Rotation angle detection method and system suitable for crane and engineering machinery
By installing position sensing components on the crane and performing multiple comparison tests, the problem of accumulated slewing encoder angle deviation was solved, achieving accuracy and safety in slewing angle detection and reducing calibration costs.
Patent Information
- Application Number
- CN202511676336.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-14
- Publication Date
- 2026-01-09
AI Technical Summary
When using rotary encoders on existing cranes under asymmetrical working conditions, the cumulative angle deviation leads to inaccurate performance calculations. Furthermore, existing calibration methods are costly and not limited by vehicle conditions, affecting operational safety.
By installing position sensing components on the boom and arm, and taking advantage of the fixed characteristics when the vehicle is in the retracted state, the zero point position of the rotary encoder is ensured to be consistent with the design position. During operation, deviations are detected by multiple comparisons, and the rotary angle is calibrated automatically or by the driver, thereby reducing costs.
It improves the accuracy and safety of rotation angle detection, reduces the cost of rotary encoder calibration, avoids unnecessary calibration due to occasional errors, and ensures the reliability of the calibration machine.
Smart Images
Figure CN121297767A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of engineering machinery testing and control technology, and particularly relates to a method, system and engineering machinery for detecting the slewing angle of cranes. Background Technology
[0002] Asymmetric operation of wheeled cranes offers strong adaptability to various working environments and high ease of operation, leading to their increasing application in a wider range of products. When using asymmetric operation, a rotary encoder needs to be installed on the upper structure to obtain the turntable's rotation angle in real time, used to calculate performance in different zones. As the turntable rotates continuously during operation, the accumulated angular deviation of the rotary encoder increases, consequently affecting performance calculations and operational safety.
[0003] Current products typically install two rotary encoders on the machine to calibrate the turntable's rotation angle. When the angle values measured by the two rotary encoders deviate significantly, the rotary encoders need to be calibrated. In general, existing methods for verifying rotation angle deviations are costly and have no restrictions on the vehicle's condition during calibration. Users can easily perform calibration at any location, which can affect the overall lifting capacity calculated by the machine and compromise operational safety. Summary of the Invention
[0004] The purpose of this invention is to provide a method, system, and construction machinery suitable for detecting the slewing angle of cranes. This method enables the detection and calibration of the slewing angle and its deviation during the operation of cranes and other construction machinery equipped with slewing mechanisms. It ensures that the calibrated zero point matches the design position, improving the accuracy of slewing angle detection and control during operation, as well as the safety of slewing operations. The technical solution adopted by this invention is as follows.
[0005] On one hand, the present invention provides a method for detecting rotation angle, comprising:
[0006] The position of the center of rotation when the boom is placed on the boom frame is calibrated as the zero point position of the rotary encoder;
[0007] During the rotation of the central rotating body, the rotation angle data of the rotary encoder is acquired when a designated part of the central rotating body passes through a preset fixed reference position;
[0008] After the rotary encoder is calibrated, the rotation angle data corresponding to the first time the designated part of the central rotary body passes through the preset fixed reference position is used as the reference angle. During the subsequent rotation of the central rotary body: in response to the designated part of the central rotary body passing through the preset fixed reference position, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotary encoder needs to be recalibrated.
[0009] In the above scheme, the value of n can be any integer greater than or equal to 1, and can be adjusted according to needs or experience. Setting n to multiple times means that the rotary encoder is only determined to need recalibration when the rotation angle is found to exceed the threshold in multiple verifications. This can avoid the influence of rotation angle deviation caused by occasional special reasons, thus avoiding unnecessary recalibration.
[0010] Optionally, the turntable of the central rotating body and the unloading vehicle of the engineering machinery are respectively equipped with a first detection block and a first sensor. The first sensor is used to output a rotation angle detection trigger signal after detecting the first detection block.
[0011] In the method, obtaining the rotation angle data of the rotary encoder when a specified part of the central rotating body passes through a preset fixed reference position includes: when the central rotating body rotates to a point where the first sensor can detect the first detection block, in response to receiving the rotation angle detection trigger signal, obtaining the rotation angle data detected by the rotary encoder at the corresponding moment.
