Sling plumbness measurement method, sling plumbness measurement device, and working machine

Abstract

The application discloses a sling verticality measurement method, a sling verticality measurement device and a working machine. The sling verticality measurement method comprises the following steps: taking the rotation center of the working machine as an origin, and establishing a vehicle body coordinate system; determining a rotation matrix and a translation matrix between the vehicle body coordinate system and a world coordinate system according to a heading ray of the working machine and a horizontal coordinate axis of the world coordinate system; acquiring an arm head measurement coordinate of a measurement point on an arm head of the working machine and a hook measurement coordinate of a measurement point on a hook of the working machine in the same coordinate system; determining a first pulley coordinate according to the arm head measurement coordinate, the rotation matrix and the translation matrix; and determining the sling verticality of the working machine according to the first pulley coordinate and the hook measurement coordinate. The sling verticality measurement method can improve the measurement accuracy of the sling verticality, and the measurement response is rapid, timely and accurate.

Description

Technical Field

[0001] This invention belongs to the field of monitoring technology for work machinery, specifically relating to a method for measuring the verticality of slings, a device for measuring the verticality of slings, and work machinery. Background Technology

[0002] Sling verticality is a crucial indicator of the stability and safety of crane lifting operations. It reflects the degree of vertical alignment between the hook or load suspension point and the boom head, specifically the angle or offset of the wire rope between the boom pulley and the hook relative to the vertical line. Significant deviations in sling verticality can lead to load swaying, abnormally increased dynamic loads on the structure, and even operational safety hazards. Therefore, accurate measurement of sling verticality is of paramount importance.

[0003] Currently, the verticality of slings is mainly measured by two methods: manual visual inspection or by installing tilt sensors at the boom tip. However, manual visual inspection is greatly affected by the subjective factors of the operators, making it difficult to guarantee accuracy; tilt sensor measurements are affected by boom vibration and dynamic interference, and also suffer from measurement drift, resulting in insufficient measurement accuracy and difficulty in meeting actual needs in terms of measurement timeliness. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies, the present invention provides a method, equipment and machinery for measuring the verticality of slings, aiming to solve the technical problems of insufficient accuracy and poor timeliness in measuring the verticality of slings.

[0005] To achieve the above objectives, the present invention provides a method for measuring the verticality of a sling, the method comprising: Establish the vehicle coordinate system by setting the rotation center of the operating machinery as the origin; Based on the heading ray of the operating machinery and the horizontal coordinate axis of the world coordinate system, determine the rotation matrix and translation matrix between the vehicle coordinate system and the world coordinate system, wherein the heading ray is set parallel to the first horizontal coordinate axis of the vehicle coordinate system; Under the same coordinate system, obtain the boom head measurement coordinates of the boom head measurement point on the working machinery, and obtain the hook measurement coordinates of the hook measurement point on the working machinery; Based on the boom head measurement coordinates, rotation matrix, and translation matrix, the coordinates of the first pulley are determined. The coordinates of the first pulley are the coordinates of the center point of the boom head pulley of the working machine and the boom head measurement coordinates in the same coordinate system. The verticality of the sling of the working machinery is determined based on the coordinates of the first pulley and the measured coordinates of the hook.

[0006] In this embodiment of the invention, the rotation and translation matrices between the vehicle coordinate system and the world coordinate system are determined based on the heading ray of the operating machinery and the horizontal coordinate axis of the world coordinate system, including: Determine the rotation matrix based on the heading ray and the horizontal coordinate axis of the world coordinate system; Based on the rotation matrix, the first measurement coordinates of the first vehicle body measurement point in the world coordinate system, and the relative coordinates of the first vehicle body measurement point in the vehicle body coordinate system, the translation matrix is ​​determined, where the first vehicle body measurement point is the endpoint of the heading ray.

[0007] In this embodiment of the invention, the rotation matrix is ​​determined based on the heading ray and the horizontal coordinate axis of the world coordinate system, including: Determine the heading angle of the operating machinery based on the heading ray and the horizontal coordinate axis of the world coordinate system; The rotation matrix is ​​determined based on the heading angle.

[0008] In this embodiment of the invention, determining the heading angle of the working machinery based on the heading ray and the horizontal coordinate axis of the world coordinate system includes: Obtain the first measurement coordinates, and obtain the second measurement coordinates of the second body measurement point on the working machinery in the world coordinate system; Set the first vehicle body measurement point as the endpoint, and establish a heading ray based on the first measurement coordinate and the second measurement coordinate; Determine the heading angle based on the heading ray and the horizontal coordinate axis of the world coordinate system; Alternatively, the heading angle of the operating machinery can be determined based on the heading ray and the horizontal coordinate axis of the world coordinate system, including: Obtain the relative coordinates of the vehicle body, and obtain the relative heading coordinates of the second vehicle body measurement point on the working machinery in the vehicle body coordinate system; Set the first vehicle body measurement point as the endpoint, and establish a heading ray based on the vehicle body relative coordinates and heading relative coordinates; Determine the heading angle based on the heading ray and the horizontal coordinate axis of the world coordinate system.

[0009] In this embodiment of the invention, determining the coordinates of the first pulley based on the arm head measurement coordinates, rotation matrix, and translation matrix includes: Based on the arm head measurement coordinates, rotation matrix, and translation matrix, determine the arm head transformation coordinates of the arm head measurement points, where the arm head measurement coordinates and arm head transformation coordinates are in different coordinate systems; Based on the boom working condition of the operating machinery, the boom head transformation coordinates, and the horizontal and vertical distances between the boom head measurement point and the center point of the boom head pulley, the coordinates of the second pulley at the center point of the boom head pulley are determined. The coordinates of the second pulley and the coordinates of the first pulley are in different coordinate systems. The coordinates of the first pulley are determined based on the coordinates of the second pulley, the rotation matrix, and the translation matrix.

[0010] In this embodiment of the invention, the boom working conditions include main boom working conditions, fixed auxiliary boom working conditions, and luffing auxiliary boom working conditions; Based on the boom's operating condition, boom head coordinate transformation, and the horizontal and vertical distances between the boom head measurement point and the boom head pulley center point, determine the second pulley coordinates of the boom head pulley center point, including: When the operating machinery is in the main boom working condition, the coordinates of the second pulley are determined based on the boom head transformation coordinates, horizontal spacing, vertical spacing, and the main boom angle of the operating machinery; When the working machine is in the fixed boom condition, the coordinates of the second pulley are determined based on the boom head conversion coordinates, horizontal spacing, vertical spacing, main boom angle, and the boom installation angle of the working machine. When the working machine is in the luffing boom working condition, the coordinates of the second pulley are determined based on the boom head conversion coordinates, horizontal spacing, vertical spacing, and the luffing angle of the working machine's boom.

[0011] In this embodiment of the invention, determining the verticality of the sling of the working machinery based on the coordinates of the first pulley and the measured coordinates of the hook includes: Based on the coordinates of the first pulley, the measured coordinates of the hook, and the current misalignment distance, determine the current displacement of the center point of the hook of the working machinery. The current misalignment distance is the distance between the center point of the hook at the initial position and the measured point of the hook at the current position. Determine the verticality of the sling based on the boom-hook spacing and current displacement of the working machinery. The boom-hook spacing is the distance between the center point of the boom head pulley and the center point of the hook at the initial position.

[0012] In this embodiment of the invention, determining the current displacement of the hook center point of the working machinery based on the coordinates of the first pulley, the measured coordinates of the hook, and the current misalignment distance includes: Based on the coordinates of the first pulley and the measured coordinates of the hook, the distance between the hook points is determined, where the distance between the measured hook point and the center point of the hook is the distance between the hook measuring point and the center point of the hook. The current displacement is determined based on the hook point spacing and the current misalignment spacing.

[0013] To achieve the above objectives, the present invention also provides a sling verticality measuring device, which includes: The controller is configured to perform the sling verticality measurement method as described above; The boom head coordinate acquisition device is installed on the boom head of the working machinery and located at the boom head measurement point. The boom head coordinate acquisition device is used to acquire the boom head measurement coordinates. The hook coordinate acquisition device is installed on the hook of the working machinery and located at the hook measurement point. The hook coordinate acquisition device is used to collect the hook measurement coordinates.

