Crane camber measuring device

Abstract

The utility model relates to the technical field, in particular to a crane camber measuring device, which comprises host equipment, an up-and-down motor, a left-and-right rotating motor and a lower base, the host equipment is connected with the up-and-down motor, the up-and-down motor is connected with the left-and-right rotating motor, and the up-and-down motor and the left-and-right rotating motor are respectively and electrically connected with the lower base. According to the utility model, the main control board and the electric holder are arranged and matched with the high-precision tilt angle sensor and the attitude detection module, so that the transverse and longitudinal directions of the equipment can be automatically and accurately adjusted, and the tedious operation of manually aligning a measuring point is avoided; the equipment realizes high-precision positioning of the holder by automatically adjusting the transverse rotating motor and the longitudinal rotating motor, so that the measurement process is more convenient and reliable.

Description

Technical Field

[0001] This utility model relates to the field of circuit design technology, and in particular to a crane camber measuring device. Background Technology

[0002] In the crane industry, the accuracy of a crane's camber directly affects its operational safety and stability. Cranes endure complex stresses during operation, especially during the lifting and movement of heavy objects. Changes in the camber of the boom can affect the load capacity and balance of the entire equipment. If the camber is substandard or exceeds limits, the crane may experience uncontrollable vibrations or deformation when lifting heavy objects, potentially leading to serious safety accidents. Therefore, high-precision monitoring and adjustment of crane camber is a crucial means of improving its operational safety.

[0003] Currently, common techniques for camber measurement include total station measurement and manual pan-tilt head combined with laser rangefinder. However, these techniques all have shortcomings:

[0004] Total stations perform camber analysis by precisely locating and measuring key measurement points, combined with geometric calculation formulas. While total stations offer high measurement accuracy, they are bulky, expensive, and lack operational flexibility. Measuring camber with a total station requires manual adjustment to align the device with the measurement points, a complex and time-consuming process that hinders rapid measurement and adjustment.

[0005] A manual pan-tilt head can be used with a laser rangefinder to measure the camber of a crane. However, since the pan-tilt head is manually adjustable, it requires manual two-dimensional adjustment to align with the measurement point. This not only increases the difficulty of operation but also makes it easy for the relative position of the equipment to change during the measurement process due to manual operation, thus affecting the final measurement accuracy. Utility Model Content

[0006] This utility model aims to solve the problems of large equipment size, inflexible operation, complex adjustment, and insufficient measurement accuracy in the existing technology for crane camber measurement. Although the manual gimbal combined with a laser rangefinder is relatively portable, it suffers from unstable measurement accuracy and inconvenient operation due to its reliance on manual adjustment. Therefore, a crane camber measurement device is proposed.

[0007] This utility model is achieved through the following technical solution:

[0008] A crane camber measuring device includes a main unit, upper and lower motors, left and right rotary motors, and a lower base. The main unit is connected to the upper and lower motors, the upper and lower motors are connected to the left and right rotary motors, and the upper and lower motors and the left and right rotary motors are electrically connected to the lower base.

[0009] Furthermore, the host device includes a host module, a data acquisition module, a communication module, a tilt module, and a first attitude detection module. The host module includes a microcontroller U1, which is an STM32F407ZGt6. The microcontroller U1 is electrically connected to the data acquisition module, the communication module, the tilt module, and the first attitude detection module.

[0010] Furthermore, the lower base is provided with a drive motherboard, a second posture detection module, an up-and-down motor drive module, and a left-and-right rotation motor drive module. The drive motherboard includes a microcontroller U2, which is an STM32F103C8T6. The microcontroller U2 is connected to the second posture detection module, the up-and-down motor drive module, and the left-and-right rotation motor drive module.