[0012] In some possible embodiments, the first detection block and the first sensor can be respectively located on the peripheral edge of the turntable, on the walkway for disembarking, or on the rotary seat, ensuring that the first sensor can detect the passing of the first detection block during the rotation of the central rotating body. It should be noted that the installation positions of the first detection block and the first sensor can be interchanged. In some possible embodiments, the first sensor is a proximity switch.
[0013] Taking the first detection block and the first sensor respectively located on the circumference of the turntable and the walkway of the vehicle as an example, in this implementation, the designated part of the central rotating body is the location of the first detection block, and the preset fixed reference position is the location of the first sensor. The method uses the rotation angle data detected by the rotary encoder when the first sensor first detects the first detection block passing by after the rotary encoder is calibrated as the reference angle. In the subsequent rotation of the central rotating body: in response to the first detection block passing by the first sensor again and being detected, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotary encoder needs to be recalibrated.
[0014] In another implementation, the method of obtaining the rotation angle data of the rotary encoder when a designated part of the central rotary body passes through a preset fixed reference position includes: during the rotation of the central rotary body, obtaining a position detection signal of the sliding brush at the front end of the central rotary body sliding to a preset angle region; and obtaining the rotation angle data of the central rotary body when the sliding brush passes through the boundary of the preset angle region based on the position detection signal of the sliding brush.
[0015] In this implementation, the designated part of the central rotating body is the location of the sliding brush, and the preset fixed reference position is the boundary line position of the preset angle area. The method takes the rotation angle data corresponding to the first time the sliding brush passes through the boundary of the preset angle area after the rotary encoder is calibrated as the reference angle. During the subsequent rotation of the central rotating body: in response to the sliding brush passing through the boundary of the preset angle area, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotary encoder needs to be recalibrated.
[0016] Optionally, the preset angle region is a fan-shaped region with the rotation center of the central rotating body as its vertex, and its symmetrical center line passing through the vertex points directly to the front of the vehicle body, which is the position where the rotation angle of the central rotating body is actually 0; the boundary of the preset angle region is the two sides of the fan-shaped region.
[0017] When the sliding brush passes through any boundary of the preset angle area for the first time, the rotation angle data detected by the rotary encoder is used as the reference angle of the corresponding boundary, and the reference angles of the two boundaries are obtained respectively.
[0018] During the subsequent rotation of the central rotating body, when the sliding brush passes through any boundary of the preset angle area, the reference angle corresponding to the boundary is compared with the rotation angle detected by the current rotary encoder to determine whether the deviation value between the two exceeds the set deviation threshold.
[0019] Optionally, the central angle of the preset angle region is 120 degrees, that is, with the symmetrical center line of the fan-shaped region as the 0-degree line, it radiates 60 degrees to both sides of the vehicle body. This conforms to the general rotation angle range of a central rotating body, and compared to a smaller rotation angle, it can more effectively reflect the detection deviation of the rotation angle. Of course, this angle can also be adjusted as needed. In some possible embodiments, the preset angle region may also be set to not symmetrically radiate to both sides of the vehicle body.
[0020] Optionally, the central rotating body is rotatably mounted on a rotating base, and the rotating base is provided with a slide rail adapted to the sliding path of the sliding brush. A detection ring capable of contacting the sliding brush is provided in the slide rail in the preset angle region. The sliding brush and the detection ring are respectively connected to a signal transmission line. When the sliding brush at the front end of the central rotating body slides to the preset angle region and is electrically connected to the detection ring, the signal transmission line outputs the position detection signal.
[0021] The step of obtaining the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region based on the position detection signal of the brush includes: taking the rotation angle detected by the rotary encoder when the position detection signal appears and disappears as the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region.
[0022] Optionally, the working arm and the boom are respectively provided with a second detection block and a second sensor for sensing the position of the second detection block; the proximity switch can detect the second detection block and output a working arm reset signal only when the working arm is fully placed on the boom.
[0023] The method for calibrating the zero position of the rotary encoder includes: controlling the retraction of the machine to lower the boom onto the boom frame; and, in response to receiving the boom reset signal, calibrating the position of the central rotating body at this time as the zero position of the rotary encoder.