[0014] To achieve the above objectives, the present invention also provides a working machine, which includes a sling verticality measuring device as described above.

[0015] Through the above technical solution, the method for measuring the verticality of slings provided in this embodiment of the invention has the following beneficial effects: In the technical solution of this invention, the sling verticality measurement method establishes a vehicle coordinate system and constructs a sling attitude space model and calculates the sling verticality in real time using the heading ray of the working machinery, the boom head measurement coordinate, the hook measurement coordinate, and the world coordinate system. This eliminates the need for visual estimation by operators, significantly improving the measurement accuracy of sling verticality. Furthermore, the measurement response is rapid and timely with high accuracy. Compared to tilt sensors, it effectively reduces measurement errors caused by boom vibration interference and sensor drift, resulting in accurate and reliable measurement results.

[0016] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 This is a flowchart illustrating the method for measuring the verticality of a sling according to the first embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a working machine according to an embodiment of the present invention; Figure 3 This is a top view of the vehicle body of a working machine according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the main boom of a working machine according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the auxiliary boom of a working machine according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the dimensions and structure of the boom head and hook in a working machine according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the points where the hook swings forward relative to its initial position in the working state, according to an embodiment of the present invention; Figure 8This is a schematic diagram of the points where the hook swings backward relative to its initial position in the working state, according to an embodiment of the present invention; Figure 9 This is a schematic diagram showing the position of the hook swaying to the left relative to its initial position in the working state, according to an embodiment of the present invention. Figure 10 This is a schematic diagram showing the position of the hook swaying to the right relative to its initial position in the working state, according to an embodiment of the present invention. Figure 11 This is a schematic diagram of the position of the hook swaying to the left and forward relative to its initial position in the working state, according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the position of the hook swaying to the right and forward relative to its initial position in the working state, according to an embodiment of the present invention; Figure 13 This is a schematic diagram of the position of the hook swaying to the left and rear relative to its initial position in the working state, according to an embodiment of the present invention. Figure 14 This is a schematic diagram of the position of the hook swaying to the right and rear relative to its initial position in the working state, according to an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures 100. Operating machinery; 10. Center of rotation; 20. Arm head; 21. Arm head measuring point; 22. Arm head pulley center point; 30. Hook; 31. Hook measuring point; 32. Hook center point; 40. Vehicle body; 41. First vehicle body measurement point; 50. Slings; 200. Arm head coordinate acquisition device; 300. Hook coordinate acquisition device; 400, base station. Detailed Implementation

[0019] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0020] The method for measuring the verticality of slings according to the present invention is described below with reference to the accompanying drawings.

[0021] This invention provides a method for measuring the verticality of a sling. This method can be applied to measure the verticality of a sling 50 in a work machine 100. It should be noted that, as... Figures 2 to 6As shown, the operating machinery 100 includes a boom and a hook 30. The sling 50 is a steel wire rope between the boom head 20 and the hook 30. The verticality of the sling is used to characterize the angle or offset of the sling 50 relative to the vertical line, so as to ensure the stability and safety of the beam hoisting operation. Furthermore, the boom head 20 is provided with a boom head pulley. The geometric center of the boom head pulley is the boom head pulley center point 22, and the boom head pulley center point 22 is located on the central axis of the boom head pulley. The geometric center of the hook 30 is the hook center point 32. The boom head pulley center point 22 and the hook center point 32 are vertically coincident in the initial position. When the operating machinery 100 is in operation, the hook center point 32 may be offset relative to the boom head pulley center point 22 due to various reasons such as the movement of the operating machinery 100, boom vibration, and environmental interference.

[0022] Reference Figure 1 This is a flowchart illustrating the first embodiment of the sling verticality measurement method of the present invention, wherein the sling verticality measurement method includes: Step 10: Set the rotation center 10 of the working machinery 100 as the origin and establish the vehicle coordinate system; Specifically, a vehicle coordinate system is established with the rotation center 10 of the working machinery 100 as the origin. The length direction of the vehicle body 40 is the first horizontal coordinate axis of the vehicle coordinate system, the width direction of the vehicle body 40 is the second horizontal coordinate axis of the vehicle coordinate system, and the height direction of the vehicle body 40 is the vertical coordinate axis of the vehicle coordinate system.

[0023] Step 20: Based on the heading ray of the working machinery 100 and the horizontal coordinate axis of the world coordinate system, determine the rotation matrix and translation matrix between the vehicle coordinate system and the world coordinate system, wherein the heading ray is set parallel to the first horizontal coordinate axis of the vehicle coordinate system. Specifically, the horizontal coordinate axis of the world coordinate system is in the east-west and north-south directions, and the vertical coordinate axis of the world coordinate system is in the up-down direction. The heading ray of the working machine 100 is obtained. The heading ray is parallel to the first horizontal coordinate axis of the vehicle body coordinate system. Then, based on the heading ray and the horizontal coordinate axis of the world coordinate system, the rotation matrix and translation matrix between the vehicle body coordinate system and the world coordinate system can be determined.

[0024] Step 30: Under the same coordinate system, obtain the boom head measurement coordinates of the boom head measurement point 21 on the working machinery 100 and the hook measurement coordinates of the hook measurement point 31 on the working machinery 100 respectively. Specifically, the boom head 20 of the working machinery 100 is provided with boom head measurement point 21, and the hook 30 of the working machinery 100 is provided with hook measurement point 31. The coordinates of the boom head measurement point 21 are boom head measurement coordinates, and the coordinates of the hook measurement point 31 are hook measurement coordinates. The boom head measurement coordinates and the hook measurement coordinates are obtained in the same coordinate system, that is, the boom head measurement coordinates and the hook measurement coordinates are both coordinates in the world coordinate system, or the boom head measurement coordinates and the hook measurement coordinates are both coordinates in the vehicle body coordinate system.

[0025] Step 40: Determine the coordinates of the first pulley based on the boom head measurement coordinates, rotation matrix, and translation matrix. The first pulley coordinates are the coordinates of the boom head pulley center point 22 of the working machine 100 and the boom head measurement coordinates in the same coordinate system. Step 50: Determine the verticality of the sling of the working machinery 100 based on the coordinates of the first pulley and the measured coordinates of the hook.

[0026] Specifically, the coordinates of the center point 22 of the boom pulley are the coordinates of the first pulley, and the coordinates of the first pulley, the boom head measurement coordinates, and the hook measurement coordinates are all in the same coordinate system. Therefore, the sling verticality can be determined based on the first pulley coordinates and the hook measurement coordinates. The sling verticality measurement method of this embodiment establishes a vehicle coordinate system and constructs a sling 50 attitude space model using the heading ray of the working machinery 100, the boom head measurement coordinates, the hook measurement coordinates, and the world coordinate system, and calculates the sling verticality in real time. This eliminates the need for visual estimation by operators, significantly improving the measurement accuracy of the sling verticality. Furthermore, the measurement response is rapid and timely, with high accuracy. Compared to tilt sensors, it effectively reduces measurement errors caused by boom vibration interference and sensor drift, resulting in accurate and reliable measurement results. Moreover, the sling verticality measurement method is applicable to the measurement of sling verticality of working machinery 100 under various types and working conditions, demonstrating strong adaptability and high versatility.

[0027] Based on the above embodiments, the method for measuring the verticality of slings further includes: Step 60: Determine the working posture of the sling 50 of the working machine 100 based on the verticality of the sling and the preset verticality range. The working posture of the sling 50 includes normal working posture and abnormal working posture. Step 70: If the working posture of the sling 50 is abnormal, generate an abnormal warning signal for the sling 50.

[0028] Specifically, the verticality of the sling is compared with a preset vertical range. When the verticality of the sling is within the preset vertical range, the working posture of the sling 50 is determined to be a normal working posture. When the verticality of the sling exceeds the preset vertical range, the working posture of the sling 50 is determined to be an abnormal working posture. This generates an abnormal warning signal for the sling 50 to alert the operators, thereby improving the stability and safety of the lifting operation.