[0011] Furthermore, the acquisition module includes a CMOS chip M1, model OV5640. The external clock input terminal of the CMOS chip M1 is connected to pin 3 of the crystal oscillator Y2. The power management terminal of the CMOS chip M1 is connected to pin 124 of the microcontroller U1. The reset terminal of the CMOS chip M1 is connected to pin 132 of the microcontroller U1. The SCCB clock line terminal of the CMOS chip M1 is connected to pin 122 of the microcontroller U1. The SCCB data signal terminal of the CMOS chip M1 is connected to pin 123 of the microcontroller U1. The vertical synchronization signal terminal of the CMOS chip M1 is connected to pin 137 of the microcontroller U1. The horizontal reference signal terminal of the CMOS chip M1 is connected to pin 40 of the microcontroller U1. The pixel clock signal terminal of the CMOS chip M1 is connected to pin 42 of the microcontroller U1. The image data output terminals Y2-Y9 of the CMOS chip M1 are connected to pins 96-99, 112, 136, and 4-5 of the microcontroller U1, respectively.

[0012] Furthermore, the communication module includes a WIFI chip U6, the model of which is SPI_WIFI. Pin 1 of the WIFI chip U6 is connected to a 3.3V DC voltage terminal and one end of capacitor C49, the other end of capacitor C49 is grounded, pin 2 of the WIFI chip U6 is connected to pin 133 of the microcontroller U1, pin 3 of the WIFI chip U6 is connected to pin 134 of the microcontroller U1, pin 4 of the WIFI chip U6 is connected to pin 135 of the microcontroller U1, pin 5 of the WIFI chip U6 is connected to pin 117 of the microcontroller U1, pin 6 of the WIFI chip U6 is connected to pin 116 of the microcontroller U1, and pin 9 of the WIFI chip U6 is connected to pin 14 of the microcontroller U1.

[0013] Furthermore, the tilt module includes a tilt sensor chip U7, which is model SCL3300. Pin 5 of the tilt sensor chip U7 is connected to pin 73 of the microcontroller U1, pin 6 of the tilt sensor chip U7 is connected to pin 76 of the microcontroller U1, pin 8 of the tilt sensor chip U7 is connected to pin 74 of the microcontroller U1, and pin 7 of the tilt sensor chip U7 is connected to pin 75 of the microcontroller U1.

[0014] Furthermore, the first attitude detection module includes a six-axis motion sensor chip U5, model MPU-6050. Pin 24 of the six-axis motion sensor chip U5 is connected to one end of resistor R4, and the other end of resistor R4 is connected to pin 10 of microcontroller U1 and one end of resistor R5. Pin 23 of the six-axis motion sensor chip U5 is connected to one end of resistor R14, and the other end of resistor R14 is connected to pin 11 of microcontroller U1 and one end of resistor R15. The other ends of resistor R5 and resistor R15 are connected to a 3.3V AC voltage terminal.

[0015] Furthermore, the upper and lower motor drive module includes a stepper driver chip U3, which is a TMC2209. Pin 9 of the stepper driver chip U3 is connected to pin 27 of the microcontroller U2, pin 10 of the stepper driver chip U3 is connected to pin 26 of the microcontroller U2, pin 16 of the stepper driver chip U3 is connected to pin 28 of the microcontroller U2, pin 3 of the stepper driver chip U3 is connected to the positive terminal of the B-phase winding of the upper and lower motors, pin 4 of the stepper driver chip U3 is connected to the negative terminal of the B-phase winding of the upper and lower motors, pin 5 of the stepper driver chip U3 is connected to the negative terminal of the B-phase winding of the upper and lower motors, and pin 6 of the stepper driver chip U3 is connected to the positive terminal of the A-phase winding of the upper and lower motors.

[0016] Furthermore, the left and right rotary motor drive module includes a stepper driver chip U4, which is a TMC2209. Pin 9 of the stepper driver chip U4 is connected to pin 40 of the microcontroller U2, pin 10 of the stepper driver chip U4 is connected to pin 39 of the microcontroller U2, pin 41 of the stepper driver chip U4 is connected to pin 28 of the microcontroller U2, pin 3 of the stepper driver chip U4 is connected to the positive terminal of the B-phase winding of the left and right rotary motor, pin 4 of the stepper driver chip U4 is connected to the negative terminal of the B-phase winding of the left and right rotary motor, pin 5 of the stepper driver chip U4 is connected to the negative terminal of the B-phase winding of the left and right rotary motor, and pin 6 of the stepper driver chip U4 is connected to the positive terminal of the A-phase winding of the left and right rotary motor.