[0024] In some possible embodiments, the sensor is configured as a proximity switch that can detect the second detection block and output a working arm reset signal only when the working arm is fully on the boom.
[0025] Optionally, the center console of the construction machinery is equipped with a display and a human-machine interface for the driver to issue calibration commands;
[0026] The method also includes, when it is detected that the boom is in a reset state on the boom, for example, after receiving a boom reset signal, controlling the display to output a calibration reminder signal; and, in response to receiving a calibration command input by the driver through the human-machine interface, if the boom has been reset, then the current center slewing position is calibrated as the zero point position of the slewing encoder; if the boom has not been reset, then the display is controlled to output a boom slewing reset reminder message to prompt the driver to rotate the boom to be directly in front of the vehicle and on the boom before calibrating the slewing angle. In this case, slewing angle calibration is not required.
[0027] Under the above embodiments, the present invention can realize the slewing angle calibration function actively triggered by the driver, and perform slewing angle calibration according to the working arm status or through interaction with the driver, thus meeting the prerequisite for accurate slewing angle calibration.
[0028] Secondly, the present invention provides a rotation angle detection system, comprising: a second detection block and a second sensor, which are respectively disposed on the working arm and the boom of the engineering machinery;
[0029] The second sensor is adapted to the second detection block and is used to detect whether the working arm has fallen on the boom by acquiring the position of the second detection block, and to output a working arm reset signal when the working arm falls on the boom.
[0030] A controller is configured to receive the work arm reset signal and execute the rotation angle detection method as described in the first aspect of claim.
[0031] It should be noted that the installation positions of the second detection block and the second sensor can be interchanged.
[0032] As one way to trigger the rotation angle verification process, the rotation angle detection system may optionally include:
[0033] The sliding brush is positioned at the front end of the central rotating body at a rotation angle of 0.
[0034] A slide rail is set on the rotary seat of the central rotating body and is adapted to the sliding path of the sliding brush. A detection ring that can contact the sliding brush is provided in the slide rail corresponding to the central rotating body rotating to a preset angle area. The sliding brush and the detection ring are electrically connected to the signal transmission line. When the sliding brush slides to the preset angle area and is electrically connected to the detection ring, the signal transmission line outputs a position detection signal to the controller.
[0035] The controller, based on the received position detection signal, uses the rotation angle detected by the rotary encoder when the position detection signal appears and disappears as the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region.
[0036] As another way to trigger the rotation angle verification process, the rotation angle detection system may also include a first detection block and a first sensor, which are respectively set on the turntable of the central rotating body and the off-vehicle of the engineering machinery, and correspond to different rotation angles. That is, each time the first detection block passes the first sensor, the rotation angle of the central rotating body should not be 0.
[0037] The first sensor is used to output a rotation angle detection trigger signal after detecting the first detection block;
[0038] The step of obtaining the rotation angle data of the rotary encoder when a specified part of the central rotating body passes through a preset fixed reference position includes: when the central rotating body rotates to a point where the first sensor can detect the first detection block, in response to receiving the rotation angle detection trigger signal, obtaining the rotation angle data detected by the rotary encoder at the corresponding moment.
[0039] In some possible embodiments, the controller described above is a crane's overall vehicle controller. The sensor can be configured as a proximity switch, and the distance between the proximity switch and the detection block is set to 2-3 mm when the boom is fully lowered onto the boom.
[0040] In some possible embodiments, the crane control console is equipped with a display and a human-machine interface for the operator to issue calibration commands; when the boom is in the reset state on the boom frame, the controller controls the display to output a calibration notification signal; when the controller receives a calibration command input by the operator through the human-machine interface, if the boom has been reset, the controller calibrates the current center slewing position as the zero position of the slewing encoder; if the boom has not been reset, the controller controls the display to output a boom slewing reset reminder message.
[0041] Thirdly, the present invention provides an engineering machinery, which includes a slewing mechanism, a working arm, a boom, and the slewing angle detection system described in the second aspect.
[0042] The aforementioned construction machinery can be cranes, aerial work platforms, etc. In the retracted state, the slewing angle of the slewing mechanism of these construction machinery is 0 degrees, and the working arm can be limited by the boom, which can support the installation of detection blocks and sensors to realize the 0-degree position calibration of the slewing encoder in the retracted state.
