Research On Key Technology Of Attitude Monitoring Of Hydraulic Gantry Crane Based On Multi-Sensor Data Fusion

In the construction of modern infrastructure,cranes have been widely used,and with the complexity of the construction environment and the large size of the construction objects,the joint lifting of multiple cranes has become a better choice.However,in the actual working process,it is difficult for multiple cranes to achieve the ideal coordination state,which leads to uneven load distribution among cranes,and in severe cases,it may cause vicious production accidents such as suspending rope breakage and crane overturning.Therefore,it is necessary to design a corresponding safety monitoring system to prevent dangers.In this paper,a set of attitude monitoring system based on multi-sensor data fusion is designed for the working condition of using two hydraulic gantry cranes to hoist shield equipment.The related work is as follows:First,the literature is reviewed to summarize the development status of crane monitoring system and multi-sensor data fusion,and related theoretical introduction and research are carried out in combination with the lifting operation conditions of hydraulic gantry cranes.Specifically,the theory of inertial coordinates is introduced,the skewed state of the sling is calculated by the attitude angle,the force condition is analyzed according to the necessary and sufficient conditions of the balance of the arbitrary force system in space,and the overturning danger is analyzed by using the stability coefficient method.In addition,in order to give full play to the advantages of each sensor,a two-stage EKF algorithm is used to fuse the data of the gyroscope,accelerometer and magnetometer to solve the attitude angle.Secondly,the functional requirements of the monitoring system are analyzed,and the system is divided into three modules: acquisition,reception and display to design related hardware and software.In the hardware system,STM32F103C8T6 is used as the control core,JY901 is used for the sensor,and the DL-LN32 P module based on the ZigBee protocol is used for wireless communication,the related circuit is designed,and the PCB board is drawn and welded.In the software system,the driver program,attitude calculation algorithm and wireless communication program of the sensor are written based on the Keil platform using C language,and Py Qt5 is used on the PC side of the host computer to make a graphical interface to display and store the collected data in real time and warn in dangerous situations.Finally,the performance of the data fusion algorithm and the operation of the monitoring system were tested under laboratory conditions.Under static,horizontal motion and dynamic conditions,the results of the Kalman filter algorithm are analyzed,and the results show that the Kalman filter algorithm can effectively suppress noise and meet the attitude monitoring requirements of hydraulic gantry cranes.And an experimental platform was built to simulate the lifting operation.The operation test results show that the system can run stably,and can display the status and stability coefficient of the hoisting rope and warn in dangerous situations,which can be used for lifting monitoring of hydraulic gantry cranes.