[0029] In the second embodiment of the sling verticality measurement method of the present invention, the boom head measurement coordinate is the coordinate of the boom head measurement point in the world coordinate system, the hook measurement coordinate is the coordinate of the hook measurement point in the world coordinate system, and the first pulley coordinate is the absolute coordinate of the pulley, that is, the first pulley coordinate is the coordinate of the center point of the boom head pulley of the working machine in the world coordinate system. Methods for measuring the verticality of slings include: Step 10: Set the rotation center 10 of the working machinery 100 as the origin and establish the vehicle coordinate system; Specifically, a vehicle coordinate system is established with the rotation center 10 of the working machinery 100 as the origin. The length direction of the vehicle body 40 is the first horizontal coordinate axis of the vehicle coordinate system, the width direction of the vehicle body 40 is the second horizontal coordinate axis of the vehicle coordinate system, and the height direction of the vehicle body 40 is the vertical coordinate axis of the vehicle coordinate system.

[0030] Step 20: Based on the heading ray of the working machinery 100 and the horizontal coordinate axis of the world coordinate system, determine the rotation matrix and translation matrix between the vehicle coordinate system and the world coordinate system, wherein the heading ray is set parallel to the first horizontal coordinate axis of the vehicle coordinate system. Specifically, the horizontal coordinate axis of the world coordinate system is in the east-west and north-south directions, and the vertical coordinate axis of the world coordinate system is in the up-down direction. The heading ray of the working machine 100 is obtained. The heading ray is parallel to the first horizontal coordinate axis of the vehicle body coordinate system. Then, based on the heading ray and the horizontal coordinate axis of the world coordinate system, the rotation matrix and translation matrix between the vehicle body coordinate system and the world coordinate system can be determined.

[0031] Step 30: Obtain the boom head measurement coordinates of the boom head measurement point 21 on the working machinery 100 in the world coordinate system, and obtain the hook measurement coordinates of the hook measurement point 31 on the working machinery 100 in the world coordinate system; Specifically, the boom head 20 of the operating machinery 100 is provided with boom head measurement point 21, and the hook 30 of the operating machinery 100 is provided with hook measurement point 31. The coordinates of the boom head measurement point 21 in the world coordinate system are the boom head measurement coordinates, and the coordinates of the hook measurement point 31 in the world coordinate system are the hook measurement coordinates. The boom head measurement coordinates and the hook measurement coordinates are obtained respectively.

[0032] Step 40: Determine the absolute coordinates of the pulley based on the boom head measurement coordinates, rotation matrix, and translation matrix. The absolute coordinates of the pulley are the coordinates of the center point 22 of the boom head pulley of the working machine 100 in the world coordinate system. Step 50: Determine the verticality of the sling of the working machinery 100 based on the absolute coordinates of the pulley and the measured coordinates of the hook.

[0033] Specifically, the coordinates of the center point 22 of the boom pulley in the world coordinate system are the absolute coordinates of the pulley. Therefore, the verticality of the sling can be determined based on the absolute coordinates of the pulley and the measured coordinates of the hook. The sling verticality measurement method of this embodiment establishes a vehicle coordinate system and constructs a sling 50 attitude space model using the heading ray of the working machinery 100, the boom head measured coordinates, the hook measured coordinates, and the world coordinate system. It then calculates the sling verticality in real time, eliminating the need for visual estimation by operators. This significantly improves the measurement accuracy of the sling verticality, and the measurement response is rapid and timely with high accuracy. Compared to tilt sensors, it effectively reduces measurement errors caused by boom vibration interference and sensor drift, resulting in accurate and reliable measurement results. Furthermore, the sling verticality measurement method is applicable to the measurement of sling verticality of working machinery 100 under various types and working conditions, demonstrating strong adaptability and high versatility.

[0034] In the third embodiment of the sling verticality measurement method of the present invention, the boom head measurement coordinate is the coordinate of the boom head measurement point in the vehicle coordinate system, the hook measurement coordinate is the coordinate of the hook measurement point in the vehicle coordinate system, and the first pulley coordinate is the pulley relative coordinate, that is, the first pulley coordinate is the coordinate of the center point of the boom head pulley of the working machine in the vehicle coordinate system. Methods for measuring the verticality of slings include: Step 10: Set the rotation center 10 of the working machinery 100 as the origin and establish the vehicle coordinate system; Specifically, a vehicle coordinate system is established with the rotation center 10 of the working machinery 100 as the origin. The length direction of the vehicle body 40 is the first horizontal coordinate axis of the vehicle coordinate system, the width direction of the vehicle body 40 is the second horizontal coordinate axis of the vehicle coordinate system, and the height direction of the vehicle body 40 is the vertical coordinate axis of the vehicle coordinate system.

[0035] Step 20: Based on the heading ray of the working machinery 100 and the horizontal coordinate axis of the world coordinate system, determine the rotation matrix and translation matrix between the vehicle coordinate system and the world coordinate system, wherein the heading ray is set parallel to the first horizontal coordinate axis of the vehicle coordinate system. Specifically, the horizontal coordinate axis of the world coordinate system is in the east-west and north-south directions, and the vertical coordinate axis of the world coordinate system is in the up-down direction. The heading ray of the working machine 100 is obtained. The heading ray is parallel to the first horizontal coordinate axis of the vehicle body coordinate system. Then, based on the heading ray and the horizontal coordinate axis of the world coordinate system, the rotation matrix and translation matrix between the vehicle body coordinate system and the world coordinate system can be determined.

[0036] Step 30: Obtain the boom head measurement coordinates of the boom head measurement point 21 on the working machinery 100 in the vehicle coordinate system, and obtain the hook measurement coordinates of the hook measurement point 31 on the working machinery 100 in the vehicle coordinate system; Specifically, the boom head 20 of the working machinery 100 is provided with boom head measurement point 21, and the hook 30 of the working machinery 100 is provided with hook measurement point 31. The coordinates of the vehicle body coordinate system at boom head measurement point 21 are boom head measurement coordinates, and the coordinates of the vehicle body coordinate system at hook measurement point 31 are hook measurement coordinates. The boom head measurement coordinates and hook measurement coordinates are obtained respectively.

[0037] Step 40: Determine the relative coordinates of the pulley based on the boom head measurement coordinates, rotation matrix, and translation matrix. The relative coordinates of the pulley are the coordinates of the center point 22 of the boom head pulley of the working machine 100 in the vehicle coordinate system. Step 50: Determine the verticality of the sling of the working machinery 100 based on the relative coordinates of the pulley and the measured coordinates of the hook.

[0038] Specifically, the coordinates of the vehicle body coordinate system at the center point 22 of the boom pulley are the pulley's relative coordinates. Therefore, the sling verticality can be determined based on the pulley's relative coordinates and the hook's measurement coordinates. The sling verticality measurement method of this embodiment establishes a vehicle body coordinate system and constructs a sling 50 attitude space model using the heading ray of the working machinery 100, the boom head measurement coordinates, the hook measurement coordinates, and the world coordinate system. It then calculates the sling verticality in real time, eliminating the need for visual estimation by operators. This significantly improves the measurement accuracy of the sling verticality, and the measurement response is rapid and timely with high accuracy. Compared to tilt sensors, it effectively reduces measurement errors caused by boom vibration interference and sensor drift, resulting in accurate and reliable measurement results. Furthermore, the sling verticality measurement method is applicable to the measurement of sling verticality of working machinery 100 under various types and working conditions, demonstrating strong adaptability and high versatility.

[0039] Further, in step 20, based on the heading ray of the operating machinery 100 and the horizontal coordinate axis of the world coordinate system, the rotation matrix and translation matrix between the vehicle coordinate system and the world coordinate system are determined, including: Step 21: Determine the rotation matrix based on the heading ray and the horizontal coordinate axis of the world coordinate system; Step 22: Determine the translation matrix based on the rotation matrix, the first measurement coordinates of the first vehicle body measurement point 41 in the world coordinate system, and the relative coordinates of the first vehicle body measurement point 41 in the vehicle body coordinate system, where the first vehicle body measurement point 41 is the endpoint of the heading ray.

