first to fourth coordinates are obtained based on satellite positioning, the location data collected by satellite positioning is usually latitude and longitude information and elevation information. Therefore, the first to fourth coordinates represented by latitude and longitude are converted into (X, Y, Z) coordinates in a Cartesian coordinate system. Then the coordinates of point A, point B, point C, and point D are respectively expressed as , the length of the line segment mapped to the ground (XY plane) only needs to calculate the X coordinate and Y coordinate. For example, the length of the AD line segment can be expressed as . For the cross product operation, to determine the point C (X C 、Y C ) is at point A (X A , Y A ) and point B (X B , YB ) or its extended line as an example to illustrate the cross product operation process. The cross product operation formula used is as follows: If S>0, then point C is on the left side of line segment AB or its extension line; if S<0, then point C is on the right side of line segment AB or its extension line; if S=0‌, then point C is on line segment AB or its extension line.

[0042] After determining the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the baseline, the lateral bending value and / or deflection value can be obtained based on the plane control network strapdown triangle and trigonometric cosine theory, and the rigid deformation is the difference between the elevation value of the third coordinate relative to the plane control network and the elevation value of the fourth coordinate relative to the plane control network, thereby calculating the various types of deformation values ​​of the boom.

[0043] According to different side-bending situations, this application defines nine position relationships, namely the first position relationship, the second position relationship, the third position relationship, the fourth position relationship, the fifth position relationship, the sixth position relationship, the seventh position relationship, the eighth position relationship and the ninth position relationship. Figure 9 The first position relationship is: the position point of the third coordinate in the plane control network and the position point of the fourth coordinate in the plane control network are both collinear with the baseline. Figure 10 The second positional relationship is: the position point of the third coordinate in the plane control network is collinear with the baseline, the second connecting line is located on the first side of the baseline, and the second connecting line is the line connecting the position point of the fourth coordinate in the plane control network and the position point of the first coordinate in the plane control network. Figure 11 , the third positional relationship is: the position point of the third coordinate in the plane control network is collinear with the baseline, and the second connecting line is located on the second side of the baseline. Figure 12 , the fourth positional relationship is: the second line is located on the first side of the reference line, and the third coordinate is located between the reference line and the second line. Figure 13 , the fifth positional relationship is: the first connecting line is located on the first side of the reference line, and the second connecting line is located between the first connecting line and the reference line. Figure 14 , the sixth positional relationship is: the first connecting line is located on the first side of the reference line, and the second connecting line is located on the second side of the reference line. Figure 15 , the seventh positional relationship is: the second connecting line is located on the second side of the reference line, and the first connecting line is located between the second connecting line and the reference line. Figure 16 The eighth positional relationship is: the first connecting line is located on the second side of the reference line, and the second connecting line is located between the first connecting line and the reference line. Figure 17 , the ninth positional relationship is: the second connecting line is located on the first side of the baseline, and the first connecting line is located on the second side of the baseline.

[0044] exist Figures 9 to 17 In the figure, point A is Figure 6 Point A is the location point in the plane control network, and point B is Figure 6 The position of point B in the plane control network, point C shown is Figure 6 The position of point C in the plane control network, point D shown is Figure 6 The position of point D in the plane control network is about to Figure 6 The debugging process shown in the figure converts the boom state into a top view, and forms a strapdown triangle based on various position points.

[0045] For the first position relationship, the lateral bending value of the boom is 0, the deflection value of the boom is the length of the line segment between the position point of the third coordinate in the plane control network and the position point of the fourth coordinate in the plane control network, and the rigid deformation value of the boom is the difference between the elevation value of the third coordinate relative to the plane control network and the elevation value of the fourth coordinate relative to the plane control network. Figure 9 As shown in the figure, the boom does not have any lateral bending in the three states of fully retracted / no amplitude change, fully extended / maximum angle amplitude change / no load, and fully extended / maximum angle amplitude change / load. The deflection value of the boom is the length of the BC line segment, and the rigid deformation value is the height difference between points B and C. When the plane control network strapdown triangle is located in the XY plane, the rigid deformation value can be expressed as .