[0043] Beneficial effects
[0044] This invention utilizes the relatively fixed relationship between the boom and the boom in the retracted state, as well as the fact that the slewing angle in this state is the designed 0 degrees. By setting position sensing components on the boom and the boom, the retracted state of the boom can be identified, thereby ensuring that the 0 degrees calibrated by the slewing encoder matches the designed 0 degrees. Furthermore, when slewing angle calibration is required during operation, the reliability of the calibration timing and calibration results can be ensured.
[0045] Meanwhile, this invention verifies the rotary encoder by comparing the rotation angle values detected by the rotary encoder when a specified part on the central rotating body passes through the same rotation angle position in different times. This allows the invention to determine whether the rotary encoder has experienced a result deviation after long-term use, so that it can be recalibrated after confirming that the rotary encoder has deviated to a certain extent, thus avoiding the impact of rotation angle deviation on the safety of the rotation operation process.
[0046] Moreover, this invention utilizes a detection ring or a second detection block in conjunction with a second sensor to trigger the calibration process for the rotation angle, which effectively reduces costs compared to existing systems that use dual rotary encoders for mutual calibration. Attached Figure Description
[0047] Figure 1 The diagram shown is a schematic representation of the rotation angle detection system implemented on a crane in an embodiment of the present invention.
[0048] Figure 2 The figure shown is a schematic diagram of the preset angle region in an embodiment of the present invention;
[0049] Figure 3 The figure shown is a functional architecture diagram of the rotation angle detection system in an embodiment of the present invention;
[0050] Figure 4 The diagram shown is a flowchart of the rotation angle detection method in an embodiment of the present invention. Detailed Implementation
[0051] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details.
[0052] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0053] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific orientation. If the specific orientation changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing this application and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0054] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.
[0055] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.
[0056] Example 1
[0057] This embodiment introduces a rotation angle detection system and its detection method, referencing... Figure 1 As shown, the system includes:
[0058] The second detection block 3 is installed on the working arm of the engineering machinery;
[0059] The second sensor 2 is mounted on the boom 1 and is adapted to the second detection block 3. It is used to detect whether the working arm is on the boom by acquiring the position of the second detection block 3, and to output a working arm reset signal when the working arm is on the boom.
[0060] Controller 6 is used to receive the working arm reset signal and execute the following rotation angle detection method:
[0061] The position of the center of rotation when the boom is placed on the boom frame is calibrated as the zero point position of the rotary encoder;
[0062] During the rotation of the central rotating body, the rotation angle data of the rotary encoder is acquired when a designated part of the central rotating body passes through a preset fixed reference position;
[0063] After the rotary encoder is calibrated, the rotation angle data corresponding to the first time the designated part of the central rotary body passes through the preset fixed reference position is used as the reference angle. During the subsequent rotation of the central rotary body: in response to the designated part of the central rotary body passing through the preset fixed reference position, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotary encoder needs to be recalibrated.
[0064] The value of n can be any integer greater than or equal to 1, and can be adjusted according to needs or experience. Setting n to multiple times means that the rotary encoder is only determined to need recalibration when the rotation angle is found to exceed the threshold in multiple verifications. This can avoid the influence of rotation angle deviation caused by occasional special reasons, thus avoiding unnecessary recalibration.
[0065] This embodiment can calibrate the rotation angle of the rotary encoder, verify the accuracy of the rotation angle detection results, and determine the timing for recalibrating the rotation angle, thus avoiding large deviations in the rotary encoder that could affect the safety of the rotation operation.
[0066] The controller described above can be a vehicle controller or other controllers that can communicate with the vehicle controller box.
[0067] Example 2
[0068] Based on Example 1, combined with Figures 1 to 3 The rotation angle detection system and detection method of this embodiment also have the following design.
[0069] As one way to trigger the rotation angle verification process, in this embodiment, the rotation angle detection system further includes:
[0070] The sliding brush is positioned at the front end of the central rotating body at a rotation angle of 0.
