The invention provides a hoisting equipment load posture recognition method and system, and belongs to the technical field of hoisting equipment load posture recognition. In the process that hoisting equipment hoists a load, in order to carry out anti-swing control on the load, a load posture needs to be obtained. At present, load posture acquisition through a mechanical sensor has the problems of steel wire rope twisting, guide wheel clamping stagnation and the like, and load posture acquisition is affected. In the hoisting process, the hoisting point coordinate system is determined by taking the hoisting point as an original point, and the rotation angle of the load rotating around the hoisting point coordinate system is obtained, so that the position of the load in the hoisting point coordinate system is determined. And then rotating conversion of positions between the two coordinate systems can be realized by utilizing an included angle between corresponding coordinate axes of the control coordinate system and the lifting point coordinate system, so that a load position under the lifting point coordinate system is converted to be under the control coordinate system, and a load attitude is further obtained. According to the invention, an additional mechanical connection structure is not needed, the problems of mechanical structure clamping stagnation and the like are avoided, and safe identification of the load attitude can be realized.
本发明提供了一种起重设备负载姿态识别方法及系统,属于起重设备负载姿态识别技术领域。在起重设备吊装负载过程中,为对负载进行防摇摆控制,需要得到负载姿态。目前通过机械传感器获取负载姿态存在钢丝绳绞死、导向轮卡滞等问题,影响负载姿态获取。本发明在吊装过程中,以吊点为原点确定吊点坐标系,获取负载围绕吊点坐标系旋转时的旋转角,从而确定负载在吊点坐标系中的位置。然后利用控制坐标系与吊点坐标系对应坐标轴之间的夹角,能够实现两个坐标系之间的位置的旋转变换,从而将吊点坐标系下的负载位置转换到控制坐标系下,进而得到负载姿态。本发明无需设置额外的机械连接结构,避免了机械结构卡滞等问题,能够实现负载姿态的安全识别。
Method and system for identifying load posture of hoisting equipment
一种起重设备负载姿态识别方法及系统
2023-07-25
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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