[0046] For the second and third positional relationships, the lateral bending value of the boom is the first vertical distance, which is the vertical distance between the fourth coordinate position point in the plane control network and the baseline. The deflection value of the boom is the length of the line segment between the first intersection point and the third coordinate position point in the plane control network. The first intersection point is the intersection of the vertical line of the baseline through the fourth coordinate position point in the plane control network and the baseline. The rigid deformation value of the boom is the difference between the elevation value of the third coordinate relative to the plane control network and the elevation value of the fourth coordinate relative to the plane control network. Combined with Figure 10 The second position relationship shown and Figure 11 In the third position relationship shown, the boom does not bend sideways in the fully extended / maximum angle variation / no-load state, but bends sideways in the fully extended / maximum angle variation / loaded state. Figure 10 It shows the situation where point C bends to the left of ABD. Figure 11 It shows the situation where point C bends to the right side of ABD. Under the two position relationships, point E represents the first intersection, the bend value is the length of the CE segment, and the deflection value is the length of the BE segment.

[0047] Based on trigonometric cosine theory, the length of the CE segment and the length of the BE segment can be calculated as follows.

[0048] exist Calculate the arm head deviation angle mapped on the ground (The angle between line segment AC and line segment AD in the figure): .

[0049] exist In the figure, draw a perpendicular line through point C to line AD, and you can get the length of line segment CE, which is the lateral curvature P: .

[0050] The length (deflection value) of the BE segment is calculated by the following formula: In the above formulas, the combination of any two letters of A, B, C, D, and E represents the length of the line segment between two points.

[0051] For the fourth to ninth position relationships, the lateral bending value of the boom is the first vertical distance, the deflection value of the boom is the first length value, the first length value is the length of the line segment between the first intersection point and the second intersection point, the second intersection point is the intersection of the vertical line of the baseline made through the position point of the third coordinate in the plane control network and the baseline, and the rigid deformation value of the boom is the difference between the elevation value of the third coordinate relative to the plane control network and the elevation value of the fourth coordinate relative to the plane control network. Figures 12 to 17 As shown in the figure, the boom has already bent sideways in the fully extended / maximum angle variation / no-load state. The boom will inevitably bend sideways in the fully extended / maximum angle variation / load state. Figures 12 to 14 In the example, point B is on the left side of line segment AD or its extension line. Figure 12 It shows that after the load is lifted, point C of the boom continues to deviate to the left of the line AB (the fourth position relationship). Figure 13 It shows that after the boom is loaded, point C is between the AB and AD segments (the fifth position relationship). Figure 14 It shows that after the boom is loaded, point C deviates to the right side of the AD segment (the sixth position relationship). Figures 15 to 17 In the example, point B is on the right side of line segment AD or its extension line. Figure 15 It shows that after the boom is loaded, point C continues to deviate to the right side of the AB line segment (the seventh position relationship). Figure 16 It shows that after the boom is loaded, point C is between line segments AB and AD (the eighth position relationship). Figure 17 The figure shows that after the load is lifted, the boom is deflected to the left of line segment AD at point C. The lateral deflection is the length of line segment CE, and the deflection is the length of line segment EF.

[0052] Based on trigonometric cosine theory, the length of the CE segment and the length of the EF segment can be calculated as follows.

[0053] For the fourth to sixth position relationships, the calculation process is as follows: 1) In In the figure, draw a perpendicular line through point C to line AD and calculate the arm head deviation angle projected on the ground. : ; 2) In In the figure, draw a perpendicular line through point C to line AD, and you can get the length of line segment CE, which is the lateral curvature P: ; 3) The length of the EF segment, i.e. the deflection value, is calculated as follows: ; ; ; ; ; .