[0017] Furthermore, the second attitude detection module is the same as the first attitude detection module. Therefore, the second attitude detection module includes a six-axis motion sensor chip U8. Pin 24 of the six-axis motion sensor chip U8 is connected to one end of resistor R7. The other end of resistor R7 is connected to pin 17 of microcontroller U2 and one end of resistor R8. Pin 23 of the six-axis motion sensor chip U8 is connected to one end of resistor R9. The other end of resistor R9 is connected to pin 16 of microcontroller U2 and one end of resistor R10. The other ends of resistor R8 and resistor R10 are connected to a 3.3V AC voltage terminal.

[0018] Beneficial effects:

[0019] (1) The crane camber measuring device proposed in this utility model can automatically and precisely adjust the horizontal and vertical directions of the equipment by setting a main control board and an electric gimbal, and cooperating with a high-precision tilt sensor and attitude detection module, eliminating the tedious operation of manually aligning the measuring points. The equipment achieves high-precision positioning of the gimbal by automatically adjusting the horizontal and vertical rotating motors, making the measurement process more convenient and reliable.

[0020] (2) The crane camber measuring device proposed in this utility model, compared with the existing manual gimbal adjustment scheme, utilizes tilt module, attitude detection module and high-precision drive control to maintain the stability of the equipment attitude during the measurement process. The device records the number of pulses of the deceleration motor and converts them into accurate rotation angle values. Combined with the data of the laser rangefinder, it ensures the accuracy and consistency of the camber measurement data, thereby effectively improving the measurement accuracy.

[0021] (3) The crane camber measuring device proposed in this utility model communicates with the mobile phone through the built-in WiFi module. Users can send control commands through the mobile phone to complete the remote adjustment of the gimbal and the alignment of the measuring point. This remote control function simplifies the user operation process, improves the portability and practicality of the device, and is suitable for real-time adjustment needs in different work scenarios.

[0022] (4) The crane camber measuring device proposed in this utility model integrates a main control module, attitude detection module, tilt angle detection module, up and down and left and right motor drive module and other functional modules. The system has a compact structure and small size. Compared with the traditional total station solution with a large volume, this device has higher integration and portability without sacrificing accuracy. It is suitable for fast and accurate camber measurement in scenarios with limited space. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of a crane camber measuring device proposed in this utility model;

[0025] Figure 2 This is a schematic diagram of the main module circuit of a crane camber measuring device proposed in this utility model;

[0026] Figure 3 This is a schematic diagram of the acquisition module of a crane camber measuring device proposed in this utility model;

[0027] Figure 4 This is a circuit diagram of the communication module of a crane camber measuring device proposed in this utility model;

[0028] Figure 5 This utility model provides a schematic diagram of the tilt angle module circuit for a crane camber measuring device.

[0029] Figure 6 This is a circuit diagram of the first posture detection module of a crane camber measuring device proposed in this utility model;

[0030] Figure 7 This utility model provides a schematic diagram of the drive mainboard circuit for a crane camber measuring device.

[0031] Figure 8 This is a circuit diagram of the second posture detection module of a crane camber measuring device proposed in this utility model;

[0032] Figure 9 This utility model provides a schematic diagram of the upper and lower motor drive module of a crane camber measuring device.

[0033] Figure 10 The schematic diagram of the left and right rotation motor drive module of the crane camber measuring device proposed in this utility model.

[0034] In the diagram, 1-main unit, 2-up and down motors, 3-left and right rotating motors, 4-lower base. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0036] Example 1

[0037] refer to Figure 1 A crane camber measuring device is disclosed. The device mainly consists of a main unit 1, upper and lower motors 2, left and right rotary motors 3, and a lower base 4. The main unit includes control and sensing modules responsible for data acquisition, attitude detection, tilt angle measurement, and communication. The upper and lower motors and the left and right rotary motors are responsible for the vertical and horizontal rotation of the main unit, respectively, to align it with the measurement point.

