TOA positioning-based crane work control method and application thereof

Abstract

The invention discloses a TOA positioning-based crane work control method and application thereof, and the method comprises the following steps: arranging a plurality of UWB base stations on a work site, and configuring corresponding UWB positioning labels on work parts and obstacles of a crane; distance information of working parts of all cranes and obstacles is obtained through a UWB base station; based on the TOA positioning technology, real-time space positions of working parts of the crane and obstacles are obtained; performing inversion on the position of each working part of the crane to obtain attitude information when the crane works; according to the attitude information of the crane and the spatial position information of each obstacle, constructing a three-dimensional digital twinborn model corresponding to the crane and the site where the crane is located; and according to the relative position between the crane and the obstacle in the model, the operation of the crane is intervened or an early warning signal is sent out according to a preset condition. According to the invention, the crane can be effectively prevented from colliding with obstacles in the operation process, and accidents of collision injury to operators and equipment damage on an operation site are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of lifting equipment, and in particular relates to a crane operation control method based on TOA positioning and an application thereof. Background Art

[0002] As basic equipment supporting the operation of the national economy, lifting and transportation equipment is widely used in industrial and mining enterprises, ports and terminals, aerospace and other industrial sectors. As the "heavy weapons of a great power", super-large lifting and transportation equipment is the core equipment supporting national strategic projects such as nuclear power, wind power, and petrochemicals.

[0003] For lifting and transporting equipment, accident-free, safe and stable operation is the most critical task of the crane system. However, when operators control the operation of lifting and transporting equipment, they often fail to observe obstacles or people in the surrounding environment in time, which can easily lead to collision accidents, resulting in casualties and property losses. Summary of the invention

[0004] To solve the above problems, the present invention provides a crane work control method based on TOA positioning and its application, which can effectively intervene and warn the operation of the crane, effectively prevent crane collision accidents, and reduce personnel injuries and equipment damage caused by crane collisions at the construction site.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is: a crane operation control method based on TOA positioning, comprising:

[0006] S1: deploy several UWB base stations at the work site, and configure corresponding UWB positioning tags on the working parts and obstacles of the crane;

[0007] S2: Obtain the distance information from the base station to the working parts of each crane and obstacles through the UWB base station;

[0008] S3: Based on the distance information and spatial position information obtained by the UWB base station and the TOA positioning technology, the real-time spatial position information of the working parts of each crane and obstacles is obtained;

[0009] S4: Invert the positions of the working parts of the crane to obtain the real-time posture information of the crane when it is working;

[0010] S5: Based on the real-time posture information of the crane and the real-time spatial position information of each obstacle, a three-dimensional digital twin model corresponding to the crane and its site is constructed;

[0011] S6: According to the relative position between the crane and each obstacle in the model, the operation of the crane is intervened or a warning signal is issued according to the preset conditions.

[0012] As a possible implementation, further, in step S1, the UWB base stations are divided into two layers, upper and lower layers, which are staggered, and the UWB base stations on the same layer are arranged at the same height;

[0013] The working parts of the crane include a boom, a load trolley, and a hook; the obstacles include on-site workers, cargo, and equipment;

[0014] The UWB positioning tags are all marked with a unique identification code, through which the identity information of the working parts of the crane and the obstacles can be identified; and the identity information of each obstacle is associated with its spatial size information, and the spatial size information corresponding to the obstacle can be obtained through the identity information of the obstacle;

[0015] The spatial dimension information of the obstacle includes the maximum length, width and height of the obstacle.