[0040] Specifically, such as Figure 3 As shown, the endpoint of the ray is the first vehicle body measurement point 41, and the first vehicle body 40 is measured on the vehicle body 40 of the working machinery 100. The coordinates of the first vehicle body measurement point 41 in the world coordinate system are the first measurement coordinates, and the coordinates in the vehicle body coordinate system are the relative coordinates of the vehicle body. The rotation matrix is ​​determined based on the ray and the horizontal coordinate axis of the world coordinate system, and then it can be determined based on... Determine the translation matrix, where, The first measurement coordinate, For rotation matrix, For the vehicle's relative coordinates, Let be the translation matrix, and let be the coordinates of the rotation center 10 of the operating machine 100 in the world coordinate system. The rotation and translation matrices can be used to transform coordinates in the vehicle body coordinate system into coordinates in the world coordinate system, thereby constructing a sling attitude space model to accurately calculate the sling verticality and improve measurement accuracy. Furthermore, the first vehicle body measurement point 41 is located on the vehicle body 40. The first horizontal axis of the vehicle body coordinate system is the X-axis, and the second horizontal axis is the Y-axis. The X-axis coordinate increment between the first vehicle body measurement point 41 and the rotation center 10 is... The Y-axis coordinate increment between the first vehicle body measurement point 41 and the rotation center 10 is: By projecting the first vehicle body measurement point 41 onto the XY plane of the vehicle body coordinate system, the relative coordinates of the first vehicle body measurement point 41 to the vehicle body can be determined. .

[0041] Further, step 21, based on the heading ray and the horizontal coordinate axis of the world coordinate system, determines the rotation matrix, including: Step 211: Determine the heading angle of the working machine 100 based on the heading ray and the horizontal coordinate axis of the world coordinate system; Step 212: Determine the rotation matrix based on the heading angle.

[0042] Specifically, the angle between the heading ray and the east-west direction in the world coordinate system is the heading angle. The heading angle can be used to determine the rotation matrix of the vehicle coordinate system relative to the world coordinate system. The rotation matrix provides a unified coordinate reference for calculating the verticality of the sling and the spatial attitude of the sling, thus improving the accuracy of the measurement results.

[0043] Based on the second embodiment described above, step 211, determining the heading angle of the working machine 100 according to the heading ray and the horizontal coordinate axis of the world coordinate system, includes: Step 2111: Obtain the first measurement coordinates and the second measurement coordinates of the second body measurement point on the working machinery 100 in the world coordinate system; Specifically, the vehicle body 40 has a first vehicle body measurement point 41 and a second vehicle body measurement point that are spaced apart along the length of the vehicle body 40. The coordinates of the first vehicle body measurement point 41 in the world coordinate system are the first measurement coordinates, and the coordinates of the second vehicle body measurement point in the world coordinate system are the second measurement coordinates.

[0044] Step 2112: Set the first vehicle body measurement point 41 as the endpoint, and establish a heading ray based on the first measurement coordinate and the second measurement coordinate; Specifically, taking the first vehicle body measurement point 41 as the endpoint of the ray, the direction of the ray is determined based on the first measurement coordinate and the second measurement coordinate, thereby determining the heading ray. ,in, The first measurement coordinate, The first measurement coordinate is .

[0045] Step 2113: Determine the heading angle based on the heading ray and the horizontal coordinate axis of the world coordinate system; Specifically, directional ray The angle between the heading angle and the horizontal axis of the world coordinate system is the heading angle, and the rotation matrix can be determined based on the heading angle.

[0046] Based on the third embodiment described above, step 211, determining the heading angle of the working machine 100 according to the heading ray and the horizontal coordinate axis of the world coordinate system, includes: Step 2111: Obtain the relative coordinates of the vehicle body and the relative coordinates of the heading of the second vehicle body measurement point on the working machinery 100 in the vehicle body coordinate system; Specifically, the vehicle body 40 has a first vehicle body measurement point 41 and a second vehicle body measurement point spaced apart along the length of the vehicle body 40. The coordinates of the first vehicle body measurement point 41 in the vehicle body coordinate system are relative coordinates of the vehicle body, and the coordinates of the second vehicle body measurement point in the vehicle body coordinate system are relative coordinates of the heading.

[0047] Step 2112: Set the first vehicle body measurement point 41 as the endpoint, and establish the heading ray based on the vehicle body relative coordinates and the heading relative coordinates; Specifically, taking the first vehicle body measurement point 41 as the endpoint of the ray, the direction of the ray is determined based on the relative coordinates of the vehicle body and the relative coordinates of the heading, thereby determining the heading ray. ,in, For the vehicle's relative coordinates, These are the relative coordinates of the heading.

[0048] Step 2113: Determine the heading angle based on the heading ray and the horizontal coordinate axis of the world coordinate system; Specifically, directional ray The angle between the heading angle and the horizontal axis of the world coordinate system is the heading angle, and the rotation matrix can be determined based on the heading angle.

[0049] Based on the first embodiment described above, step 40, determining the coordinates of the first pulley according to the arm head measurement coordinates, rotation matrix, and translation matrix, includes: Step 41: Determine the arm head transformation coordinates of arm head measurement point 21 based on the arm head measurement coordinates, rotation matrix, and translation matrix. The arm head measurement coordinates and arm head transformation coordinates are in different coordinate systems. Specifically, the boom head measurement coordinates of boom head measurement point 21 are transformed between the world coordinate system and the vehicle coordinate system using a rotation matrix and a translation matrix to obtain the boom head transformed coordinates of boom head measurement point 21.

[0050] Step 42: Based on the boom working condition of the operating machinery 100, the boom head transformation coordinates, and the horizontal and vertical distances between the boom head measurement point 21 and the boom head pulley center point 22, determine the second pulley coordinates of the boom head pulley center point 22, wherein the second pulley coordinates and the first pulley coordinates are in different coordinate systems. Specifically, projecting the boom head transformation coordinates onto the XZ plane of the coordinate system containing the boom head transformation coordinates, the Y coordinate of the boom head transformation coordinates is 0, and the horizontal distance between the boom head measurement point 21 and the center point 22 of the boom head pulley is... The vertical distance between the arm head measuring point 21 and the center point 22 of the arm head pulley is This allows for the conversion of boom coordinates based on boom operating conditions and boom head coordinates. and Determine the coordinates of the second pulley.

[0051] Step 43: Determine the coordinates of the first pulley based on the coordinates of the second pulley, the rotation matrix, and the translation matrix; Specifically, the coordinates of the second pulley are transformed between the world coordinate system and the vehicle coordinate system using a rotation matrix and a translation matrix to obtain the coordinates of the first pulley. This achieves the transformation between the relative coordinates of the arm head pulley center point 22 in the vehicle coordinate system and its absolute coordinates in the world coordinate system. This facilitates the construction of a sling attitude space model and the real-time calculation of sling verticality using the coordinates of the second pulley and the hook measurement coordinates, significantly improving the measurement accuracy of sling verticality.

[0052] Further, the boom working conditions include main boom working conditions, fixed auxiliary boom working conditions, and luffing auxiliary boom working conditions; based on the above first embodiment, step 42, according to the boom working conditions of the operating machinery 100, the boom head transformation coordinates, and the horizontal and vertical distances between the boom head measurement point 21 and the boom head pulley center point 22, determines the second pulley coordinates of the boom head pulley center point 22, including: Step 421: When the working machine 100 is in the main boom working condition, determine the coordinates of the second pulley based on the boom head conversion coordinates, horizontal spacing, vertical spacing, and the main boom angle of the working machine 100. Step 422: When the working machine 100 is in the fixed boom working condition, determine the coordinates of the second pulley based on the boom head conversion coordinates, horizontal spacing, vertical spacing, main boom angle, and the boom installation angle of the working machine 100. Step 423: When the working machine 100 is in the luffing boom working condition, determine the coordinates of the second pulley based on the boom head conversion coordinates, horizontal spacing, vertical spacing, and the luffing angle of the working machine 100.