[0038] In this embodiment, the measuring device is driven and controlled by the upper and lower motors 2, which adjust the pitch angle of the main unit by controlling the vertical rotation. The precise control of these motors enables the device to quickly position itself to the required angle.

[0039] The left and right rotating motor 3 controls the horizontal rotation of the main equipment, enabling it to make precise angle adjustments in the horizontal plane.

[0040] The up-and-down motor 2 and the left-and-right rotary motor 3 are both controlled by the drive motherboard and drive module in the lower base 4. The microcontroller installed on the drive motherboard is an STM32F103C8T6, which is responsible for sending control commands to the motor drive module.

[0041] Attitude and tilt detection is achieved by the inclusion of an SCL3300 tilt sensor module and an MPU-6050 six-axis motion sensor chip in the host device. These components are used to detect the attitude and tilt information of the device in real time. The tilt module detects the tilt information of the host device to ensure that the angle remains accurate during the device adjustment process. The attitude detection module measures the motion state of the host device and feeds back the current position and angle data for precision control during the adjustment process.

[0042] Data acquisition and processing are achieved through an OV5640 CMOS image sensor module installed in the host device, which captures image data. The user aligns a laser rangefinder with the measurement point, the CMOS module records the measurement point data, and transmits the data to an STM32F407ZGt6 microcontroller for processing. The microcontroller calculates the device's rotation angle based on the motor's pulse count and, combined with the laser ranging data, ultimately obtains the camber measurement result.

[0043] Communication and remote control are achieved through a WiFi module (SPI_WIFI) on the host device, enabling communication with a mobile phone. Users send commands to the host device via their mobile phones to control the rotation and adjustment of the gimbal. Upon receiving the commands from the mobile phone, the main control microcontroller drives the up / down and left / right rotation motors to adjust the host device to the specified angle for alignment with the measurement point. After adjustment, the host device begins normal camber measurement and sends the measurement data back to the mobile phone in real time.

[0044] In this embodiment, during measurement, the user operates a 2D pan-tilt unit via a mobile phone, aiming the laser rangefinder on the pan-tilt unit at the key measurement points of the crane. The laser rangefinder acquires distance data, while the device records the number of motor pulses and converts them into rotation angles. The main control microcontroller combines and calculates these data to determine the crane's camber value.

[0045] This device combines a high-precision electric pan-tilt head, tilt sensor, and attitude detection module to achieve automatic and precise alignment of measurement points, as well as crane camber calculation based on laser ranging, ensuring the advantages of simple operation, high measurement accuracy, and flexible control.

[0046] Example 2

[0047] This embodiment proposes a specific circuit structure for a crane camber measuring device based on embodiment 1.

[0048] refer to Figures 2-10 A crane camber measuring device, the main unit of which is provided with a main unit module, a data acquisition module, a communication module, a tilt angle module and a first attitude detection module, the main unit module includes a microcontroller U1, the microcontroller U1 model is STM32F407ZGt6, the microcontroller U1 is electrically connected to the data acquisition module, the communication module, the tilt angle module and the first attitude detection module respectively.

[0049] The lower base is equipped with a drive motherboard, a second posture detection module, an up-and-down motor drive module, and a left-and-right rotation motor drive module. The drive motherboard includes a microcontroller U2, which is an STM32F103C8T6. The microcontroller U2 is connected to the second posture detection module, the up-and-down motor drive module, and the left-and-right rotation motor drive module.