[0016] As a possible implementation, further, in step S2, the distance information from the base station to the working parts and obstacles of each crane is obtained through the UWB base station; specifically, the steps include:

[0017] S2.1: Based on the distance information of the working parts and obstacles of each crane obtained by each UWB base station, the distance data sets of the upper and lower layers of UWB base stations about each identity code object are constructed respectively;

[0018] S2.2: Filter out four distance data sets from the distance data sets obtained from the upper and lower UWB base stations as feature distance data sets corresponding to the identity code objects;

[0019] The four distance data selected must meet the following conditions:

[0020] a) The four distance data do not belong to the distance data obtained by the UWB base station on the same layer at the same time;

[0021] b) On the basis of satisfying condition a), four distance data with the smallest sum are selected from the distance data sets obtained from the upper and lower UWB base stations.

[0022] As a possible implementation, further, in step S3, according to the distance information and spatial position information obtained by the UWB base station, and based on the TOA positioning technology, the real-time spatial position information of the working parts of each crane and the obstacles is obtained; specifically, the following steps are included:

[0023] S3.1: Establish a three-dimensional coordinate system with the ground at the work site as the plane where the x-axis and y-axis are located, and obtain the spatial coordinate information of each UWB base station;

[0024] S3.2: The working parts and obstacles of each crane are obtained through their corresponding characteristic distance data sets and the spatial coordinate information of the UWB base station corresponding to each distance data in the characteristic distance data sets, based on the TOA positioning technology to obtain the real-time spatial position information of the working parts and obstacles of each crane.

[0025] As a possible implementation, further, step S3.2 specifically includes the following steps:

[0026] S3.21: According to the characteristic distance data set of the working parts of the crane and the obstacles, the spatial coordinate information of the UWB base station corresponding to each distance data in the characteristic distance data set is obtained;

[0027] S3.22: Establish four spatial spheres with the four distance data in the characteristic distance data set as the radius and the spatial coordinate positions of the UWB base stations corresponding to the four distance data as the center;

[0028] S3.23: Determine whether the outer surfaces of the four spheres intersect at a point. If so, use the coordinates of the point as the coordinate position of the object corresponding to the feature distance data set;

[0029] If not, locate the intersection area of ​​the four spheres, label each corner point in the intersection area, obtain the coordinate information of each corner point in the intersection area, and then fit the coordinate information of all corner points, and use the fitted coordinates as the coordinate position of the object corresponding to the feature distance data set;

[0030] The fitting method of the corner point coordinate information is as follows:

[0031]

[0032] In the above formula, X, Y, and Z represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the object corresponding to the feature distance dataset, respectively; N represents the number of corner points in the intersection area; x i ,y i 、z i Respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the i-th corner point in the intersection area;

[0033] The fitting coordinate point (X, Y, Z) is obtained by the above formula, and the fitted coordinate is used as the coordinate position of the object corresponding to the feature distance data set.

[0034] As a possible implementation, further, in step S4, the posture information of each working component of the crane is obtained through the spatial position information of each working component of the crane, and the posture information includes displacement and rotation angle.

[0035] As a possible implementation, further, in the three-dimensional digital twin model of step S5, a three-dimensional model of the crane is constructed according to the structure and size information of the crane; a three-dimensional model of the obstacle is constructed according to the spatial size information of the obstacle;

[0036] The crane in the three-dimensional digital twin model performs corresponding actions according to the real-time posture information of each working part; the obstacles in the three-dimensional digital twin model move according to the real-time spatial position information.

[0037] As a possible implementation, further, in step S6, according to the relative positions between the crane and each obstacle in the model, the operation of the crane is intervened or a warning signal is issued according to preset conditions; specifically, it includes:

[0038] 1) According to the identity information identified by the identity code on the obstacle, the obstacles are divided into restricted objects and non-restricted objects;

[0039] Establish fence boundaries in the model based on the maximum length and width information of restricted objects and non-restricted objects to form an operation restriction area;

[0040] When the object corresponding to the operation restriction area is a restricted object, the operation of the crane is intervened to ensure that the crane hook and suspended objects do not enter the operation restriction area of ​​the restricted object;

[0041] When the object corresponding to the operation restriction area is a non-restricted object, it is determined whether the height of the crane hook and the suspended object at the current moment is greater than the maximum height of the non-restricted object. If not, the operation of the crane is intervened to ensure that the crane hook and the suspended object do not enter the operation restriction area of ​​the non-restricted object. If so, the operation restriction is lifted to allow the crane hook and the suspended object to enter the operation restriction area of ​​the non-restricted object.