[0054] For the seventh to ninth position relationships, the calculation process is as follows: 1) In In the figure, draw a perpendicular line through point C to line AD and calculate the arm head deviation angle projected on the ground. : ; 2) In In the figure, draw a perpendicular line through point C to line AD, and you can get the length of line segment CE, which is the lateral curvature P: ; 3) The length of the EF segment, i.e. the deflection value, is calculated as follows: ; ; ; ; .

[0055] Figure 8 The figure shows a flow chart of a method for determining the positional relationship between a position point of the third coordinate in the plane control network, a position point of the fourth coordinate in the plane control network, and a reference line in a specific application. Figures 9 to 17 As shown, specifically including: S01, determine whether AD+BD+BC=AC is true. If so, determine the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network and the baseline as follows: Figure 9The first position relationship shown is the case (0) shown in the figure, otherwise jump to trigger the execution of the next step S02; S02, determine whether AD+BD=AB is true, if so, determine the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network and the baseline as follows: Figure 10 The second positional relationship shown is the situation (1) shown in the figure, or Figure 11 The third positional relationship shown is the case (2) shown in the figure. In order to distinguish the second positional relationship from the third positional relationship, the fourth coordinate can be determined based on the comparison between the position point of the plane control network and the coordinate of the baseline, or based on the cross product operation. However, the calculation method for solving the deformation value of the boom in the second positional relationship and the third positional relationship is the same, so no distinction is made.

[0056] S03, determine which direction point B is in the AD segment, and which direction point C is in the AB segment. If point B is on the left side of the AD segment or its extension, and point C is on the left side of the AB segment or its extension, then determine the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the baseline as follows: Figure 12 The fourth position relationship shown is the case (3) shown in the figure. If point B is on the left side of the AD segment or its extension line, and point C is on the right side of the AB segment or its extension line, then jump to trigger the execution of step S04. If point B is on the right side of the AD segment or its extension line, and point C is on the left side of the AB segment or its extension line, then jump to trigger the execution of step S05. If point B is on the right side of the AD segment or its extension line, and point C is on the right side of the AB segment or its extension line, then determine the position relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the baseline as follows: Figure 15 The seventh positional relationship shown is situation (6) shown in the figure.

[0057] S04, determine the direction of point C in line segment AD. If point C is on the left side of line segment AD or its extension, determine the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the reference line as follows: Figure 13 The fifth position relationship shown is the situation (4) shown in the figure. If point C is on the right side of line segment AD or its extension line, the position relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network and the baseline is determined as follows: Figure 14 The sixth positional relationship shown is situation (5) shown in the figure.

[0058] S05, determine the direction of point C in line segment AD. If point C is on the left side of line segment AD or its extension, determine the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the reference line as follows: Figure 17 The ninth position relationship shown is the situation (8) shown in the figure. If point C is on the right side of line segment AD or its extension line, the position relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network and the baseline is determined as follows: Figure 16 The eighth positional relationship shown is situation (7) shown in the figure.

[0059] Corresponding to the crane boom stability detection method described in the above method embodiment, the device embodiment of the present application provides a crane boom stability detection device, which includes: a first module, which is used to determine, based on the vehicle-computer data of the first period before the boom debugging, that the boom is in a fully retracted and amplitude variation state of 0 degrees, and collect the coordinates of the bottom end position of the boom and the coordinates of the current position of the top end of the boom; a second module, which is used to generate a first debugging instruction to obtain the vehicle-computer data of the second period after the boom is extended and the amplitude variation; a third module, which is used to determine, based on the vehicle-computer data of the second period, that the boom is in a fully extended, maximum angle amplitude variation and no-load state, and collect the coordinates of the current position of the top end of the boom; a fourth module, which is used to generate a second debugging instruction to obtain the vehicle-computer data of the third period after the boom lifts the rated load with full extension and maximum angle amplitude variation; a fifth module, which is used to determine, based on the vehicle-computer data of the third period, that the load is stable, and collect the coordinates of the current position of the top end of the boom; and a sixth module, which is used to determine the deformation value and stability of the boom based on the collected coordinates.