[0050] The acquisition module includes a CMOS chip M1, model OV5640. The external clock input of the CMOS chip M1 is connected to pin 3 of the crystal oscillator Y2. The power management terminal of the CMOS chip M1 is connected to pin 124 of the microcontroller U1. The reset terminal of the CMOS chip M1 is connected to pin 132 of the microcontroller U1. The SCCB clock line terminal of the CMOS chip M1 is connected to pin 122 of the microcontroller U1. The SCCB data signal terminal of the CMOS chip M1 is connected to pin 123 of the microcontroller U1. The vertical synchronization signal terminal of the CMOS chip M1 is connected to the microcontroller U1. Pin 137 of microcontroller U1 and the horizontal reference signal terminal of CMOS chip M1 are connected to pin 40 of microcontroller U1. The pixel clock signal terminal of CMOS chip M1 is connected to pin 42 of microcontroller U1. The image data output terminals Y2-Y9 of CMOS chip M1 are connected to pins 96-99, 112, 136, and 4-5 of microcontroller U1, respectively. In this embodiment, CMOS chip M1 is model OV5640, which is connected to multiple pins of microcontroller U1 for image acquisition and control. The external clock input terminal is connected to pin 3 of crystal oscillator Y2 to provide a clock signal and ensure the synchronization of image acquisition. Power management terminals and reset terminals are connected to microcontroller U1 for power-on management and reset control of the CMOS chip. The SCCB serial camera control bus clock line and data line are connected to microcontroller U1 to realize data interaction and configuration control with microcontroller. Vertical synchronization signal, horizontal reference signal, and pixel clock signal are connected to microcontroller to transmit image data synchronously frame by frame and line by line. The image data output terminals Y2-Y9 are connected to multiple pins of the microcontroller U1 to transmit the acquired image pixel data.

[0051] This module is primarily used for image acquisition. The OV5640 chip is responsible for capturing image data and transmitting it to the microcontroller U1 via a data interface. The microcontroller U1 processes and analyzes the images according to application requirements, thus realizing image capture and processing functions.

[0052] The communication module includes a WIFI chip U6, model number SPI_WIFI. Pin 1 of the WIFI chip U6 is connected to a 3.3V DC voltage terminal and one end of capacitor C49, with the other end of capacitor C49 grounded. Pin 2 of the WIFI chip U6 is connected to pin 133 of the microcontroller U1; pin 3 of the WIFI chip U6 is connected to pin 134 of the microcontroller U1; pin 4 of the WIFI chip U6 is connected to pin 135 of the microcontroller U1; pin 5 of the WIFI chip U6 is connected to pin 117 of the microcontroller U1; pin 6 of the WIFI chip U6 is connected to pin 116 of the microcontroller U1; and pin 9 of the WIFI chip U6 is connected to pin 14 of the microcontroller U1. The WIFI chip U6, model number SPI_WIFI, is connected to multiple pins of the microcontroller U1, with pin 1 connected to the 3.3V DC power supply to provide the operating voltage for the WiFi chip. The other pins are connected to the microcontroller U1 to achieve data transmission and communication control.

[0053] This module is used for wireless communication. It enables wireless data transmission through the SPI_WIFI chip. The connection between the microcontroller U1 and the WiFi chip allows the device to send data to remote devices (such as mobile phones or computers) to achieve remote monitoring and control.

[0054] The tilt module includes a tilt sensor chip U7, which is model SCL3300. Pin 5 of the tilt sensor chip U7 is connected to pin 73 of the microcontroller U1, pin 6 of the tilt sensor chip U7 is connected to pin 76 of the microcontroller U1, pin 8 of the tilt sensor chip U7 is connected to pin 74 of the microcontroller U1, and pin 7 of the tilt sensor chip U7 is connected to pin 75 of the microcontroller U1. The tilt sensor chip U7, model SCL3300, is connected to multiple pins of the microcontroller U1. Different pins connected to the microcontroller U1 enable data transmission and control.

[0055] Functional principle: This module is used to detect the tilt angle of the device. The SCL3300 tilt sensor chip calculates the current tilt angle of the device by measuring the change in the direction of gravitational acceleration and transmits the data to the microcontroller U1 for real-time feedback in attitude control and angle calibration.