[0042] 2) According to the spatial coordinate positions of the high-frequency collision parts of the crane and the obstacles, the distance between the high-frequency collision parts and the obstacles is calculated. When the distance between the high-frequency collision parts and the obstacles is less than the set distance threshold, an early warning prompt is issued.

[0043] As a possible implementation mode, further, the restricted objects include operating personnel and mobile equipment, and the non-restricted objects include fixed equipment and site cargo; the high-frequency collision parts of the crane include the boom, hook, and suspended cargo.

[0044] The present invention also provides a crane operation control system based on TOA positioning, which applies the above control method, and the system comprises:

[0045] UWB positioning tags are installed on the working parts and obstacles of the crane, and each UWB positioning tag is marked with a unique identification code;

[0046] UWB base station, used to obtain distance information from the base station to the working parts of each crane and obstacles;

[0047] The TOA positioning unit is used to obtain the real-time spatial position information of the working parts of each crane and obstacles based on the distance information and spatial position information obtained by the UWB base station;

[0048] The attitude acquisition unit is used to invert the positions of the working parts of the crane to obtain the real-time attitude information of the crane when it is working;

[0049] A model building unit is used to build a three-dimensional digital twin model corresponding to the crane and its site based on the real-time posture information of the crane and the real-time spatial position information of each obstacle;

[0050] A logic unit is used to intervene in the operation of the crane or control the early warning unit to issue an early warning signal according to the relative positions between the crane and various obstacles in the model according to preset conditions;

[0051] The early warning unit is used to send out early warning information in the form of sound and / or text and / or image.

[0052] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0053] 1) The present invention has good feedback assistance capability for crane operation control, can implement work operation intervention and early warning when the crane is working on site, can effectively prevent crane collision accidents, and reduce personnel injuries and equipment damage caused by crane collisions on construction sites, and is suitable for further promotion and application.

[0054] 2) The present invention obtains the real-time spatial position information of the working parts and obstacles of each crane based on TOA technology. Since the UWB base station will have a certain loss in the process of signal propagation, the measured data will have a certain deviation. The present invention corrects the positioning coordinates by fitting the coordinate information, thereby effectively improving the accuracy of the coordinate positioning of the working parts and obstacles of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1It is a schematic diagram of a brief implementation process of a crane work control method based on TOA positioning of the present invention;

[0057] Figure 2 This is a schematic diagram of the intersection area of ​​four spheres; (the numbered positions in the figure are the corner points)

[0058] Figure 3 A schematic diagram of a computer-readable storage medium provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0060] See attached Figure 1 As shown, this embodiment provides a crane operation control method based on TOA positioning, including:

[0061] S1: Arrange several UWB base stations at the work site, and configure corresponding UWB positioning tags on the working parts and obstacles of the crane. The UWB base stations are divided into two layers, staggered, and the UWB base stations on the same layer are arranged at the same height;

[0062] The working parts of the crane include the boom, load trolley, hook, etc.; obstacles include on-site workers, cargo, and equipment;

[0063] The UWB positioning tags are marked with a unique identification code, which can be used to identify the identity information of the crane's working parts and obstacles; and the identity information of each obstacle is associated with its spatial dimension information, and the spatial dimension information corresponding to the obstacle can be obtained through the obstacle's identity information; the obstacle's spatial dimension information includes the obstacle's maximum length, width, and height.

