A tower crane shaft position calibration method, controller, device and storage medium

Abstract

The embodiment of the present invention provides a method, controller, device and storage medium for calibrating the axis position of a tower crane, the method comprising: obtaining the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme position of each axis of the tower crane; obtaining the axis coordinates of the extreme position of each axis of the tower crane according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane; obtaining the calibration relationship of the axis position of the tower crane according to the axis coordinates and the count values; obtaining the position of each axis of the tower crane according to the calibration relationship using the encoder count values ​​of each axis during the movement of the tower crane. The technical solution of the present invention realizes obtaining the axis coordinates of the extreme position of each axis of the tower crane using the RTK coordinates of centimeter-level positioning corresponding to the extreme position of each axis, realizes automatic calibration, measures distance and angle in the tower crane scene, improves accuracy and efficiency, and is particularly important for scenes that require recalibration such as tower crane lifting.

Description

Technical Field

[0001] The invention relates to the field of intelligent control, and in particular to a tower crane shaft position calibration method, a controller, a device and a storage medium. Background Art

[0002] In order for a tower crane to complete intelligent (automatic) driving, the movement of each joint axis of the tower crane must be digitized and mapped with the real measured spatial coordinates (generally RTK coordinates).

[0003] The movement of the tower crane is the movement of each joint axis of the tower crane, and these movements are recorded by various encoders. The movement of each axis can be considered as a rotation around a certain axis, or as a movement along a certain axis. For example, the movement of the boom can be considered as a rotation around a certain axis, hereinafter referred to as slewing; the movement of the trolley can be considered as a movement along the boom, hereinafter referred to as amplitude variation; the movement of the hook can be considered as a movement along the direction of the lifting rope (vertical direction), hereinafter referred to as lifting. How does the count of the rotary axis encoder represent its rotation angle; how does the count of the amplitude variation axis encoder represent its amplitude variation; how does the count of the lifting axis encoder represent the amount of lifting. Establishing these mapping relationships is a necessary condition for the machine to replace the tower crane driver.

[0004] In the prior art, the above mapping relationship is established by measuring the distance and angle on a real tower crane. However, measuring the relevant distance and angle on a real tower crane is not only difficult but also inaccurate. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a method, controller, device and storage medium for calibrating the axis position of a tower crane, the method comprising: obtaining the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme position of each axis of the tower crane; obtaining the axis coordinates of the extreme position of each axis of the tower crane according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane; obtaining the calibration relationship of the axis position of the tower crane according to the axis coordinates and the count values; obtaining the position of each axis of the tower crane according to the calibration relationship using the encoder count values ​​of each axis during the movement of the tower crane. The technical solution of the present invention realizes obtaining the axis coordinates of the extreme position of each axis of the tower crane using the RTK coordinates of the centimeter-level positioning corresponding to the extreme position of each axis, realizes automatic calibration, and improves the accuracy and efficiency of testing distance and angle in large outdoor scenes of tower cranes, which is particularly important for scenes that require recalibration such as tower crane lifting.

[0006] In the first aspect, an embodiment of the present invention provides a method for calibrating the axis position of a tower crane, comprising: obtaining the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme position of each axis of the tower crane; obtaining the axis coordinates of the extreme position of each axis of the tower crane according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane; obtaining a calibration relationship for the axis position of the tower crane according to the axis coordinates and the count values, so as to obtain the position of each axis of the tower crane according to the calibration relationship using the encoder count values ​​of each axis during the movement of the tower crane.

[0007] From the above, the axis coordinates of the extreme positions of each axis of the tower crane are obtained by using the RTK coordinates of the centimeter-level positioning corresponding to the extreme positions of each axis, and automatic calibration is realized, which improves the accuracy and efficiency of testing distances and angles in large outdoor scenes of tower cranes. This is especially important for scenes that require recalibration, such as tower crane lifting. In a possible implementation of the first aspect, the axis coordinates of the extreme positions of each axis of the tower crane are obtained according to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane, including: obtaining the WGS-84 coordinates of the ground center point of the tower base and the extreme positions of each axis of the tower crane according to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane; obtaining the axis coordinates of the extreme positions of each axis of the tower crane according to the WGS-84 coordinates.

[0008] From the above, the RTK coordinates of the center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane are converted into WGS-84 coordinates, and then the axis coordinates of the extreme positions of each axis of the tower crane are obtained, and the positioning accuracy of the RTK coordinates is maintained in the WGS-84 coordinates.