[0056] The first attitude detection module includes a six-axis motion sensor chip U5, model MPU-6050. Pin 24 of the six-axis motion sensor chip U5 is connected to one end of resistor R4. The other end of resistor R4 is connected to pin 10 of microcontroller U1 and one end of resistor R5. Pin 23 of the six-axis motion sensor chip U5 is connected to one end of resistor R14. The other end of resistor R14 is connected to pin 11 of microcontroller U1 and one end of resistor R15. The other ends of resistors R5 and R15 are connected to a 3.3V AC voltage terminal. The six-axis motion sensor chip U5, model MPU-6050, is connected to multiple pins of microcontroller U1 and connected to the voltage terminal through resistors. The pins of the chip are connected to resistors and then to different pins of microcontroller U1 for sensor data acquisition and processing.

[0057] This module is used to detect the equipment's three-axis acceleration and three-axis angular velocity. The MPU-6050 sensor provides motion information for the equipment; the six-axis data is processed and transmitted to the microcontroller U1 for attitude recognition and motion state analysis. By fusing tilt angle and motion information, accurate control of the equipment's attitude is achieved.

[0058] The upper and lower motor drive module includes a stepper driver chip U3, model TMC2209. Pin 9 of stepper driver chip U3 is connected to pin 27 of microcontroller U2, pin 10 of stepper driver chip U3 is connected to pin 26 of microcontroller U2, pin 16 of stepper driver chip U3 is connected to pin 28 of microcontroller U2, pin 3 of stepper driver chip U3 is connected to the positive terminal of phase B winding of upper and lower motors, pin 4 of stepper driver chip U3 is connected to the negative terminal of phase B winding of upper and lower motors, pin 5 of stepper driver chip U3 is connected to the negative terminal of phase B winding of upper and lower motors, and pin 6 of stepper driver chip U3 is connected to the positive terminal of phase A winding of upper and lower motors. Stepper driver chip U3, model TMC2209, is connected to microcontroller U2 and controls the two phase windings of the upper and lower motors. Each pin is connected to a different pin of the microcontroller U2 to transmit stepper motor control signals. The chip is connected to the positive and negative ends of the motor windings to control the on / off state of the motor phase windings and drive the motor to run.

[0059] This module uses a stepper driver chip to control the precise positioning of the up and down motors. The TMC2209 chip controls the stepping direction and step distance of the motors according to the control signals sent by the microcontroller U2, so as to achieve precise up and down movement and adjust the vertical angle of the device.

[0060] The left and right rotary motor drive module includes a stepper driver chip U4, model TMC2209. Pin 9 of stepper driver chip U4 is connected to pin 40 of microcontroller U2; pin 10 of stepper driver chip U4 is connected to pin 39 of microcontroller U2; pin 41 of stepper driver chip U4 is connected to pin 28 of microcontroller U2; pin 3 of stepper driver chip U4 is connected to the positive terminal of phase B winding of the left and right rotary motor; pin 4 of stepper driver chip U4 is connected to the negative terminal of phase B winding of the left and right rotary motor; pin 5 of stepper driver chip U4 is connected to the negative terminal of phase B winding of the left and right rotary motor; and pin 6 of stepper driver chip U4 is connected to the positive terminal of phase A winding of the left and right rotary motor. Stepper driver chip U4, model TMC2209, is connected to microcontroller U2 and controls the two phase windings of the left and right rotary motor. Its pins are connected to different pins of microcontroller U2 and the positive and negative terminals of the motor windings, thus realizing the transmission of stepper motor control signals.

[0061] This module controls the movement of the left and right rotary motors. The TMC2209 chip receives control signals from the microcontroller U2 and adjusts the on / off state of the motor's phase windings to achieve precise horizontal rotation. By controlling the left and right directions, the horizontal angle of the equipment can be precisely adjusted.