[0064] S2: Obtain the distance information from the base station to the working parts of each crane and obstacles through the UWB base station; specifically includes the following steps:

[0065] S2.1: Based on the distance information of the working parts and obstacles of each crane obtained by each UWB base station, the distance data sets of the upper and lower layers of UWB base stations about each identity code object are constructed respectively;

[0066] S2.2: Filter out four distance data from the distance data sets obtained from the upper and lower UWB base stations as the characteristic distance data sets corresponding to the identity code object; the four distance data selected must meet the following conditions:

[0067] a) The four distance data do not belong to the distance data obtained by the UWB base station on the same layer at the same time;

[0068] b) On the basis of satisfying condition a), four distance data with the smallest sum are selected from the distance data sets obtained from the upper and lower UWB base stations. For ease of understanding, an example is given here to illustrate, for example:

[0069] The distance data set obtained by the upper UWB base station is {1,2,1,1}, and the distance data set obtained by the lower UWB base station is {3,3,4,4}, that is, when the four distance data do not belong to the distance data obtained by the UWB base station on the same layer at the same time, the four distance data with the smallest sum are 1, 1, 1, 3 (3 belongs to the data obtained by the lower UWB); that is, when selecting distance data, the distance data obtained by the upper and lower UWB base stations must be selected.

[0070] S3: According to the distance information and spatial position information obtained by the UWB base station, based on the TOA positioning technology, the real-time spatial position information of the working parts of each crane and obstacles is obtained; including the following steps:

[0071] S3.1: Establish a three-dimensional coordinate system with the ground at the work site as the x-axis and the y-axis as the plane (the z-axis in the three-dimensional coordinate system is the longitudinal direction), and obtain the spatial coordinate information of each UWB base station;

[0072] S3.2: The working parts and obstacles of each crane are obtained through the corresponding characteristic distance data set and the spatial coordinate information of the UWB base station corresponding to each distance data in the characteristic distance data set, based on the TOA positioning technology, and the real-time spatial position information of the working parts and obstacles of each crane is obtained, which specifically includes the following steps:

[0073] S3.21: According to the characteristic distance data set of the working parts of the crane and the obstacles, the spatial coordinate information of the UWB base station corresponding to each distance data in the characteristic distance data set is obtained;

[0074] S3.22: Establish four spatial spheres with the four distance data in the characteristic distance data set as the radius and the spatial coordinate positions of the UWB base stations corresponding to the four distance data as the center;

[0075] S3.23: Determine whether the outer surfaces of the four spheres intersect at a point. If so, use the coordinates of the point as the coordinate position of the object corresponding to the feature distance data set;

[0076] If not, locate the intersection area of ​​the four spheres and label each corner point in the intersection area (see attached Figure 2As shown), and obtain the coordinate information of each corner point in the intersection area, then fit the coordinate information of all corner points, and use the fitted coordinates as the coordinate position of the object corresponding to the feature distance data set;

[0077] The fitting method of the corner point coordinate information is as follows:

[0078]

[0079] In the above formula, X, Y, and Z represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the object corresponding to the feature distance dataset, respectively; N represents the number of corner points in the intersection area; x i ,y i 、z i Respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the i-th corner point in the intersection area;

[0080] The fitting coordinate point (X, Y, Z) is obtained by the above formula, and the fitted coordinate is used as the coordinate position of the object corresponding to the feature distance data set.

[0081] Since the UWB base station will experience certain losses during signal propagation, the measured data will have certain deviations. Correcting the positioning coordinates through the above-mentioned coordinate information fitting method can effectively improve the accuracy of the coordinate positioning of the crane's working parts and obstacles.

[0082] S4: Invert the positions of the working parts of the crane to obtain the real-time attitude information of the crane when it is working. Specifically, the attitude information of the working parts of the crane is obtained through the spatial position information of the working parts of the crane; wherein the attitude information includes displacement, rotation angle, inclination angle, etc. In this embodiment, the rotation angle, inclination angle and other related angle data of the crane can be obtained by connecting the coordinates of the working parts of the crane. The displacement of the working parts of the crane can be obtained by the change of the coordinate point position.