[0053] The sling verticality measurement method of this invention can adaptively measure the verticality of the sling under different working conditions of the boom, which improves the versatility of the measurement method and further enhances the measurement accuracy.

[0054] Further, based on the first embodiment described above, step 50, determining the verticality of the sling of the working machinery 100 according to the coordinates of the first pulley and the measured coordinates of the hook, includes: Step 51: Determine the current displacement of the center point 32 of the hook of the working machine 100 based on the coordinates of the first pulley, the measured coordinates of the hook, and the current misalignment distance. The current misalignment distance is the distance between the center point 32 of the hook at its initial position and the measured point 31 of the hook at its current position. Specifically, when the hook 30 is in its initial position, the vertical projection of the center point 22 of the boom pulley coincides with the center point 32 of the hook. When the hook 30 is in operation, it may sway due to various reasons such as the movement of the operating machinery 100, boom vibration, and environmental interference. Therefore, the hook measuring point 31 on the hook 30 and the hook center point 32 will move synchronously. Figure 7 The diagram shows the points where the hook 30 swings forward relative to its initial position during operation. Figure 8 The diagram shows the points where the hook 30 swings backward relative to its initial position during operation. Figure 9 The diagram shows the position of the hook 30 swaying to the left from its initial position during operation. Figure 10 The diagram shows the position of the hook 30 swinging to the right relative to its initial position during operation. Figure 11 The diagram shows the position of the hook 30 as it swings to the left and forward relative to its initial position during operation. Figure 12 The diagram shows the position of the hook 30 swaying to the right and forward relative to its initial position during operation. Figure 13 The diagram shows the position of the hook 30 swaying to the left and rear relative to its initial position during operation. Figure 14 The diagram shows the position of the hook 30 swaying to the right and rear relative to its initial position in the working state. The distance between the hook center point 32 at the initial position and the hook measuring point 31 at the current position is the current misalignment distance. The displacement of the hook center point 32 relative to the initial position can be determined by the coordinates of the first pulley, the hook measuring coordinates, and the current misalignment distance.

[0055] Step 52: Determine the verticality of the sling based on the boom-hook spacing of the working machinery 100 and the current displacement, wherein the boom-hook spacing is the distance between the center point 22 of the boom head pulley and the center point 32 of the hook at the initial position; Specifically, such as Figure 6 As shown, when the hook 30 is in the initial position, the vertical distance between the center point 22 of the boom pulley and the center point 32 of the hook is the boom-hook distance. The verticality of the sling can be determined by the tangent function, the boom-hook distance, and the current displacement of the hook center point 32, realizing the real-time measurement of the sling verticality. The sling verticality changes with the real-time displacement of the hook center point 32, improving the timeliness of measurement response and measurement accuracy.

[0056] Further, based on the first embodiment described above, step 51, determining the current displacement of the hook center point 32 of the working machinery 100 according to the coordinates of the first pulley, the measured coordinates of the hook, and the current misalignment distance, includes: Step 511: Determine the hook point spacing based on the coordinates of the first pulley and the measured coordinates of the hook, wherein the hook point spacing is the distance between the hook measuring point 31 and the hook center point 32; Specifically, the hook 30 has a hook measuring point 31 and a hook center point 32, and the distance between the hook measuring point 31 and the hook center point 32 is set as the hook point spacing. By using the difference between the coordinates of the first pulley and the measured coordinates of the hook, the center point 32 of the hook is calibrated at its initial position, and the distance between hook points is determined. This further reduces measurement deviation and improves measurement accuracy.

[0057] Step 512: Determine the current displacement based on the hook point spacing and the current misalignment spacing; Specifically, the current misalignment spacing is ,according to and Determine the current displacement of the hook center point 32. Therefore, it is possible to base on , Determine the verticality of the slings, where, For the verticality of the slings, Given the boom-hook spacing, the sling verticality can be determined using the tangent function, the boom-hook spacing, and the current displacement of the hook center point 32. This enables real-time measurement of the sling verticality, which changes with the real-time displacement of the hook center point 32, improving the timeliness of measurement response and measurement accuracy.

[0058] Based on the second embodiment described above, step 40, determining the absolute coordinates of the pulley according to the arm head measurement coordinates, rotation matrix, and translation matrix, includes: Step 41: Determine the relative coordinates of the arm head measurement point 21 in the vehicle body coordinate system based on the arm head measurement coordinates, rotation matrix, and translation matrix; Specifically, the coordinates of the arm head measurement are as follows: ,according to This allows the absolute coordinates of the boom head measurement point 21 in the world coordinate system to be converted into relative coordinates in the vehicle body coordinate system, i.e., the boom head relative coordinates. .

[0059] Step 42: Based on the boom working condition of the working machine 100, the relative coordinates of the boom head, and the horizontal and vertical distances between the boom head measurement point 21 and the boom head pulley center point 22, determine the pulley relative coordinates of the boom head pulley center point 22 in the vehicle coordinate system. Specifically, the vertical coordinate axis of the vehicle body coordinate system is the Z-axis, and the boom head is positioned relative to the coordinate system. Projected onto the XZ plane of the vehicle body coordinate system, then And the horizontal distance between the arm head measuring point 21 and the center point 22 of the arm head pulley is The vertical distance between the arm head measuring point 21 and the center point 22 of the arm head pulley is This allows for adjustments based on boom operating conditions, , and Determine the relative coordinates of the arm head pulley center point 22 in the vehicle body coordinate system. .

[0060] Step 43: Determine the absolute coordinates of the pulley based on its relative coordinates, rotation matrix, and translation matrix; Specifically, ,in, These are the absolute coordinates of the pulley, which can then be used to determine the relative coordinates of the pulley. Rotation matrix Translation matrix Determine the absolute coordinates of the pulley This technology converts the relative coordinates of the arm head pulley center point 22 in the vehicle coordinate system into absolute coordinates in the world coordinate system. This facilitates the construction of a sling attitude space model and real-time calculation of sling verticality using the pulley's absolute coordinates and the hook's measurement coordinates, significantly improving the measurement accuracy of sling verticality.

[0061] Furthermore, the boom operating conditions include main boom operating conditions, fixed jib operating conditions, and luffing jib operating conditions; Based on the second embodiment described above, step 42, determining the relative coordinates of the boom head center point 22 in the vehicle coordinate system according to the boom working condition of the operating machinery 100, the relative coordinates of the boom head, and the horizontal and vertical distances between the boom head measurement point 21 and the boom head pulley center point 22, includes: Step 421: When the working machine 100 is in the main boom working condition, determine the relative coordinates of the pulleys based on the relative coordinates of the boom head, the horizontal distance, the vertical distance, and the angle of the main boom of the working machine 100. Specifically, such as Figure 4 As shown, under the condition that the boom working condition is determined to be the main boom working condition, the horizontal distance between the boom head measuring point 21 and the boom head pulley center point 22 is... The vertical distance between the arm head measuring point 21 and the center point 22 of the arm head pulley ,in, The distance between the arm head measurement point 21 and the arm head pulley center point 22 projected onto the XZ plane of the vehicle coordinate system in the X direction is denoted as . The distance between the boom head measurement point 21 and the boom head pulley center point 22 projected onto the XZ plane of the vehicle coordinate system in the Z direction is denoted as Z. The main arm angle, and then based on the determined... , and Determine the horizontal spacing respectively and vertical spacing And based on the relative coordinates of the arm head Horizontal spacing and vertical spacing Determine the relative coordinates of the pulley It is suitable for measuring the verticality of slings when the operating machinery 100 is in the main boom working condition.