[0009] In a possible implementation manner of the first aspect, when calibrating the lifting axis, the two extreme positions of the lifting axis are the positions of the lifting axis corresponding to the hook being in the highest position and the lowest position, respectively; the method of obtaining the axis coordinates of the extreme positions of each axis of the tower crane according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane specifically includes: obtaining the axis coordinates of the two extreme positions of the lifting axis according to the RTK coordinates of the center point of the tower base ground and the height coordinates of the RTK coordinates of the hook when the lifting axis is in the two extreme positions; the method of obtaining the calibration relationship of the tower crane axis position according to the axis coordinates and the count value specifically includes: obtaining the calibration relationship of the lifting axis position according to the axis coordinates of the two extreme positions of the lifting axis and the count value of the lifting axis encoder when the lifting axis is in the two extreme positions.

[0010] From the above, the positions of the lifting shaft corresponding to the highest and lowest positions of the hook are taken as the limit positions of the lifting shaft to cover the calibration of various positions of various lifting shafts.

[0011] In a possible implementation manner of the first aspect, when calibrating the luffing axis, the two extreme positions of the luffing axis are the positions of the luffing axis corresponding to the shortest arm length and the longest arm length of the tower arm when the tower crane hook is at the highest position; the axis coordinates of the extreme positions of each axis of the tower crane are obtained according to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane, specifically including: obtaining the axis coordinates of the two extreme positions of the luffing axis according to the RTK coordinates of the ground center point of the tower base and the longitude and latitude coordinates in the RTK coordinates when the luffing axis is at the two extreme positions; the calibration relationship for obtaining the tower crane axis position according to the axis coordinates and the count value specifically includes: obtaining the calibration relationship for the luffing axis position according to the axis coordinates of the two extreme positions of the luffing axis and the count value of the luffing axis encoder when the luffing axis is at the two extreme positions.

[0012] From the above, the position of the luffing axis corresponding to the shortest arm length and the longest arm length of the tower arm is taken as the limit position of the luffing axis to cover the calibration of various positions of various luffing axes. When calibrating the luffing axis of the tower crane, the tower crane hook is located at the highest point to improve the accuracy of the calibration.

[0013] In a possible implementation manner of the first aspect, when calibrating the rotating axis, the two extreme positions of the rotating axis are the two extreme positions in the longitude direction or the two extreme positions in the latitude direction on the rotating circle passing through the center point of the tower base ground when the tower crane arm is at the longest arm length; the axis coordinates of the extreme positions of each axis of the tower crane are obtained according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane, specifically including: obtaining the axis coordinates of the two extreme positions of the rotating axis according to the RTK coordinates of the center point of the tower base ground and the longitude and latitude coordinates in the RTK coordinates when the rotating axis is at the two extreme positions; the calibration relationship for obtaining the tower crane axis position according to the axis coordinates and the count value specifically includes: obtaining the calibration relationship for the rotating axis position according to the axis coordinates of the two extreme positions of the rotating axis and the count value of the rotating axis encoder when the rotating axis is at the two extreme positions.

[0014] From the above, the extreme position of the longitude or latitude direction passing through the center point of the tower base on the rotation circle is used as the extreme position of the rotation axis to cover the calibration of various positions of various rotation axes. When calibrating the tower crane rotation axis, the tower crane arm is at the position corresponding to the longest arm length to improve the calibration accuracy.

[0015] In a possible implementation manner of the first aspect, when calibrating any axis of the tower crane, the other axes are in a stationary state.

[0016] From the above, when calibrating any axis of the tower crane, the other axes are in a stationary state, which improves the accuracy of the calibration.

[0017] In a possible implementation manner of the first aspect, when calibrating the tower crane slewing shaft, it also includes: obtaining an encoder count value of the slewing shaft corresponding to the limit position of the slewing shaft according to a calibration relationship of the slewing shaft.

[0018] From the above, the encoder count value of the slewing shaft corresponding to the limit position of the slewing shaft can be used to determine whether the tower crane is in the limit position during the movement of the tower crane.

[0019] In the second aspect, an embodiment of the present invention provides a tower crane controller, including: a data acquisition module, used to obtain the RTK coordinates of the ground center point of the tower base, the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme positions of each axis of the tower crane; an axis coordinate acquisition module, used to obtain the axis coordinates of the extreme positions of each axis of the tower crane according to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane; a coordinate calibration module, used to obtain a calibration relationship of the tower crane axis position according to the axis coordinates and the count values, so as to obtain the position of each axis of the tower crane according to the calibration relationship using the encoder count values ​​of each axis during the movement of the tower crane.