[0083] S5: Construct a three-dimensional digital twin model of the crane and the site where it is located based on the real-time posture information of the crane and the real-time spatial position information of each obstacle. In this embodiment, the three-dimensional digital twin model constructs the three-dimensional model of the crane based on the structure, size and other information of the crane; and constructs the three-dimensional model of the obstacle based on the spatial size information of the obstacle;

[0084] The crane in the 3D digital twin model performs corresponding actions according to the real-time posture information of each working part; the obstacles in the 3D digital twin model move according to the real-time spatial position information. The above method can be used to simulate the crane construction site. The operator can observe the position status of each obstacle and the crane through the 3D digital twin model to avoid collision accidents caused by improper operation.

[0085] S6: According to the relative position between the crane and each obstacle in the model, the operation of the crane is intervened or a warning signal is issued according to the preset conditions; specifically, it includes:

[0086] 1) According to the identity information identified by the identification code on the obstacle, the obstacle is divided into restricted objects and non-restricted objects; in this embodiment, the restricted objects include operators and mobile devices (mobile devices are usually operated by operators inside the device), and non-restricted objects include fixed equipment and site goods. Specifically, equipment that requires on-site operation by personnel can also be listed as restricted objects.

[0087] According to the maximum length and width information of restricted objects and non-restricted objects, a fence boundary is established in the model (the height of the fence boundary is greater than the height of the crane) to form an operation restriction area;

[0088] When the object corresponding to the operation restriction area is a restricted object, the crane operation intervention is carried out to ensure that the crane hook and suspended objects do not enter the operation restriction area of ​​the restricted object. This method can avoid casualties caused by accidental falling of the crane suspended objects.

[0089] When the object corresponding to the operation restriction area is a non-restricted object, it is determined whether the height of the crane hook and the suspended object at the current moment is greater than the maximum height of the non-restricted object. If not, the operation of the crane is intervened to ensure that the crane hook and the suspended object will not enter the operation restriction area of ​​the non-restricted object. If yes, the operation restriction is lifted to allow the crane hook and the suspended object to enter the operation restriction area of ​​the non-restricted object. The above method can prevent the crane and the suspended object on the crane from colliding with obstacles.

[0090] 2) According to the spatial coordinates of the high-frequency collision parts of the crane and the obstacles, the distance between the high-frequency collision parts and the obstacles is calculated. When the distance between the high-frequency collision parts and the obstacles is less than the set distance threshold, an early warning is issued; the early warning prompt method includes sound, text, image, etc. Through the above method, the operator can be given a timely early warning prompt to avoid crane collision accidents caused by operator negligence.

[0091] In this embodiment, the distance L between the high-frequency collision part and the obstacle is calculated as follows:

[0092]

[0093] Among them, (a, b, c) represents the spatial coordinates of the corresponding high-frequency collision parts; (A, B, C) represents the spatial coordinates of the corresponding obstacles.

[0094] This embodiment also provides a crane operation control system based on TOA positioning, and applies the crane operation control method based on TOA positioning. The system includes:

[0095] UWB positioning tags are installed on the working parts and obstacles of the crane, and each UWB positioning tag is marked with a unique identification code;

[0096] UWB base station, used to obtain distance information from the base station to the working parts of each crane and obstacles;

[0097] The TOA positioning unit is used to obtain the real-time spatial position information of the working parts of each crane and obstacles based on the distance information and spatial position information obtained by the UWB base station;

[0098] The attitude acquisition unit is used to invert the positions of the working parts of the crane to obtain the real-time attitude information of the crane when it is working;

[0099] A model building unit is used to build a three-dimensional digital twin model corresponding to the crane and its site based on the real-time posture information of the crane and the real-time spatial position information of each obstacle;

[0100] A logic unit is used to intervene in the operation of the crane or control the early warning unit to issue an early warning signal according to the relative positions between the crane and various obstacles in the model according to preset conditions;

[0101] The early warning unit is used to send out early warning information in the form of sound and / or text and / or image.