[0060] Specifically, the crane boom stability detection device can be implemented as follows: Figure 7 The method embodiment shown and other related method embodiments in this application. The process of each module in the crane boom stability detection device provided in this application embodiment realizing its own function can be specifically referred to the aforementioned Figure 7 The description of the illustrated embodiment and other related method embodiments will not be repeated here.

[0061] It should be noted that the information interaction and execution process between the above modules are based on the same concept as the method embodiments of this application. Their specific functions and technical effects can be found in the method embodiments section and will not be described in detail here. In addition, the above modules can all be applied to a computing device including a memory and a processor.

[0062] Figure 18 The schematic diagram shows a block diagram of the structure of the debugging platform according to an embodiment of the present application. In one embodiment, a debugging platform is provided, which can be a module, and its internal structure diagram can be as follows: Figure 18 As shown. The debugging platform includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The debugging platform's processor A01 is used to provide computing and control capabilities. The debugging platform's memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The debugging platform's network interface A02 is used to communicate with external modules via a network connection. When executed by the processor A01, the computer program implements a crane boom stability detection method. The debugging platform's display screen A04 can be a liquid crystal display or an electronic ink display. The debugging platform's input device A05 can be a touch layer covering the display screen, or a button, trackball, or touchpad provided on the debugging platform housing, or an external keyboard, touchpad, or mouse.

[0063] Those skilled in the art will understand that Figure 18 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the debugging platform on which the solution of the present application is applied. The specific debugging platform may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0064] In one embodiment, the crane boom stability detection device provided by the present application can be implemented in the form of a computer program. The computer program can be used in Figure 18 The computer program comprising the crane boom stability detection device is executed on the debugging platform shown. The debugging platform's memory may store the various program modules that comprise the crane boom stability detection device. The computer program comprising the various program modules causes the processor to execute the steps of the crane boom stability detection method according to various embodiments of the present application as described in this specification.

[0065] In one embodiment, the present application further provides a machine-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the crane boom stability detection method in the above embodiment is implemented.

[0066] See Figure 19The system embodiment of the present application also provides a crane boom stability detection system, which includes a debugging platform, a vehicle-mounted data acquisition device, a first positioning device for installation at the bottom of the boom, and a second positioning device for installation at the top of the boom, wherein the first positioning device, the second positioning device, and the vehicle-mounted data acquisition device are all wirelessly connected to the debugging platform. The vehicle-mounted data acquisition device is used to collect vehicle-mounted data for a first period before boom debugging, vehicle-mounted data for a second period after the boom is extended and extended and the boom is variable, and vehicle-mounted data for a third period after the boom is fully extended and the boom is variable at the maximum angle to lift the rated load, and transmits the first period vehicle-mounted data, the second period vehicle-mounted data, and the third period vehicle-mounted data to the debugging platform. The first positioning device is used to collect position data of the bottom of the boom and transmit this position data to the debugging platform. The second positioning device is used to generate position data of the top of the boom when the boom is fully extended and the boom is variable at the maximum angle and is unloaded, and when the boom is in a stable load state, and transmits this position data to the debugging platform.

[0067] The above-mentioned crane boom stability detection system abstracts the boom stability detection process into a boom debugging process, and uses a first positioning device and a second positioning device installed at the bottom and top of the boom respectively to collect position data of the boom in different states during the debugging process, and adopts wireless communication to communicate between modules in the system. Compared with the boom deformation detection scheme based on distributed sensors or visual perception, the system architecture is simpler and the layout is more convenient. Therefore, on the basis of improving the accuracy of the detection results, the detection efficiency is also improved, thereby supporting the actual needs of the boom stability test covering the factory testing of all products. In the existing technology, due to the complexity of the test installation, only a certain proportion of the boom products are randomly inspected for stability testing.

[0068] In a specific embodiment, the vehicle data collection device is installed on the vehicle.