[0071] A slide rail, mounted on the rotary seat of the central rotating body, is adapted to the sliding path of the sliding brush; a detection ring capable of contacting the sliding brush is provided within the slide rail corresponding to the area where the central rotating body rotates to a preset angle. (Refer to...) Figure 2The sliding brush and the detection ring are electrically connected to the signal transmission line. When the sliding brush slides to the preset angle area and is electrically connected to the detection ring, the signal transmission line outputs a position detection signal to the controller.
[0072] The controller, based on the received position detection signal, uses the rotation angle detected by the rotary encoder when the position detection signal appears and disappears as the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region.
[0073] In this embodiment, the controller acquires the rotation angle data of the rotary encoder when a designated part of the central rotary body passes through a preset fixed reference position. That is, during the rotation of the central rotary body, the controller acquires the position detection signal of the sliding brush at the front end of the central rotary body sliding to the preset angle area; and acquires the rotation angle data of the central rotary body when the sliding brush passes through the boundary of the preset angle area based on the position detection signal of the sliding brush.
[0074] In this implementation, the designated part of the central rotating body is the location of the sliding brush, and the preset fixed reference position is the boundary line position of the preset angle area, combined with... Figure 4 As shown, the controller will take the rotation angle data corresponding to the first time the sliding brush passes through the boundary of the preset angle area after the rotary encoder is calibrated as the reference angle. During the subsequent rotation of the central rotary body: in response to the sliding brush passing through the boundary of the preset angle area, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotary encoder needs to be recalibrated.
[0075] Refer again Figure 2 The preset angle region is a fan-shaped area with the rotation center of the central rotating body as its vertex. Its symmetrical center line passing through the vertex points directly forward of the vehicle body, which is the position where the rotation angle of the central rotating body is actually 0 degrees. The boundaries of the preset angle region are the two sides of this fan-shaped area. The central angle of this fan-shaped preset angle region can be set to 120 degrees, that is, radiating 60 degrees to each side of the vehicle body with the symmetrical center line of the fan-shaped area as the 0-degree line. This conforms to the general rotation angle range of the central rotating body and, compared to smaller rotation angles, can more effectively reflect the detection deviation of the rotation angle. Of course, this angle can also be adjusted as needed. In some possible embodiments, the preset angle region may also be set to not radiate symmetrically to both sides of the vehicle body.
[0076] In this embodiment, considering that there are two boundary lines of the sector, specifically, when the sliding brush passes through any boundary of the preset angle area of the sector for the first time, the rotation angle data detected by the rotary encoder is used as the reference angle of the corresponding boundary, and the reference angles of the two boundaries are obtained respectively.
[0077] During the subsequent rotation of the central rotating body, when the sliding brush passes through any boundary of the preset angle area, the reference angle corresponding to the boundary is compared with the rotation angle detected by the current rotary encoder to determine whether the deviation value between the two exceeds the set deviation threshold.
[0078] As a method for determining whether the brush has passed through the boundary of the preset angle region, the step of obtaining the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region based on the position detection signal of the brush includes: taking the rotation angle detected by the rotary encoder when the position detection signal appears and disappears as the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region.
[0079] This embodiment supports automatic calibration of rotary encoders for construction machinery and calibration processes initiated by users / drivers.
[0080] The automatic calibration process is as follows: Upon initial entry into the working state, the rotary encoder is automatically calibrated to 0 degrees before the boom leaves the boom frame. After entering the working state, the angles of the rotary encoder when the brush first passes through the two boundaries of the detection ring working area are marked as the reference angles for the two boundaries. In subsequent rotary operations, whenever the brush is detected passing through any boundary of the detection ring working area, the actual detected rotary angle is compared with the reference angle corresponding to that boundary. The difference between the two is calculated to see if it exceeds a preset deviation threshold. If the result of n consecutive comparisons exceeds the threshold, it is determined that the rotary encoder needs to be recalibrated, and the recalibration process begins. At this time, the boom can be retracted and reset to the boom frame. When the boom reset is detected, the angle of the rotary encoder can be set to 0 degrees, completing the recalibration.
[0081] To support user / driver-initiated calibration procedures, the crane control panel in this embodiment of the slewing angle detection system is equipped with a display and a human-machine interface for the driver to issue calibration commands. The user / driver-initiated calibration procedure can be found in [reference needed]. Figure 4 ,include:
[0082] After the construction machinery is started or during operation, when the boom is in the reset state on the boom frame, the controller controls the display to output a calibration notification signal to remind the driver that the rotary encoder can be calibrated at this time.