[0062] Step 422: When the working machine 100 is in the fixed boom working condition, determine the relative coordinates of the pulley based on the relative coordinates of the boom head, the horizontal distance, the vertical distance, the main boom angle, and the installation angle of the boom of the working machine 100. Specifically, such as Figure 5 As shown, when the boom is determined to be in a fixed auxiliary boom condition, the horizontal distance between the boom head measuring point 21 and the boom head pulley center point 22 is... The vertical distance between the arm head measuring point 21 and the center point 22 of the arm head pulley ,in, The distance between the arm head measurement point 21 and the arm head pulley center point 22 projected onto the XZ plane of the vehicle coordinate system in the X direction is denoted as . The distance between the boom head measurement point 21 and the boom head pulley center point 22 projected onto the XZ plane of the vehicle coordinate system in the Z direction is denoted as Z. Main arm angle, The installation angle of the auxiliary boom can then be determined based on the specified angle. , , and Determine the horizontal spacing respectively and vertical spacing And based on the relative coordinates of the arm head Horizontal spacing and vertical spacing Determine the relative coordinates of the pulley It is suitable for measuring the verticality of slings when the working machinery 100 is in the fixed auxiliary boom condition.

[0063] Step 423: When the working machine 100 is in the luffing boom working condition, determine the relative coordinates of the pulleys based on the relative coordinates of the boom head, the horizontal spacing, the vertical spacing, and the luffing angle of the working machine 100. Specifically, such as Figure 5 As shown, when the boom is determined to be in the luffing sub-boom condition, the horizontal distance between the boom head measuring point 21 and the boom head pulley center point 22 is... The vertical distance between the arm head measuring point 21 and the center point 22 of the arm head pulley ,in, The distance between the arm head measurement point 21 and the arm head pulley center point 22 projected onto the XZ plane of the vehicle coordinate system in the X direction is denoted as . The distance between the boom head measurement point 21 and the boom head pulley center point 22 projected onto the XZ plane of the vehicle coordinate system in the Z direction is denoted as Z. For the boom luffing angle, it can then be determined based on the... , and Determine the horizontal spacing respectively and vertical spacing And based on the relative coordinates of the arm head Horizontal spacing and vertical spacing Determine the relative coordinates of the pulley This invention is applicable to measuring the verticality of slings when the operating machinery 100 is in the luffing boom working condition. The sling verticality measurement method of this embodiment can adaptively measure sling verticality under different boom conditions, thus improving both the versatility of the measurement method and its accuracy.

[0064] Further, based on the second embodiment described above, step 50, determining the verticality of the sling of the working machinery 100 according to the absolute coordinates of the pulley and the measured coordinates of the hook, includes: Step 51: Determine the current displacement of the hook center point 32 of the working machinery 100 based on the absolute coordinates of the pulley, the measured coordinates of the hook, and the current misalignment distance. The current misalignment distance is the distance between the hook center point 32 at the initial position and the hook measuring point 31 at the current position. Specifically, when the hook 30 is in its initial position, the vertical projection of the center point 22 of the boom pulley coincides with the center point 32 of the hook. When the hook 30 is in operation, it may sway due to various reasons such as the movement of the operating machinery 100, boom vibration, and environmental interference. Therefore, the hook measuring point 31 on the hook 30 and the hook center point 32 will move synchronously. Figure 7 The diagram shows the points where the hook 30 swings forward relative to its initial position during operation. Figure 8 The diagram shows the points where the hook 30 swings backward relative to its initial position during operation. Figure 9 The diagram shows the position of the hook 30 swaying to the left from its initial position during operation. Figure 10 The diagram shows the position of the hook 30 swinging to the right relative to its initial position during operation. Figure 11 The diagram shows the position of the hook 30 as it swings to the left and forward relative to its initial position during operation. Figure 12 The diagram shows the position of the hook 30 swaying to the right and forward relative to its initial position during operation. Figure 13 The diagram shows the position of the hook 30 swaying to the left and rear relative to its initial position during operation. Figure 14 The diagram shows the position of the hook 30 swaying to the right and rear relative to its initial position in the working state. The distance between the hook center point 32 at the initial position and the hook measuring point 31 at the current position is the current misalignment distance. The displacement of the hook center point 32 relative to the initial position can be determined by the absolute coordinates of the pulley, the hook measuring coordinates, and the current misalignment distance.

[0065] Step 52: Determine the verticality of the sling based on the boom-hook spacing and current displacement of the working machinery 100. The boom-hook spacing is the distance between the center point 22 of the boom head pulley and the center point 32 of the hook at the initial position. Specifically, such as Figure 6 As shown, when the hook 30 is in the initial position, the vertical distance between the center point 22 of the boom pulley and the center point 32 of the hook is the boom-hook distance. The verticality of the sling can be determined by the tangent function, the boom-hook distance, and the current displacement of the hook center point 32, realizing the real-time measurement of the sling verticality. The sling verticality changes with the real-time displacement of the hook center point 32, improving the timeliness of measurement response and measurement accuracy.

[0066] Further, based on the second embodiment described above, step 51, determining the current displacement of the hook center point 32 of the working machinery 100 according to the absolute coordinates of the pulley, the measured coordinates of the hook, and the current misalignment distance, includes: Step 511: Determine the hook point spacing based on the absolute coordinates of the pulley and the measured coordinates of the hook, wherein the hook point spacing is the distance between the hook measuring point 31 and the hook center point 32; Specifically, the hook 30 has a hook measuring point 31 and a hook center point 32, and the distance between the hook measuring point 31 and the hook center point 32 is set as the hook point spacing. absolute coordinates of the pulley Hook measurement coordinates By calibrating the center point 32 of the hook in its initial position, in order to... Determine the spacing between hook points This further reduces measurement deviation and improves measurement accuracy.

[0067] Step 512: Determine the current displacement based on the hook point spacing and the current misalignment spacing; Specifically, the current misalignment spacing is ,according to and Determine the current displacement of the hook center point 32. Therefore, it is possible to base on , Determine the verticality of the slings, where, For the verticality of the slings, Given the boom-hook spacing, the sling verticality can be determined using the tangent function, the boom-hook spacing, and the current displacement of the hook center point 32. This enables real-time measurement of the sling verticality, which changes with the real-time displacement of the hook center point 32, improving the timeliness of measurement response and measurement accuracy.

[0068] Based on the third embodiment described above, step 40, determining the relative coordinates of the pulley according to the arm head measurement coordinates, rotation matrix, and translation matrix, includes: Step 41: Determine the absolute coordinates of the arm head measurement point 21 in the world coordinate system based on the arm head measurement coordinates, rotation matrix, and translation matrix. Specifically, the relative coordinates of the arm head measurement point 21 in the vehicle body coordinate system are converted into absolute coordinates in the world coordinate system.

[0069] Step 42: Based on the boom working condition of the working machine 100, the absolute coordinates of the boom head, and the horizontal and vertical distances between the boom head measurement point 21 and the center point 22 of the boom head pulley, determine the absolute coordinates of the pulley center point 22 in the world coordinate system. Specifically, projecting the absolute coordinates of the boom head onto the XZ plane of the world coordinate system, the Y coordinate of the boom head absolute coordinates is 0, and the horizontal distance between the boom head measurement point 21 and the center point 22 of the boom head pulley is... The vertical distance between the arm head measuring point 21 and the center point 22 of the arm head pulley is This allows for analysis based on boom operating conditions, boom head absolute coordinates, and other relevant data. and Determine the absolute coordinates of the pulley center point 22 in the world coordinate system.

[0070] Step 43: Determine the relative coordinates of the pulley based on its absolute coordinates, rotation matrix, and translation matrix; Specifically, the absolute coordinates of the center point 22 of the boom pulley in the world coordinate system are converted into relative coordinates in the vehicle body coordinate system. This facilitates the construction of a spatial model of the sling attitude and the real-time calculation of the sling verticality by using the relative coordinates of the pulley and the measurement coordinates of the hook, which significantly improves the measurement accuracy of the sling verticality.

[0071] Furthermore, the boom operating conditions include main boom operating conditions, fixed jib operating conditions, and luffing jib operating conditions; Based on the third embodiment described above, step 42, determining the absolute coordinates of the boom head pulley center point 22 in the world coordinate system according to the boom working condition of the operating machinery 100, the absolute coordinates of the boom head, and the horizontal and vertical distances between the boom head measurement point 21 and the boom head pulley center point 22, includes: Step 421: When the working machine 100 is in the main boom working condition, determine the absolute coordinates of the pulley based on the absolute coordinates of the boom head, the horizontal spacing, the vertical spacing, and the angle of the main boom of the working machine 100. Specifically, when the boom working condition is determined to be the main boom working condition, the horizontal distance between the boom head measuring point 21 and the center point 22 of the boom head pulley and the vertical distance between the boom head measuring point 21 and the center point 22 of the boom head pulley are determined according to the main boom angle. The absolute coordinates of the pulley are determined according to the absolute coordinates of the boom head, the horizontal distance and the vertical distance. This method is applicable to measuring the verticality of the sling when the working machinery 100 is in the main boom working condition.