[0069] In a specific embodiment, the first positioning device is mounted on the bottom end of the arm by magnetic attraction, the second positioning device is mounted on the top end of the arm by magnetic attraction, and the vehicle-mounted acquisition device is mounted on the vehicle by magnetic attraction.

[0070] In a specific embodiment, the debugging platform is set on the cloud service end.

[0071] In a specific embodiment, the crane boom stability detection system also includes a user terminal, which is used to wirelessly connect to the debugging platform, generate a stability detection start instruction, and send the stability detection start instruction to the debugging platform, and receive a first debugging instruction and a second debugging instruction to enable the operator to change the state of the boom.

[0072] In a specific embodiment, the first positioning device, the second positioning device, and the vehicle-mounted acquisition device are all connected to the debugging platform via a 4G or 5G communication network.

[0073] In one specific embodiment, one of the first or second positioning devices is selected as a satellite positioning base station, and the remaining first and / or second positioning devices are selected as satellite positioning mobile stations. The debugging platform is further configured to receive differential correction data transmitted by the satellite positioning base station and distribute the differential correction data to the satellite positioning mobile stations. In a comparative example, the satellite positioning base station and the satellite positioning mobile station are connected via a radio communication link. However, in the aforementioned embodiment, because the debugging platform has already established a communication link with the first and second positioning devices, this communication link is used to distribute differential correction data, simplifying the system architecture.

[0074] In one specific embodiment, the crane boom stability detection system further includes a satellite positioning reference station wirelessly connected to the debugging platform, with the first positioning device and the second positioning device both serving as satellite positioning mobile stations. The debugging platform is further configured to receive differential correction data transmitted by the satellite positioning reference station and distribute the differential correction data to the satellite positioning mobile station. By fixing the satellite positioning reference station, the system is unaffected by the completion of the crane boom stability test, compared to the previous embodiment. This avoids the problem of the satellite positioning mobile station being unable to obtain differential correction data due to the shutdown or removal of the first or second positioning device, which served as the satellite positioning reference station, after the crane boom stability test is completed.

[0075] In a specific embodiment, the first positioning device and the second positioning device have the same configuration, both including a satellite positioning unit, a first main control unit, a power supply unit, a first wireless communication unit and a power output control unit, and the first main control unit is connected to the satellite positioning unit, the power supply unit, the first wireless communication unit and the power output control unit respectively. The satellite positioning unit is used to generate position data of the bottom end or the top end of the boom, the first main control unit is used to send the position data to the debugging platform via the first wireless communication unit, the first main control unit is also used to generate an opening and closing signal, and the power output control unit is used to connect or disconnect the power supply circuit between the power supply unit and the satellite positioning unit and the power supply circuit between the power supply unit and the first wireless positioning unit according to the opening and closing signal. Based on the setting of the power output control unit, the satellite positioning unit and the first wireless communication unit are kept inoperative during the installation preparation work before starting the stability test to achieve the purpose of reducing power consumption. The installation preparation work includes installing the first positioning device, the second positioning device and the vehicle-mounted acquisition device to the corresponding positions, etc.

[0076] Preferably, the power supply unit is a self-powered power supply, for example, including a battery, a power management component, a power conversion component, etc. The satellite positioning unit adopts an RTK module, and the position data collected by the module includes the arm's distance from the ground and positioning coordinate data.

[0077] In one specific embodiment, the first positioning device and the second positioning device further include a tilt angle acquisition unit, configured to collect boom tilt angle data and transmit the tilt angle data to the first main control unit. The first main control unit then transmits the tilt angle data to the debugging platform via the first wireless communication unit. The debugging platform is further configured to determine the boom's luffing state based on the tilt angle data when the boom is determined to be at 0 degrees or at its maximum luffing angle. As can be seen, when a crane boom is luffing, controlled by external or internal operational controls, the boom's tilt angle is typically acquired based on sensors within the luffing control system. The vehicle-mounted data collected by the vehicle-mounted acquisition unit for each time period includes the boom's tilt angle data. Therefore, in one example, the debugging platform can determine the boom's luffing state based solely on the vehicle-mounted data. In another example, the boom's luffing state is determined based on the tilt angle data collected by the tilt angle acquisition unit. For example, the tilt angle acquisition unit utilizes a dual-axis tilt sensor connected to the first main control unit via an RS1485 transceiver.