[0083] When the controller receives the calibration command input by the driver through the human-machine interface, it determines whether the boom is currently on the boom frame. If the boom has been reset, the controller will calibrate the current center slewing position as the zero point position of the slewing encoder. If the boom has not been reset, the controller will control the display to output a boom slewing reset reminder message, or it can automatically control the boom to reset. However, this implementation method is not recommended when the driver is driving.
[0084] After the operator controls the boom to retract and fully lower itself onto the boom, the controller sets the angle of the slewing encoder to 0 degrees in this state, and the operator can then continue to start the slewing operation process.
[0085] In the operation process: the controller records the angle of the rotary encoder when the brush first passes through the two boundaries of the detection ring working area, and uses them as the reference angles for the two boundaries respectively; in subsequent rotation operations, when the brush passes through any boundary of the detection ring working area again, the corresponding rotation angle is obtained and compared with the corresponding reference angle, and the difference between the two is calculated to see if it exceeds the preset deviation threshold. If the result of n consecutive comparisons exceeds the threshold, it is determined that the rotary encoder needs to be recalibrated. The controller then controls the display to output the working arm rotation reset reminder information, and after the driver confirms and issues the calibration command, the recalibration process begins.
[0086] Example 3
[0087] Based on Embodiment 1, the rotation angle detection system and its detection method in this embodiment also have the following design.
[0088] As a way to trigger the rotation angle verification process, in the rotation angle detection system of this embodiment: the turntable of the central rotating body and the unloading vehicle of the engineering machinery are respectively equipped with a first detection block and a first sensor. The first sensor is used to output a rotation angle detection trigger signal after detecting the first detection block.
[0089] In some possible implementations, the first sensor can be a proximity switch; the first detection block and the first sensor can be respectively located on the peripheral edge of the turntable, on the walkway of the vehicle, or on the rotary seat, ensuring that the first sensor can detect the passing of the first detection block during the rotation of the central rotating body. It should be noted that the installation positions of the first detection block and the first sensor can be interchanged, but they correspond to different rotation angles, that is, the rotation angle of the central rotating body should not be 0 each time the first detection block passes the first sensor.
[0090] Based on the design of the first detection block and the first sensor, when the rotation angle detection system of this embodiment performs rotation angle detection, when the central rotating body rotates to the point where the first sensor can detect the first detection block, the first sensor can detect the first detection block and output a rotation angle detection trigger signal; the controller responds to receiving the rotation angle detection trigger signal and obtains the rotation angle data detected by the rotation encoder at the corresponding time.
[0091] Taking the first detection block and the first sensor respectively located on the circumference of the turntable and the walkway of the vehicle as an example, in this implementation, the designated part of the central rotating body is the location of the first detection block, and the preset fixed reference position is the location of the first sensor. The controller will take the rotation angle data detected by the rotary encoder when the first sensor first detects the first detection block passing by after the rotary encoder is calibrated as the reference angle. In the subsequent rotation of the central rotating body: in response to the first detection block passing by the first sensor again and being detected, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotary encoder needs to be recalibrated.
[0092] The principle of automatic calibration of the rotary encoder and active calibration process initiated by the driver in this embodiment is the same as that in embodiment 2. The only difference is that the calibration time is changed from when the sliding brush passes through both sides of the working area of the detection ring to when the first detection block passes through the first sensor. The rest is the same and will not be repeated.
[0093] Example 4
[0094] This embodiment describes a method for detecting rotation angle, including:
[0095] The position of the center of rotation when the boom is placed on the boom frame is calibrated as the zero point position of the rotary encoder;
[0096] During the rotation of the central rotating body, the rotation angle data of the rotary encoder is acquired when a designated part of the central rotating body passes through a preset fixed reference position;
[0097] After the rotary encoder is calibrated, the rotation angle data corresponding to the first time the designated part of the central rotary body passes through the preset fixed reference position is used as the reference angle. During the subsequent rotation of the central rotary body: in response to the designated part of the central rotary body passing through the preset fixed reference position, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotary encoder needs to be recalibrated.