[0020] From the above, the axis coordinates of the extreme positions of each axis of the tower crane are obtained by using the RTK coordinates of the centimeter-level positioning corresponding to the extreme positions of each axis, and automatic calibration is realized, which improves the accuracy and efficiency of testing distances and angles in large outdoor scenes of tower cranes. This is especially important for scenes that require recalibration, such as tower crane lifting. In a possible implementation of the second aspect, the axis coordinate acquisition module is specifically used to include: obtaining the WGS-84 coordinates of the center point of the tower base ground and the extreme positions of each axis of the tower crane according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane; obtaining the axis coordinates of the extreme positions of each axis of the tower crane according to the WGS-84 coordinates.

[0021] From the above, the RTK coordinates of the center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane are converted into WGS-84 coordinates, and then the axis coordinates of the extreme positions of each axis of the tower crane are obtained, and the positioning accuracy of the RTK coordinates is maintained in the WGS-84 coordinates.

[0022] In a possible implementation of the second aspect, when calibrating the lifting axis, the two extreme positions of the lifting axis are the positions of the lifting axis corresponding to the hook being in the highest position and the lowest position respectively; the axis coordinate acquisition module is specifically used to obtain the axis coordinates of the two extreme positions of the lifting axis according to the RTK coordinates of the center point of the tower base ground and the height coordinates of the RTK coordinates of the hook when the lifting axis is in the two extreme positions; the coordinate calibration module is specifically used to obtain the calibration relationship of the lifting axis position according to the axis coordinates of the two extreme positions of the lifting axis and the count values ​​of the lifting axis encoder when the lifting axis is in the two extreme positions.

[0023] From the above, the positions of the lifting shaft corresponding to the highest and lowest positions of the hook are taken as the limit positions of the lifting shaft to cover the calibration of various positions of various lifting shafts.

[0024] In a possible implementation manner of the second aspect, when calibrating the luffing axis, the two extreme positions of the luffing axis are the positions of the luffing axis corresponding to the shortest arm length and the longest arm length of the tower arm when the tower crane hook is at the highest position; the axis coordinate acquisition module is specifically used to: obtain the axis coordinates of the two extreme positions of the luffing axis according to the RTK coordinates of the center point of the tower base ground and the longitude and latitude coordinates in the RTK coordinates when the luffing axis is at the two extreme positions; the coordinate calibration module is specifically used to: obtain the calibration relationship of the luffing axis position according to the axis coordinates of the two extreme positions of the luffing axis and the count values ​​of the luffing axis encoder when the luffing axis is at the two extreme positions.

[0025] From the above, the position of the luffing axis corresponding to the shortest arm length and the longest arm length of the tower arm is taken as the limit position of the luffing axis to cover the calibration of various positions of various luffing axes. When calibrating the luffing axis of the tower crane, the tower crane hook is located at the highest point to improve the accuracy of the calibration.

[0026] In a possible implementation of the second aspect, when calibrating the rotating axis, the two extreme positions of the rotating axis are the two extreme positions in the longitude direction or the two extreme positions in the latitude direction on the rotating circle passing through the center point of the tower base ground when the tower crane arm is at the longest arm length; the axis coordinate acquisition module is specifically used to: obtain the axis coordinates of the two extreme positions of the rotating axis according to the RTK coordinates of the center point of the tower base ground and the longitude and latitude coordinates in the RTK coordinates when the rotating axis is at the two extreme positions; the coordinate calibration module is specifically used to: obtain the calibration relationship of the rotating axis position according to the axis coordinates of the two extreme positions of the rotating axis and the count values ​​of the rotating axis encoder when the rotating axis is at the two extreme positions.

[0027] From the above, the extreme position of the longitude or latitude direction passing through the center point of the tower base on the rotation circle is used as the extreme position of the rotation axis to cover the calibration of various positions of various rotation axes. When calibrating the tower crane rotation axis, the tower crane arm is at the position corresponding to the longest arm length to improve the calibration accuracy.

[0028] In a possible implementation manner of the second aspect, when calibrating any axis of the tower crane, the other axes are in a stationary state.

[0029] From the above, when calibrating any axis of the tower crane, the other axes are in a stationary state, which improves the accuracy of the calibration.