[0078] Figure 20 The figure shows a block diagram of the first and second positioning devices used in a specific application. In the figure, the MCU unit represents the first main control unit, the first wireless communication unit uses a 4G module, and the first and second positioning devices are also provided with LED lights for module status display. The batteries use lithium batteries, which are charged with a 9-36V DC power supply. The MCU unit also collects battery power information of the lithium battery through an ADC port.

[0079] In a specific embodiment, the vehicle-mounted data acquisition device includes a second main control unit, a second wireless communication module and a bus communication module. The second wireless communication module and the bus communication module are respectively connected to the second main control unit, and the bus communication module is used to connect to the vehicle-mounted ECU via a bus.

[0080] Figure 21 The figure shows a block diagram of the vehicle-mounted data acquisition device used in a specific application. The MCU shown in the figure is the second main control unit, the second wireless communication module uses a 4G module, the vehicle-mounted data acquisition device also includes a three-color light, and is powered by 9~16VDC, which is obtained through vehicle-mounted power conversion, and the bus communication module is a CAN module.

[0081] In one specific application, the crane boom stability detection method and system described above are used to perform factory tests on crane boom stability. A one-click test interface is provided on the user end. Once the user initiates the one-click test, lateral bending, deflection, and rigid deformation testing is initiated on one or more booms to be tested.

[0082] Before the operator initiates the one-touch test through the user terminal, they must first perform installation work, including: installing a first positioning device at the bottom of the boom to be tested. The first positioning device does not move with the vehicle frame; installing a second positioning device at the top of the boom to be tested; and installing a vehicle-mounted data acquisition device near the vehicle's control box. Both the first and second positioning devices serve as satellite positioning mobile stations, and the satellite positioning base station is installed on the top floor of the commissioning warehouse. Different vehicle models require different loads for side-bending tests, so the loads must be prepared before testing.

[0083] Then enter the one-key test, the process of one-key test is as follows Figure 22 Specifically, the process includes the following steps SS01 to SS10.

[0084] Step SS01, based on the vehicle data of the first period, determine whether the boom is in a fully retracted state and whether the boom tilt angle is 0 degrees. If so, proceed to the next step; otherwise, it prompts that the preparation is not sufficient.

[0085] In step SS02, within 20 seconds, the coordinates of the bottom position of the boom are continuously collected by the first positioning device, and the coordinates of the current position of the top end of the boom are continuously collected by the second positioning device. The average value within 20 seconds is taken as the final coordinates of the bottom position of the boom collected by the first positioning device and the coordinates of the current position of the top end of the boom collected by the second positioning device.

[0086] In step SS03, a pop-up window appears on the user side, prompting the operator to start extending and retracting the boom and adjusting the length.

[0087] Step SS04: Based on the vehicle data from the second period, determine whether the boom is fully extended, the tilt angle is greater than 70 degrees, and it is unloaded. Unloaded means the load is less than 1 ton. In this example, the maximum boom angle is 72 degrees. If so, proceed to the next step. Otherwise, a message indicates that the preparation is insufficient.

[0088] Step SS05: within 20 seconds, continuously collect the coordinates of the current position of the boom top through the second positioning device, and take the average value within 20 seconds as the final coordinates of the current position of the boom top collected by the second positioning device.

[0089] Step SS06: A pop-up window appears on the user side, prompting the operator to start the hoisting process.