[0098] The specific implementation of the rotation angle detection method in this embodiment has been described in detail in Embodiments 1 to 3, and will not be repeated here.
[0099] Example 5
[0100] This embodiment describes a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the steps of the rotation angle detection method described in Embodiment 4.
[0101] Example 6
[0102] This embodiment describes an engineering machinery, which includes a slewing mechanism, a working arm, a boom, and a slewing angle detection system as described in any one of Embodiments 1 to 3. The vehicle controller of the engineering machinery can be used as a controller to execute the slewing angle detection method.
[0103] This construction machinery can be cranes, aerial work platforms, or other construction machinery with a slewing mechanism, and whose boom can be limited by the boom when the crane is in the retracted state.
[0104] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0105] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0106] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0107] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0108] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.
Claims
1. A method for detecting rotation angle, characterized in that, include: The position of the center of rotation when the boom is placed on the boom frame is calibrated as the zero point position of the rotary encoder; During the rotation of the central rotating body, the rotation angle data of the rotary encoder is acquired when a designated part of the central rotating body passes through a preset fixed reference position; After the rotary encoder is calibrated, the rotation angle data corresponding to the first time the designated part of the central rotary body passes through the preset fixed reference position is used as the reference angle. During the subsequent rotation of the central rotary body: in response to the designated part of the central rotary body passing through the preset fixed reference position, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotary encoder needs to be recalibrated.
2. The rotation angle detection method according to claim 1, characterized in that, The turntable of the central rotating body and the unloading vehicle of the engineering machinery are respectively equipped with a first detection block and a first sensor. The first sensor is used to output a rotation angle detection trigger signal after detecting the first detection block. The step of obtaining the rotation angle data of the rotary encoder when a specified part of the central rotating body passes through a preset fixed reference position includes: when the central rotating body rotates to a point where the first sensor can detect the first detection block, in response to receiving the rotation angle detection trigger signal, obtaining the rotation angle data detected by the rotary encoder at the corresponding moment.
3. The rotation angle detection method according to claim 1, characterized in that, The step of obtaining the rotation angle data of the rotary encoder when a designated part of the central rotary body passes through a preset fixed reference position includes: during the rotation of the central rotary body, obtaining a position detection signal of the sliding brush at the front end of the central rotary body sliding to a preset angle region; and obtaining the rotation angle data of the central rotary body when the sliding brush passes through the boundary of the preset angle region based on the position detection signal of the sliding brush. In the rotation angle detection method, the rotation angle data corresponding to the first passage of the sliding brush through the boundary of the preset angle area after the rotation encoder is calibrated is taken as the reference angle. During the subsequent rotation of the central rotating body: in response to the sliding brush passing through the boundary of the preset angle area, the corresponding rotation angle data is obtained and compared with the reference angle. If the result of n consecutive comparisons is that the deviation value of the two exceeds the set deviation threshold, it is determined that the zero point position of the rotation encoder needs to be recalibrated.
4. The rotation angle detection method according to claim 3, characterized in that, The preset angle region is a fan-shaped region with the rotation center of the central rotating body as its vertex, and its symmetrical center line passing through the vertex points directly to the front of the vehicle body; the boundary of the preset angle region is the two sides of the fan-shaped region. When the sliding brush passes through any boundary of the preset angle area for the first time, the rotation angle data detected by the rotary encoder is used as the reference angle of the corresponding boundary, and the reference angles of the two boundaries are obtained respectively. During the subsequent rotation of the central rotating body, when the sliding brush passes through any boundary of the preset angle area, the reference angle corresponding to the boundary is compared with the rotation angle detected by the current rotary encoder to determine whether the deviation value between the two exceeds the set deviation threshold.
5. The rotation angle detection method according to claim 4, characterized in that, The central angle of the preset angle region is 120 degrees, and the value of n is greater than or equal to 1.
6. The rotation angle detection method according to claim 3, characterized in that, The central rotating body is rotatably mounted on a rotating base, and the rotating base is provided with a slide rail adapted to the sliding path of the sliding brush. A detection ring capable of contacting the sliding brush is provided in the slide rail in the preset angle region. The sliding brush and the detection ring are electrically connected to a signal transmission line. When the sliding brush at the front end of the central rotating body slides to the preset angle region and is electrically connected to the detection ring, the signal transmission line outputs the position detection signal. The step of obtaining the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region based on the position detection signal of the brush includes: taking the rotation angle detected by the rotary encoder when the position detection signal appears and disappears as the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region.