[0102] See attached Figure 3 As shown, an embodiment of the present invention also provides a computer-readable storage medium, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the crane work control method based on TOA positioning as described above.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0105] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A crane operation control method based on TOA positioning, characterized in that: include: S1: deploy several UWB base stations at the work site, and configure corresponding UWB positioning tags on the working parts and obstacles of the crane; S2: Obtain the distance information from the base station to the working parts of each crane and obstacles through the UWB base station; S3: Based on the distance information and spatial position information obtained by the UWB base station and the TOA positioning technology, the real-time spatial position information of the working parts of each crane and obstacles is obtained; S4: Invert the positions of the working parts of the crane to obtain the real-time posture information of the crane when it is working; S5: Based on the real-time posture information of the crane and the real-time spatial position information of each obstacle, a three-dimensional digital twin model corresponding to the crane and its site is constructed; S6: According to the relative position between the crane and each obstacle in the model, the operation of the crane is intervened or a warning signal is issued according to the preset conditions.

2. The crane operation control method based on TOA positioning according to claim 1 is characterized in that: In step S1, the UWB base stations are divided into two layers, the upper and lower layers are staggered, and the UWB base stations on the same layer are arranged at the same height; The working parts of the crane include a boom, a load trolley, and a hook; the obstacles include on-site workers, cargo, and equipment; The UWB positioning tags are all marked with a unique identification code, through which the identity information of the working parts of the crane and the obstacles can be identified; and the identity information of each obstacle is associated with its spatial size information, and the spatial size information corresponding to the obstacle can be obtained through the identity information of the obstacle; The spatial dimension information of the obstacle includes the maximum length, width and height of the obstacle.

3. The crane operation control method based on TOA positioning according to claim 2 is characterized in that: In step S2, the distance information from the base station to the working parts and obstacles of each crane is obtained through the UWB base station; specifically, the steps include: S2.1: Based on the distance information of the working parts and obstacles of each crane obtained by each UWB base station, the distance data sets of the upper and lower layers of UWB base stations about each identity code object are constructed respectively; S2.2: Filter out four distance data sets from the distance data sets obtained from the upper and lower UWB base stations as feature distance data sets corresponding to the identity code objects; The four distance data selected must meet the following conditions: a) The four distance data do not belong to the distance data obtained by the UWB base station on the same layer at the same time; b) On the basis of satisfying condition a), four distance data with the smallest sum are selected from the distance data sets obtained from the upper and lower UWB base stations.

4. The crane operation control method based on TOA positioning according to claim 3 is characterized in that: In step S3, the real-time spatial position information of the working parts and obstacles of each crane is obtained according to the distance information and spatial position information obtained by the UWB base station and based on the TOA positioning technology; specifically, the steps include: S3.1: Establish a three-dimensional coordinate system with the ground at the work site as the plane where the x-axis and y-axis are located, and obtain the spatial coordinate information of each UWB base station; S3.2: The working parts and obstacles of each crane are obtained through their corresponding characteristic distance data sets and the spatial coordinate information of the UWB base station corresponding to each distance data in the characteristic distance data sets, based on the TOA positioning technology to obtain the real-time spatial position information of the working parts and obstacles of each crane.