[0090] Step SS07, determine whether the boom has stable loading based on the vehicle data in the third period. Stable loading means that the loading information in the vehicle data in the third period remains unchanged within 20 seconds. If so, proceed to the next step. Otherwise, continue to determine whether the loading information in the vehicle data in the third period remains unchanged within the next 20 seconds until it is determined that the boom has achieved stable loading, and then proceed to the next step.

[0091] Step SS08: within 20 seconds, continuously collect the coordinates of the current position of the boom top through the second positioning device, and take the average value within 20 seconds as the final coordinates of the current position of the boom top collected by the second positioning device.

[0092] Step SS09, calculating the boom lateral bending value, deflection value and rigid deformation value according to the above coordinates.

[0093] Step SS10, judging whether the boom is stable based on the fully extended boom length, includes: taking the highest deformation level according to the deformation levels corresponding to the intervals in which the calculated lateral bending value, deflection value and rigid deformation value fall, and outputting the test pass or fail result based on the highest level.

[0094] In the above specific application examples, the digital one-button test of boom stability detection completely covers the factory testing of all crane boom products in a fast, real-time, simple and efficient manner, ensuring the reliability of the crane boom products leaving the factory.

[0095] It should be understood that the crane boom stability detection method and system provided in this application are not only applicable to factory inspection, but can also be applied to field testing of boom products.

[0096] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0097] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A crane boom stability detection method, characterized in that: include: Based on the vehicle data of the first period before the boom debugging, it is determined that the boom is in a fully retracted state with the amplitude variation of 0 degrees, and the coordinates of the bottom end position of the boom and the coordinates of the current position of the top end of the boom are collected; Generate a first debugging instruction for obtaining vehicle computer data in a second period after the boom is extended and luffed; Based on the vehicle data during the second period, it is determined that the boom is in a fully extended, maximum angle variation, and no-load state, and the coordinates of the current position of the boom top are collected; Generate a second debugging instruction for obtaining vehicle computer data for a third period after the boom is fully extended and has lifted the rated load at the maximum angle; When it is determined that the load is stable based on the vehicle data during the third period, the coordinates of the current position of the top end of the boom are collected; The deformation value and stability of the boom are determined based on the collected coordinates.

2. The crane boom stability detection method according to claim 1, characterized in that: Determine the deformation value and stability of the boom based on the collected coordinates, including: Calculate the multi-dimensional deformation value of the boom based on the collected coordinates; According to the interval range of the corresponding deformation level that each deformation value falls into, determining the highest level in the deformation level corresponding to the interval range; The highest level is taken as the stability test result of the boom.

3. The crane boom stability detection method according to claim 1, characterized in that: The deformation value includes at least one of a lateral bending value, a deflection value, and a rigid deformation value.

4. The crane boom stability detection method according to claim 3, characterized in that: Determine the deformation value and stability of the boom based on the collected coordinates, including: Mapping the collected coordinates to the ground to form multiple triangles in the plane control network; Taking a line or an extended line between a position point of the first coordinate in the plane control network and a position point of the second coordinate in the plane control network as a reference line, determining a positional relationship between a position point of the third coordinate in the plane control network, a position point of the fourth coordinate in the plane control network, and the reference line according to a line segment length relationship and / or a point-line relationship in the multi-triangle; Calculating the lateral bending value and / or deflection value of the boom according to the positional relationship; The first coordinate is the coordinate of the bottom end of the boom, and the coordinates of the top end of the boom collected are the second coordinate, the third coordinate and the fourth coordinate in sequence according to the order of collection time.