[0030] In a possible implementation of the second aspect, when calibrating the tower crane's slewing shaft, the coordinate calibration module is further used to obtain an encoder count value of the slewing shaft corresponding to a limit position of the slewing shaft according to a calibration relationship of the slewing shaft.

[0031] From the above, the encoder count value of the slewing shaft corresponding to the limit position of the slewing shaft can be used to determine whether the tower crane is in the limit position during the movement of the tower crane.

[0032] In a third aspect, an embodiment of the present invention provides a computing device, comprising a bus; a communication interface connected to the bus; at least one processor connected to the bus; and at least one memory connected to the bus and storing program instructions, wherein when the program instructions are executed by the at least one processor, the at least one processor executes the method described in any embodiment of the first aspect.

[0033] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having program instructions stored thereon, wherein when the program instructions are executed by a computer, the computer executes the method described in any one of the embodiments of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flow chart of a first embodiment of a method for calibrating the position of a tower crane shaft according to the present invention;

[0035] Figure 2A It is a schematic flow chart of a lifting shaft calibration method in Embodiment 2 of a tower crane shaft position calibration method of the present invention;

[0036] Figure 2B It is a schematic flow chart of a method for calibrating a luffing shaft in Embodiment 2 of a method for calibrating the position of a tower crane shaft of the present invention;

[0037] Figure 2C It is a schematic flow chart of a rotary axis calibration method in Embodiment 2 of a tower crane axis position calibration method of the present invention;

[0038] Figure 3 It is a structural schematic diagram of a tower crane controller embodiment 1 of the present invention;

[0039] Figure 4 It is a structural schematic diagram of a tower crane controller embodiment 2 of the present invention;

[0040] Figure 5 Schematic diagram of the structure of the computing device according to various embodiments of the present invention. DETAILED DESCRIPTION

[0041] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0042] In the following description, the terms "first\second\third, etc." or module A, module B, module C, etc. are only used to distinguish similar objects, or to distinguish different embodiments, and do not represent a specific ordering of the objects. It can be understood that the specific order or sequence can be interchanged where permitted, so that the embodiments of the present invention described here can be implemented in an order other than that illustrated or described here.

[0043] In the following description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the previous and next steps can be interchanged, or they can be executed simultaneously.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0045] The embodiment of the present invention provides a method, controller, device and storage medium for calibrating the axis position of a tower crane, the method comprising: obtaining the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme position of each axis of the tower crane; obtaining the axis coordinates of the extreme position of each axis of the tower crane according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane; obtaining the calibration relationship of the axis position of the tower crane according to the axis coordinates and the count values; obtaining the position of each axis of the tower crane according to the calibration relationship using the encoder count values ​​of each axis during the movement of the tower crane. The technical solution of the present invention realizes obtaining the axis coordinates of the extreme position of each axis of the tower crane using the RTK coordinates of centimeter-level positioning corresponding to the extreme position of each axis, realizes automatic calibration, and improves the accuracy and efficiency of testing distance and angle in large outdoor scenes of tower cranes, which is particularly important for scenes that require recalibration such as tower crane lifting.

[0046] Let's first combine Figures 1 to 2C Various method embodiments of the present invention are introduced.

[0047] In a first embodiment of a method for calibrating the axis position of a tower crane, the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme position of each axis of the tower crane are obtained; the axis coordinates of the extreme position of each axis of the tower crane are obtained according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane; a calibration relationship for the axis position of the tower crane is obtained according to the axis coordinates and the count values; and the position of each axis of the tower crane is obtained according to the calibration relationship using the encoder count values ​​of each axis during the movement of the tower crane.

[0048] Figure 1 The flowchart of a first embodiment of a tower crane shaft position calibration method is shown, including steps S110 to S130.

[0049] S110: Obtain the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme positions of each axis of the tower crane.

[0050] The tower crane axis includes a lifting axis, an amplitude-changing axis and a slewing axis, which respectively lift the hook in height, change the arm length and slew the angle.

[0051] An encoder is installed on each axis to count the movement of the axis, and the position of the axis can be determined based on the count value.

[0052] Among them, RTK coordinates include longitude, latitude and altitude obtained by differential method, achieving centimeter-level outdoor positioning.

[0053] S120: Obtain axis coordinates of the extreme positions of the axes of the tower crane according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme positions of the axes of the tower crane.