7. The rotation angle detection method according to any one of claims 1 to 6, characterized in that, The working arm and the boom are respectively equipped with a second detection block and a second sensor for sensing the position of the second detection block; the proximity switch can detect the second detection block and output a working arm reset signal only when the working arm is completely placed on the boom. Methods for calibrating the zero position of a rotary encoder include: controlling the retraction of the machine to lower the boom onto the boom frame; In response to receiving the working arm reset signal, the position of the central rotating body at this time is marked as the zero point position of the rotary encoder.
8. The rotation angle detection method according to claim 7, characterized in that, The second sensor is a proximity switch. The proximity switch can detect the second detection block and output a working arm reset signal only when the working arm is fully placed on the boom.
9. The rotation angle detection method according to claim 1, characterized in that, The central control console of the construction machinery is equipped with a display and a human-machine interface for the driver to issue calibration commands; The method also includes controlling the display to output a calibration reminder signal when the working arm is detected to be in a reset state after being placed on the boom; In addition, in response to receiving a calibration command input by the driver through the human-machine interface, if the current working arm has been reset, the current center rotation position is calibrated as the zero position of the rotation encoder; if the current working arm has not been reset, the control display outputs a working arm rotation reset reminder message.
10. A rotation angle detection system, characterized in that, include: The second detection block and the second sensor are respectively installed on the working arm and the boom of the engineering machinery; The second sensor is adapted to the second detection block and is used to detect whether the working arm has fallen on the boom by acquiring the position of the second detection block, and to output a working arm reset signal when the working arm falls on the boom. A controller is configured to receive the work arm reset signal and execute the rotation angle detection method according to any one of claims 1 to 7.
11. The rotation angle detection system according to claim 10, characterized in that, it further... include: The sliding brush is positioned at the front end of the central rotating body at a rotation angle of 0. A slide rail is set on the rotary seat of the central rotating body and is adapted to the sliding path of the sliding brush. A detection ring that can contact the sliding brush is provided in the slide rail corresponding to the central rotating body rotating to a preset angle area. The sliding brush and the detection ring are electrically connected to the signal transmission line. When the sliding brush slides to the preset angle area and is electrically connected to the detection ring, the signal transmission line outputs a position detection signal to the controller. The controller, based on the received position detection signal, uses the rotation angle detected by the rotary encoder when the position detection signal appears and disappears as the rotation angle data of the central rotating body when the brush passes through the boundary of the preset angle region.
12. The rotation angle detection system according to claim 10, characterized in that, It also includes a first detection block and a first sensor, which are respectively set on the turntable of the central rotating body and the off-vehicle of the engineering machinery, and respectively correspond to different rotation angles; The first sensor is used to output a rotation angle detection trigger signal after detecting the first detection block; The step of obtaining the rotation angle data of the rotary encoder when a specified part of the central rotating body passes through a preset fixed reference position includes: when the central rotating body rotates to a point where the first sensor can detect the first detection block, in response to receiving the rotation angle detection trigger signal, obtaining the rotation angle data detected by the rotary encoder at the corresponding moment.
13. The rotation angle detection system according to claims 10 to 12, characterized in that, The controller is a vehicle controller, and the sensor is a proximity switch. When the working arm is fully on the boom, the distance between the proximity switch and the detection block is 2-3mm. And / or, the central control console of the construction machinery is equipped with a display and a human-machine interface for the driver to issue calibration commands; when the boom is in the reset state on the boom frame, the controller controls the display to output a calibration notification signal; when the controller receives the calibration command input by the driver through the human-machine interface, if the boom has been reset, the controller will calibrate the current center slewing position as the zero position of the slewing encoder; if the boom has not been reset, the controller will control the display to output a boom slewing reset reminder message.
14. An engineering machine, characterized in that, It includes a slewing mechanism, a boom, a boom frame, and the slewing angle detection system as described in claims 10 to 13.