5. The crane boom stability detection method according to claim 4, characterized in that: Determining a positional relationship between a position point of the third coordinate in the plane control network, a position point of the fourth coordinate in the plane control network, and the reference line according to a line segment length relationship and / or a point-line relationship in the multiple triangles includes: Perform one or more of the following processes to obtain the positional relationship between the position point of the third coordinate in the plane control network, the position point of the fourth coordinate in the plane control network, and the reference line: Determine whether the sum of the length of a line segment between the position points of the first coordinate and the second coordinate in the plane control network, the length of a line segment between the position points of the second coordinate and the third coordinate in the plane control network, and the length of a line segment between the position points of the third coordinate and the fourth coordinate in the plane control network is equal to the length of a line segment between the position points of the first coordinate and the fourth coordinate in the plane control network; Determine whether the sum of the length of a line segment between the position points of the first coordinate and the second coordinate in the plane control network and the length of a line segment between the position points of the second coordinate and the third coordinate in the plane control network is equal to the length of a line segment between the position points of the first coordinate and the third coordinate in the plane control network; sequentially determining a positional relationship between a position point of the third coordinate in the plane control network and the reference line, a positional relationship between the fourth coordinate and a first connecting line or an extension thereof, and a positional relationship between a position point of the fourth coordinate in the plane control network and the reference line, wherein the first connecting line is a connecting line between a position point of the first coordinate in the plane control network and a position point of the third coordinate in the plane control network; The positional relationship between the position point of the third coordinate in the plane control network and the reference line, and the positional relationship between the fourth coordinate and the first connecting line or its extension line are determined in sequence.

6. A crane boom stability detection device, characterized in that: include: The first module is used to determine, based on the vehicle data of the first period before the boom debugging, that the boom is in a fully retracted state with the amplitude variation of 0 degrees, and collect the coordinates of the bottom end position of the boom and the coordinates of the current position of the top end of the boom; The second module is used to generate a first debugging instruction to obtain vehicle computer data in a second period after the boom is extended and luffed; The third module is configured to collect the coordinates of the current position of the boom top when the boom is in a fully extended, maximum angle variation and no-load state based on the vehicle data during the second period; The fourth module is used to generate a second debugging instruction for obtaining vehicle computer data for a third period after the boom is fully extended and the rated load is lifted at the maximum angle; A fifth module is configured to collect the coordinates of the current position of the boom top when the load is stable based on the vehicle data during the third period; The sixth module is used to determine the deformation value and stability of the arm according to the collected coordinates.

7. A debugging platform, characterized in that: include: a memory configured to store instructions; as well as The processor is configured to call the instructions from the memory and implement the crane boom stability detection method according to any one of claims 1 to 5 when executing the instructions.

8. A crane boom stability detection system, characterized in that: The device comprises the debugging platform according to claim 7, a vehicle-mounted data acquisition device, a first positioning device for mounting at the bottom end of the boom, and a second positioning device for mounting at the top end of the boom, wherein the first positioning device, the second positioning device, and the vehicle-mounted data acquisition device are all wirelessly connected to the debugging platform; The vehicle-mounted data acquisition device is used to collect vehicle-mounted data for a first period before boom debugging, vehicle-mounted data for a second period after the boom is extended and luffed, and vehicle-mounted data for a third period after the boom is fully extended and luffed at a maximum angle to lift the rated load, and transmit the vehicle-mounted data for the first period, the second period, and the third period to the debugging platform; The first positioning device is used to generate position data of the bottom end of the boom and send the position data to the debugging platform; The second positioning device is used to generate position data of the top of the boom when the boom is fully retracted and the amplitude is 0 degrees, when the boom is fully extended and the amplitude is at the maximum angle and is unloaded, and when the boom is in a stable load state, and send the position data to the debugging platform.

9. The crane boom stability detection system according to claim 8, characterized in that: One of the first positioning device and the second positioning device selected from the first positioning device and the second positioning device is a satellite positioning base station, and the remaining first positioning devices and / or second positioning devices are satellite positioning mobile stations. The debugging platform is also used to receive differential correction data transmitted by the satellite positioning base station and distribute the differential correction data to the satellite positioning mobile station.

10. The crane boom stability detection system according to claim 8, characterized in that: The system also includes a satellite positioning base station wirelessly connected to the debugging platform. The first positioning device and the second positioning device are both satellite positioning mobile stations. The debugging platform is also used to receive differential correction data transmitted by the satellite positioning base station and distribute the differential correction data to the satellite positioning mobile station.

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