[0054] In some embodiments, the RTK coordinates of the center point of the tower base and the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane are converted into WGS-84 coordinates, and then the axis coordinates of the extreme position of each axis of the tower crane are obtained according to the WGS-84 coordinates. In other embodiments, the RTK coordinates of the center point of the tower base and the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane are converted into coordinates of the world coordinate system, and then the axis coordinates of the extreme position of each axis of the tower crane are obtained according to the world coordinates.

[0055] In some embodiments, when calibrating the lifting axis, the two extreme positions of the lifting axis are the positions of the lifting axis corresponding to the hook being in the highest position and the lowest position, respectively; according to the RTK coordinates of the center point of the tower base ground and the height coordinates in the RTK coordinates of the hook when the lifting axis is in the two extreme positions, the axis coordinates of the two extreme positions of the lifting axis are obtained.

[0056] In some embodiments, when calibrating the luffing axis, the two extreme positions of the luffing axis are the positions of the luffing axis corresponding to the shortest arm length and the longest arm length of the tower arm when the tower crane hook is at the highest position; the axis coordinates of the two extreme positions of the luffing axis are obtained according to the RTK coordinates of the center point of the tower base ground and the longitude and latitude coordinates in the RTK coordinates when the luffing axis is at the two extreme positions.

[0057] In some embodiments, when calibrating the rotating axis, the two extreme positions of the rotating axis are the two extreme positions in the longitude direction or the two extreme positions in the latitude direction on the rotating circle passing through the center point of the tower base ground when the tower crane arm is at the longest arm length. They are the extreme positions determined from the longitude and latitude within 360 degrees of the rotating circle. The rotating circle is a circle drawn by the tower arm rotating one circle with the longest arm length as the radius. The axis coordinates of the two extreme positions of the rotating axis are obtained according to the RTK coordinates of the center point of the tower base ground and the longitude and latitude coordinates in the RTK coordinates when the rotating axis is at the two extreme positions.

[0058] S130: Obtain a calibration relationship of the tower crane axis position according to the axis coordinates of the extreme positions of each axis of the tower crane and the corresponding count values, so as to obtain the position of each axis of the tower crane using the encoder count values ​​of each axis during the movement of the tower crane.

[0059] Among them, the calibration relationship of the tower crane axis position is obtained by linearly changing the axis coordinates of the extreme positions of each axis of the tower crane and the corresponding count values. The relationship includes the calibration relationship of the lifting axis, the calibration relationship of the variable axis and the calibration relationship of the rotary axis, and each axis is calibrated separately.

[0060] In some embodiments, when one of the axes is calibrated, the other two axes are at rest.

[0061] In some embodiments, when calibrating the lifting shaft, the two extreme positions of the lifting shaft are the positions of the lifting shaft corresponding to the hook being in the highest position and the lowest position respectively; according to the axis coordinates of the two extreme positions of the lifting shaft and the count values ​​of the lifting shaft encoder when the lifting shaft is in the two extreme positions, the calibration relationship of the lifting shaft position is obtained.

[0062] In some embodiments, when calibrating the luffing shaft, the two extreme positions of the luffing shaft are the positions of the luffing shaft corresponding to the shortest arm length and the longest arm length of the tower arm when the tower crane hook is at the highest position; the calibration relationship of the luffing shaft position is obtained according to the axis coordinates of the two extreme positions of the luffing shaft and the count values ​​of the luffing shaft encoder when the luffing shaft is at the two extreme positions.

[0063] In some embodiments, when calibrating the rotating axis, the two extreme positions of the rotating axis are the two extreme positions in the longitude direction or the two extreme positions in the latitude direction on the rotating circle passing through the center point of the tower base ground when the tower crane arm is at the longest arm length; the calibration relationship of the rotating axis position is obtained according to the axis coordinates of the two extreme positions of the rotating axis and the count values ​​of the rotating axis encoder when the rotating axis is at the two extreme positions.

[0064] In some embodiments, the encoder count value of the rotary axis limit position is obtained according to the calibration relationship of the rotary axis, so as to judge whether the tower crane is in the limit position by the encoder count value of the rotary axis limit during the movement of the tower crane. The rotary axis limit position is the rotation angle after the starting position of the rotary axis space and the number of circles that can be rotated, which can be greater than 360 degrees. The rotary axis limit position is different from the extreme position of the rotary axis.