[0062] The second attitude detection module is the same as the first attitude detection module. Therefore, the second attitude detection module includes a six-axis motion sensor chip U8. Pin 24 of the six-axis motion sensor chip U8 is connected to one end of resistor R7. The other end of resistor R7 is connected to pin 17 of microcontroller U2 and one end of resistor R8. Pin 23 of the six-axis motion sensor chip U8 is connected to one end of resistor R9. The other end of resistor R9 is connected to pin 16 of microcontroller U2 and one end of resistor R10. The other ends of resistor R8 and resistor R10 are connected to a 3.3V AC voltage terminal.

[0063] This module is used for redundant attitude detection. Similar to the first attitude detection module, it captures the device's acceleration and angular velocity data through a six-axis sensor. The data is acquired by the microcontroller U2 and used for attitude monitoring to ensure the stability and accuracy of the device under different conditions.

[0064] It should be clarified that this embodiment also involves supporting circuits such as power supply circuits, DC 5V to DC 3.3V circuits, AC 5V to AC 3.3V circuits, reset circuits, crystal oscillator circuits, decoupling circuits, DC 12V to DC 5V circuits, and AC 12V to AC 5V circuits. However, these circuits are widely used in electronic design and their designs are relatively mature, usually following standard design specifications. Therefore, their implementation methods and working principles are well known and do not need to be elaborated in this solution.

[0065] Furthermore, the primary function of these circuits is to provide power, voltage conversion, clock signals, and stable operation support for core modules in the system, such as the CMOS acquisition module, communication module, tilt module, and motor drive module. They do not directly participate in the main data acquisition, transmission, and control logic; they are auxiliary support circuits. To make the main design goals and functional logic of the scheme clearer and avoid becoming verbose due to detailed descriptions of the basic circuits, this focus on the core modules and their interface design helps readers better understand the core functions and implementation logic of the scheme.

[0066] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A crane camber measuring device, characterized in that, It includes a main unit, up and down motors, left and right rotation motors, and a lower base. The main unit is connected to the up and down motors, the up and down motors are connected to the left and right rotation motors, and the up and down motors and the left and right rotation motors are electrically connected to the lower base. The host device includes a host module, a data acquisition module, a communication module, a tilt module, and a first attitude detection module. The host module includes a microcontroller U1, which is an STM32F407ZGt6. The microcontroller U1 is electrically connected to the data acquisition module, the communication module, the tilt module, and the first attitude detection module. The acquisition module includes a CMOS chip M1, model OV5640. The external clock input terminal of the CMOS chip M1 is connected to pin 3 of the crystal oscillator Y2. The power management terminal of the CMOS chip M1 is connected to pin 124 of the microcontroller U1. The reset terminal of the CMOS chip M1 is connected to pin 132 of the microcontroller U1. The SCCB clock line terminal of the CMOS chip M1 is connected to pin 122 of the microcontroller U1. The SCCB data signal terminal of the CMOS chip M1 is connected to pin 123 of the microcontroller U1. The vertical synchronization signal terminal of the CMOS chip M1 is connected to pin 137 of the microcontroller U1. The horizontal reference signal terminal of the CMOS chip M1 is connected to pin 40 of the microcontroller U1. The pixel clock signal terminal of the CMOS chip M1 is connected to pin 42 of the microcontroller U1. The image data output terminals Y2-Y9 of the CMOS chip M1 are connected to pins 96-99, 112, 136, and 4-5 of the microcontroller U1, respectively.

2. The crane camber measuring device according to claim 1, characterized in that, The lower base is equipped with a drive motherboard, a second posture detection module, an up-and-down motor drive module, and a left-and-right rotation motor drive module. The drive motherboard includes a microcontroller U2, which is an STM32F103C8T6. The microcontroller U2 is connected to the second posture detection module, the up-and-down motor drive module, and the left-and-right rotation motor drive module.