[0072] Step 422: When the working machine 100 is in the fixed boom working condition, determine the absolute coordinates of the pulley based on the absolute coordinates of the boom head, the horizontal spacing, the vertical spacing, the main boom angle, and the installation angle of the boom of the working machine 100. Specifically, when the boom is determined to be in a fixed jib condition, the horizontal distance between the boom head measuring point 21 and the center point 22 of the boom head pulley is determined according to the main boom angle and the jib installation angle, and the vertical distance between the boom head measuring point 21 and the center point 22 of the boom head pulley is determined. The absolute coordinates of the pulley are determined according to the absolute coordinates of the boom head, the horizontal distance and the vertical distance. This method is applicable to measuring the verticality of the sling when the working machinery 100 is in a fixed jib condition.

[0073] Step 423: When the working machine 100 is in the luffing boom working condition, determine the absolute coordinates of the pulley based on the absolute coordinates of the boom head, the horizontal spacing, the vertical spacing, and the luffing angle of the working machine 100. Specifically, such as Figure 5 As shown, when the boom is determined to be in a luffing sub-boom condition, the horizontal distance between the boom head measuring point 21 and the center point 22 of the boom head pulley are determined according to the boom luffing angle. The vertical distance between the boom head measuring point 21 and the center point 22 of the boom head pulley is also determined. Based on the absolute coordinates of the boom head, the horizontal distance, and the vertical distance, the absolute coordinates of the pulley are determined. This method is applicable to measuring the verticality of the sling when the working machinery 100 is in a luffing sub-boom condition. The sling verticality measurement method of this invention can adaptively measure the verticality of the sling under different boom conditions, improving both the versatility of the measurement method and the measurement accuracy.

[0074] Further, based on the third embodiment described above, step 50, determining the verticality of the sling of the working machinery 100 according to the relative coordinates of the pulley and the measured coordinates of the hook, includes: Step 51: Determine the current displacement of the hook center point 32 of the working machinery 100 based on the relative coordinates of the pulley, the measured coordinates of the hook, and the current misalignment distance. The current misalignment distance is the distance between the hook center point 32 at the initial position and the hook measuring point 31 at the current position. Specifically, when the hook 30 is in its initial position, the vertical projection of the center point 22 of the boom pulley coincides with the center point 32 of the hook. When the hook 30 is in operation, it may sway due to various reasons such as the movement of the operating machinery 100, boom vibration, and environmental interference. Therefore, the hook measuring point 31 on the hook 30 and the hook center point 32 will move synchronously. Figure 7 The diagram shows the points where the hook 30 swings forward relative to its initial position during operation. Figure 8 The diagram shows the points where the hook 30 swings backward relative to its initial position during operation. Figure 9 The diagram shows the position of the hook 30 swaying to the left from its initial position during operation. Figure 10 The diagram shows the position of the hook 30 swinging to the right relative to its initial position during operation. Figure 11 The diagram shows the position of the hook 30 as it swings to the left and forward relative to its initial position during operation. Figure 12 The diagram shows the position of the hook 30 swaying to the right and forward relative to its initial position during operation. Figure 13 The diagram shows the position of the hook 30 swaying to the left and rear relative to its initial position during operation. Figure 14The diagram shows the position of the hook 30 swaying to the right and rear relative to its initial position in the working state. The distance between the hook center point 32 at the initial position and the hook measuring point 31 at the current position is the current misalignment distance. The displacement of the hook center point 32 relative to the initial position can be determined by the pulley relative coordinates, the hook measuring coordinates and the current misalignment distance, that is, the current displacement of the hook center point 32.

[0075] Step 52: Determine the verticality of the sling based on the boom-hook spacing and current displacement of the working machinery 100. The boom-hook spacing is the distance between the center point 22 of the boom head pulley and the center point 32 of the hook at the initial position. Specifically, such as Figure 6 As shown, when the hook 30 is in the initial position, the vertical distance between the center point 22 of the boom pulley and the center point 32 of the hook is the boom-hook distance. The verticality of the sling can be determined by the tangent function, the boom-hook distance, and the current displacement of the hook center point 32, realizing the real-time measurement of the sling verticality. The sling verticality changes with the real-time displacement of the hook center point 32, improving the timeliness of measurement response and measurement accuracy.

[0076] Further, based on the third embodiment described above, step 51, determining the current displacement of the hook center point 32 of the working machinery 100 according to the pulley relative coordinates, hook measurement coordinates, and current misalignment distance, includes: Step 511: Determine the hook point spacing based on the pulley relative coordinates and hook measurement coordinates, wherein the hook point spacing is the distance between hook measurement point 31 and hook center point 32; Specifically, the hook 30 has a hook measuring point 31 and a hook center point 32, and the distance between the hook measuring point 31 and the hook center point 32 is set as the hook point spacing. Pulley relative coordinates Hook measurement coordinates By calibrating the center point 32 of the hook in its initial position, in order to... Determine the spacing between hook points This further reduces measurement deviation and improves measurement accuracy.

[0077] Step 512: Determine the current displacement based on the hook point spacing and the current misalignment spacing; Specifically, the current misalignment spacing is ,according to and Determine the current displacement of the hook center point 32. Therefore, it is possible to base on , Determine the verticality of the slings, where, For the verticality of the slings, Given the boom-hook spacing, the sling verticality can be determined using the tangent function, the boom-hook spacing, and the current displacement of the hook center point 32. This enables real-time measurement of the sling verticality, which changes with the real-time displacement of the hook center point 32, improving the timeliness of measurement response and measurement accuracy.

[0078] Furthermore, the present invention also provides a device for measuring the verticality of slings, such as... Figure 2 As shown, the sling verticality measuring device includes a controller, a boom head coordinate acquisition device 200, and a hook coordinate acquisition device 300. The controller is configured to execute the sling verticality measuring method described above. The boom head coordinate acquisition device 200 is located on the boom head 20 of the working machinery 100 and at the boom head measurement point 21. The boom head coordinate acquisition device 200 is used to acquire boom head measurement coordinates. The hook coordinate acquisition device 300 is located on the hook 30 of the working machinery 100 and at the hook measurement point 31. The hook coordinate acquisition device 300 is used to acquire hook measurement coordinates. Furthermore, this sling verticality measuring method refers to the above embodiment. Since the controller adopts all the technical solutions of the above embodiment when executing the instructions, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be elaborated here.

[0079] Furthermore, both the boom head coordinate acquisition device 200 and the hook coordinate acquisition device 300 can adopt the existing RTK (Real-Time Kinematic) coordinate acquisition device to accurately measure the boom head measurement coordinates 21 in the world coordinate system and the hook measurement coordinates 31 in the world coordinate system. The positioning accuracy of the RTK coordinate acquisition device can reach the centimeter level, which is far higher than that of ordinary GPS. It can also output high-precision coordinates in real time, with a rapid response, which greatly improves the measurement accuracy of the sling verticality.

[0080] In this embodiment of the invention, the sling verticality measuring device further includes a first vehicle body coordinate acquisition device and a second vehicle body coordinate acquisition device. The first and second vehicle body coordinate acquisition devices are spaced apart along the length of the vehicle body 40 on the working machinery 100, and are respectively used to acquire the first and second measurement coordinates to establish a heading ray. Furthermore, the first vehicle body coordinate acquisition device, the second vehicle body coordinate acquisition device, the boom head coordinate acquisition device 200, and the hook coordinate acquisition device 300 can all be RTK coordinate acquisition devices, and the origin of the world coordinate system is the base station 400 of the RTK acquisition device. Figure 2As shown, the method achieves accurate determination of sling verticality by collecting the first measurement coordinate, the second measurement coordinate, the boom head measurement coordinate, and the hook measurement coordinate. The sling verticality measurement method can be used to calculate the sling verticality of the 100 operating machines under different boom conditions. It realizes the measurement of sling verticality of the 100 operating machines of all types and all operating conditions, with strong adaptability and high versatility. It can also provide real-time warning when the sling verticality exceeds the limit, thus improving the stability and safety of lifting operations.