5. The crane operation control method based on TOA positioning according to claim 4 is characterized in that: Step S3.2 specifically includes the following steps: S3.21: According to the characteristic distance data set of the working parts of the crane and the obstacles, the spatial coordinate information of the UWB base station corresponding to each distance data in the characteristic distance data set is obtained; S3.22: Establish four spatial spheres with the four distance data in the characteristic distance data set as the radius and the spatial coordinate positions of the UWB base stations corresponding to the four distance data as the center; S3.23: Determine whether the outer surfaces of the four spheres intersect at a point. If so, use the coordinates of the point as the coordinate position of the object corresponding to the feature distance data set; If not, locate the intersection area of ​​the four spheres, label each corner point in the intersection area, obtain the coordinate information of each corner point in the intersection area, and then fit the coordinate information of all corner points, and use the fitted coordinates as the coordinate position of the object corresponding to the feature distance data set; The fitting method of the corner point coordinate information is as follows: In the above formula, X, Y, and Z represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the object corresponding to the feature distance dataset, respectively; N represents the number of corner points in the intersection area; Respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the i-th corner point in the intersection area; The fitting coordinate point (X, Y, Z) is obtained by the above formula, and the fitted coordinate is used as the coordinate position of the object corresponding to the feature distance data set.

6. The crane operation control method based on TOA positioning according to claim 1 is characterized in that: In step S4, the posture information of each working component of the crane is obtained through the spatial position information of each working component of the crane, and the posture information includes displacement and rotation angle.

7. The crane operation control method based on TOA positioning according to claim 1 is characterized in that: In the three-dimensional digital twin model of step S5, a three-dimensional model of the crane is constructed according to the structure and size information of the crane; a three-dimensional model of the obstacle is constructed according to the spatial size information of the obstacle; The crane in the three-dimensional digital twin model performs corresponding actions according to the real-time posture information of each working part; the obstacles in the three-dimensional digital twin model move according to the real-time spatial position information.

8. The crane operation control method based on TOA positioning according to claim 2 is characterized in that: In step S6, according to the relative positions between the crane and each obstacle in the model, the operation of the crane is intervened or a warning signal is issued according to preset conditions; specifically, the steps include: 1) According to the identity information identified by the identity code on the obstacle, the obstacles are divided into restricted objects and non-restricted objects; Establish fence boundaries in the model based on the maximum length and width information of restricted objects and non-restricted objects to form an operation restriction area; When the object corresponding to the operation restriction area is a restricted object, the operation of the crane is intervened to ensure that the crane hook and suspended objects do not enter the operation restriction area of ​​the restricted object; When the object corresponding to the operation restriction area is a non-restricted object, it is determined whether the height of the crane hook and the suspended object at the current moment is greater than the maximum height of the non-restricted object. If not, the operation of the crane is intervened to ensure that the crane hook and the suspended object do not enter the operation restriction area of ​​the non-restricted object. If so, the operation restriction is lifted to allow the crane hook and the suspended object to enter the operation restriction area of ​​the non-restricted object. 2) According to the spatial coordinate positions of the high-frequency collision parts of the crane and the obstacles, the distance between the high-frequency collision parts and the obstacles is calculated. When the distance between the high-frequency collision parts and the obstacles is less than the set distance threshold, an early warning prompt is issued.

9. The crane operation control method based on TOA positioning according to claim 8 is characterized in that: The restricted objects include operating personnel and mobile equipment, and the non-restricted objects include fixed equipment and site cargo; the high-frequency collision parts of the crane include the boom, hook, and suspended cargo.

10. A crane operation control system based on TOA positioning, characterized in that: Applying the control method according to any one of claims 1 to 9, the system comprises: UWB positioning tags are installed on the working parts and obstacles of the crane, and each UWB positioning tag is marked with a unique identification code; UWB base station, used to obtain distance information from the base station to the working parts of each crane and obstacles; The TOA positioning unit is used to obtain the real-time spatial position information of the working parts of each crane and obstacles based on the distance information and spatial position information obtained by the UWB base station; The posture acquisition unit is used to invert the positions of the working parts of the crane to obtain the real-time posture information of the crane when it is working; A model building unit, used to build a three-dimensional digital twin model corresponding to the crane and its site based on the real-time posture information of the crane and the real-time spatial position information of each obstacle; The logic unit is used to intervene in or control the operation of the crane according to preset conditions based on the relative positions between the crane and each obstacle in the model; the early warning unit is used to send out early warning prompt information in the form of sound and / or text and / or image.

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