3. The crane camber measuring device according to claim 1, characterized in that, The communication module includes a WIFI chip U6, model number SPI_WIFI. Pin 1 of the WIFI chip U6 is connected to a 3.3V DC voltage terminal and one end of capacitor C49, with the other end of capacitor C49 grounded. Pin 2 of the WIFI chip U6 is connected to pin 133 of the microcontroller U1. Pin 3 of the WIFI chip U6 is connected to pin 134 of the microcontroller U1. Pin 4 of the WIFI chip U6 is connected to pin 135 of the microcontroller U1. Pin 5 of the WIFI chip U6 is connected to pin 117 of the microcontroller U1. Pin 6 of the WIFI chip U6 is connected to pin 116 of the microcontroller U1. Pin 9 of the WIFI chip U6 is connected to pin 14 of the microcontroller U1.

4. The crane camber measuring device according to claim 1, characterized in that, The tilt module includes a tilt sensor chip U7, which is model SCL3300. Pin 5 of the tilt sensor chip U7 is connected to pin 73 of the microcontroller U1, pin 6 of the tilt sensor chip U7 is connected to pin 76 of the microcontroller U1, pin 8 of the tilt sensor chip U7 is connected to pin 74 of the microcontroller U1, and pin 7 of the tilt sensor chip U7 is connected to pin 75 of the microcontroller U1.

5. A crane camber measuring device according to claim 1, characterized in that, The first attitude detection module includes a six-axis motion sensor chip U5, model MPU-6050. Pin 24 of the six-axis motion sensor chip U5 is connected to one end of resistor R4. The other end of resistor R4 is connected to pin 10 of microcontroller U1 and one end of resistor R5. Pin 23 of the six-axis motion sensor chip U5 is connected to one end of resistor R14. The other end of resistor R14 is connected to pin 11 of microcontroller U1 and one end of resistor R15. The other ends of resistor R5 and resistor R15 are connected to a 3.3V AC voltage terminal.

6. A crane camber measuring device according to claim 2, characterized in that, The upper and lower motor drive module includes a stepper driver chip U3, model TMC2209. Pin 9 of the stepper driver chip U3 is connected to pin 27 of the microcontroller U2, pin 10 of the stepper driver chip U3 is connected to pin 26 of the microcontroller U2, pin 16 of the stepper driver chip U3 is connected to pin 28 of the microcontroller U2, pin 3 of the stepper driver chip U3 is connected to the positive terminal of the B-phase winding of the upper and lower motors, pin 4 of the stepper driver chip U3 is connected to the negative terminal of the B-phase winding of the upper and lower motors, pin 5 of the stepper driver chip U3 is connected to the negative terminal of the B-phase winding of the upper and lower motors, and pin 6 of the stepper driver chip U3 is connected to the positive terminal of the A-phase winding of the upper and lower motors.

7. A crane camber measuring device according to claim 2, characterized in that, The left and right rotary motor drive module includes a stepper driver chip U4, model TMC2209. Pin 9 of the stepper driver chip U4 is connected to pin 40 of the microcontroller U2, pin 10 of the stepper driver chip U4 is connected to pin 39 of the microcontroller U2, pin 41 of the stepper driver chip U4 is connected to pin 28 of the microcontroller U2, pin 3 of the stepper driver chip U4 is connected to the positive terminal of the B-phase winding of the left and right rotary motor, pin 4 of the stepper driver chip U4 is connected to the negative terminal of the B-phase winding of the left and right rotary motor, pin 5 of the stepper driver chip U4 is connected to the negative terminal of the B-phase winding of the left and right rotary motor, and pin 6 of the stepper driver chip U4 is connected to the positive terminal of the A-phase winding of the left and right rotary motor.

8. A crane camber measuring device according to claim 2, characterized in that, The second attitude detection module is the same as the first attitude detection module. Therefore, the second attitude detection module includes a six-axis motion sensor chip U8. Pin 24 of the six-axis motion sensor chip U8 is connected to one end of resistor R7. The other end of resistor R7 is connected to pin 17 of microcontroller U2 and one end of resistor R8. Pin 23 of the six-axis motion sensor chip U8 is connected to one end of resistor R9. The other end of resistor R9 is connected to pin 16 of microcontroller U2 and one end of resistor R10. The other ends of resistor R8 and resistor R10 are connected to a 3.3V AC voltage terminal.

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