[0081] In addition, the present invention also provides a working machine 100, such as Figure 2 As shown, the working machinery 100 includes the sling verticality measuring device described above. The working machinery 100 can be a crane, and the specific structure of the sling verticality measuring device refers to the above embodiment. Since the working machinery 100 adopts all the technical solutions of the above embodiment, it has at least all the beneficial effects brought about by the technical solutions of the above embodiment, which will not be described in detail here.

[0082] Furthermore, the present invention also provides a machine-readable storage medium storing instructions that cause a machine to execute the sling verticality measurement method described above. The sling verticality measurement method refers to the above embodiments. Since the instructions stored in the machine-readable storage medium cause the machine to adopt all the technical solutions of the above embodiments when executing them, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0088] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0089] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0090] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0091] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0092] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0093] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0094] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for measuring the verticality of a sling, characterized in that, The method for measuring the verticality of the sling includes: Set the rotation center (10) of the working machinery (100) as the origin and establish the vehicle coordinate system; Based on the heading ray of the working machinery (100) and the horizontal coordinate axis of the world coordinate system, determine the rotation matrix and translation matrix between the vehicle coordinate system and the world coordinate system, wherein the heading ray is set parallel to the first horizontal coordinate axis of the vehicle coordinate system; Under the same coordinate system, the boom head measurement coordinates of the boom head measurement point (21) on the working machine (100) and the hook measurement coordinates of the hook measurement point (31) on the working machine (100) are obtained respectively; Based on the boom head measurement coordinates, the rotation matrix, and the translation matrix, the first pulley coordinates are determined, wherein the first pulley coordinates are the coordinates of the boom head pulley center point (22) of the working machine (100) and the boom head measurement coordinates in the same coordinate system; The verticality of the sling of the working machine (100) is determined based on the coordinates of the first pulley and the measured coordinates of the hook.

2. The method for measuring the verticality of a sling according to claim 1, characterized in that, The determination of the rotation and translation matrices between the vehicle coordinate system and the world coordinate system based on the heading ray of the working machinery (100) and the horizontal coordinate axis of the world coordinate system includes: The rotation matrix is ​​determined based on the heading ray and the horizontal coordinate axis of the world coordinate system; The translation matrix is ​​determined based on the rotation matrix, the first measurement coordinates of the first vehicle body measurement point (41) in the world coordinate system, and the relative coordinates of the first vehicle body measurement point (41) in the vehicle body coordinate system, wherein the first vehicle body measurement point (41) is the endpoint of the heading ray.

3. The method for measuring the verticality of slings according to claim 2, characterized in that, Determining the rotation matrix based on the heading ray and the horizontal coordinate axis of the world coordinate system includes: Based on the heading ray and the horizontal coordinate axis of the world coordinate system, determine the heading angle of the working machine (100); The rotation matrix is ​​determined based on the heading angle.

4. The method for measuring the verticality of a sling according to claim 3, characterized in that, The determination of the heading angle of the working machine (100) based on the heading ray and the horizontal coordinate axis of the world coordinate system includes: Obtain the first measurement coordinates, and obtain the second measurement coordinates of the second vehicle body measurement point on the working machinery (100) in the world coordinate system; Set the first vehicle body measurement point (41) as the endpoint, and establish the heading ray according to the first measurement coordinate and the second measurement coordinate; The heading angle is determined based on the heading ray and the horizontal coordinate axis of the world coordinate system; Alternatively, determining the heading angle of the working machinery (100) based on the heading ray and the horizontal coordinate axis of the world coordinate system includes: Obtain the relative coordinates of the vehicle body, and obtain the heading relative coordinates of the second vehicle body measurement point on the working machinery (100) in the vehicle body coordinate system; Set the first vehicle body measurement point (41) as the endpoint, and establish the heading ray according to the vehicle body relative coordinates and the heading relative coordinates; The heading angle is determined based on the heading ray and the horizontal coordinate axis of the world coordinate system.

5. The method for measuring the verticality of a sling according to claim 1, characterized in that, Determining the coordinates of the first pulley based on the measured coordinates of the arm head, the rotation matrix, and the translation matrix includes: Based on the arm head measurement coordinates, the rotation matrix, and the translation matrix, the arm head transformation coordinates of the arm head measurement point (21) are determined, wherein the arm head measurement coordinates and the arm head transformation coordinates are in different coordinate systems. Based on the boom working condition of the working machine (100), the boom head transformation coordinates, and the horizontal and vertical distances between the boom head measurement point (21) and the boom head pulley center point (22), the second pulley coordinates of the boom head pulley center point (22) are determined, wherein the second pulley coordinates and the first pulley coordinates are in different coordinate systems. The coordinates of the first pulley are determined based on the coordinates of the second pulley, the rotation matrix, and the translation matrix.

6. The method for measuring the verticality of a sling according to claim 5, characterized in that, The boom operating conditions include main boom operating condition, fixed jib operating condition, and luffing jib operating condition; The determination of the second pulley coordinates of the boom head pulley center point (22) based on the boom working condition of the operating machinery (100), the boom head transformation coordinates, and the horizontal and vertical distances between the boom head measurement point (21) and the boom head pulley center point (22) includes: When the working machine (100) is in the main boom working condition, the coordinates of the second pulley are determined according to the boom head transformation coordinates, the horizontal spacing, the vertical spacing, and the main boom angle of the working machine (100); When the working machine (100) is in the fixed boom working condition, the coordinates of the second pulley are determined according to the boom head conversion coordinates, the horizontal spacing, the vertical spacing, the main boom angle, and the boom installation angle of the working machine (100); When the working machine (100) is in the luffing boom working condition, the coordinates of the second pulley are determined according to the boom head conversion coordinates, horizontal spacing, vertical spacing, and the luffing angle of the working machine (100).

7. The method for measuring the verticality of a sling according to any one of claims 1 to 6, characterized in that, The step of determining the verticality of the sling of the working machinery (100) based on the coordinates of the first pulley and the measured coordinates of the hook includes: Based on the coordinates of the first pulley, the coordinates of the hook measurement, and the current misalignment distance, the current displacement of the center point (32) of the hook of the working machine (100) is determined, wherein the current misalignment distance is the distance between the center point (32) of the hook at the initial position and the hook measurement point (31) at the current position; The verticality of the sling is determined based on the arm-hook spacing of the working machinery (100) and the current displacement, wherein the arm-hook spacing is the distance between the center point (22) of the arm head pulley and the center point (32) of the hook at the initial position.

8. The method for measuring the verticality of a sling according to claim 7, characterized in that, The step of determining the current displacement of the center point (32) of the hook of the working machine (100) based on the coordinates of the first pulley, the measured coordinates of the hook, and the current misalignment distance includes: Based on the coordinates of the first pulley and the measured coordinates of the hook, the distance between hook points is determined, wherein the distance between hook points is the distance between the measured hook point (31) and the center point (32) of the hook; The current displacement is determined based on the hook point spacing and the current misalignment spacing.

9. A device for measuring the verticality of slings, characterized in that, The sling verticality measuring device includes: The controller is configured to perform the sling verticality measurement method according to any one of claims 1 to 8; A boom head coordinate acquisition device (200) is installed on the boom head (20) of the working machine (100) and located at the boom head measurement point (21). The boom head coordinate acquisition device (200) is used to acquire the boom head measurement coordinates. A hook coordinate acquisition device (300) is installed on the hook (30) of the working machinery (100) and located at the hook measurement point (31). The hook coordinate acquisition device (300) is used to acquire the hook measurement coordinates.

10. A type of operating machinery, characterized in that, The working machinery (100) includes the sling verticality measuring device according to claim 9.

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