[0065] In summary, a method for calibrating the axis position of a tower crane in Example 1 uses the RTK coordinates of the centimeter-level positioning corresponding to the extreme position of each axis to obtain the axis coordinates of the extreme position of each axis of the tower crane, and realizes automatic calibration. Testing the distance and angle in a large outdoor scene of a tower crane is difficult and inefficient, and requires the participation of professional surveying and mapping personnel. The technical solution of this embodiment improves the accuracy and efficiency of testing the distance and angle in a large outdoor scene of a tower crane, which is particularly important for scenes that require recalibration, such as tower crane lifting.

[0066] The second embodiment of a method for calibrating the position of a tower crane shaft inherits all the methods of the first embodiment of a method for calibrating the position of a tower crane shaft, has all the advantages of the first embodiment of a method for calibrating the position of a tower crane shaft, and distinguishes the specific implementation methods of the lifting shaft, the variable amplitude shaft and the rotary shaft. When calibrating one of the shafts, the other two shafts are in a stationary state.

[0067] Figure 2A The calibration process of the lifting axis in the second embodiment of the tower crane axis position calibration method is shown, including steps S2110 to S2130.

[0068] S2110: Obtain the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme position of the tower crane lifting axis, and the encoder count value corresponding to the extreme position of the luffing axis.

[0069] Among them, the RTK coordinates of the center point of the tower base are (WE, SN, H), WE and SN are longitude and latitude, and H is the height.

[0070] Among them, the two extreme positions of the tower crane lifting shaft are the positions of the lifting shaft corresponding to the hook being at the lowest point and the highest point respectively.

[0071] Among them, the other two axes remain stationary, and the hook is raised to the highest position, reaching the highest limit of lifting (the highest point of the lifting axis, limit position 1), and the count value of the lifting encoder is recorded as NH0; the RTK coordinates of the positioning device on the hook are (WE2, SN2, H2). The hook is lowered to the lowest point allowed (the lowest point of the lifting axis, limit position 2), and the count value of the lifting encoder is recorded as NH1, and the RTK coordinates of the positioning device on the hook are (WE3, SN3, H3).

[0072] S2120: Obtain the axis coordinates of the extreme position of the lifting axis according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme position of the lifting axis of the tower crane.

[0073] Among them, the lifting axis space is a one-dimensional space, whose coordinate origin is 0, the corresponding height in RTK is H, the axis coordinate of the highest point of the lifting axis is DHmaxW=H2-H, and the axis coordinate of the lowest point of the lifting axis is DHminW=H3-H (this value can be less than 0 because the hook may be operating under the surface).

[0074] S2130: Obtain a calibration relationship of the position of the tower crane lifting shaft according to the axis coordinates of the extreme position of the tower crane lifting shaft and the corresponding count value, so as to obtain the position of the lifting shaft by using the encoder count value of the lifting shaft during the movement of the tower crane.

[0075] Wherein, formula (1) is the calibration relation of the lifting shaft position of the tower crane, so as to obtain the position of the lifting shaft by using the encoder count value of the lifting shaft during the movement of the tower crane.

[0076]

[0077] Among them, NH is the count value of the lifting shaft encoder in any limit range, fH is the position of the corresponding lifting shaft, NH0 is the count value of the lifting encoder when the lifting shaft is at the highest point defined in step S2110, and NH1 is the count value of the lifting encoder when the lifting shaft is at the lowest point defined in step S2110.

[0078] Figure 2C The calibration process of the variable-luff axis in Embodiment 2 of a tower crane axis position calibration method is shown, including steps S2210 to S2240.

[0079] S2210: Obtain the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme position of the tower crane's luffing axis, and the encoder count value corresponding to the extreme position of the tower crane's luffing axis.

[0080] Among them, the RTK coordinates of the center point of the tower base are (WE, SN, H), WE and SN are longitude and latitude, and H is the height.

[0081] Among them, the two extreme positions of the tower crane's luffing axis are respectively corresponding to the tower arm being at the shortest arm length (luffing axis extreme position 1, the luffing trolley is closest to the cab) and the longest arm length (luffing axis extreme position 2, the luffing trolley is farthest from the cab).

[0082] Among them, when the tower crane hook is at the highest point, keep other lifting axes and slewing axes stationary, move the luffing trolley to the place closest to the cab, that is, the luffing axis limit position 1, and record the luffing axis encoder count value NR0 at this time. The RTK coordinates of the positioning device on the luffing trolley are (WER0, SNR0, HR0); move the trolley to the luffing axis limit position 2, the place farthest from the cab, and record the luffing axis encoder count value NR1 at this time. The RTK coordinates of the positioning device on the luffing trolley are (WER1, SNE1, HR1).

[0083] S2220: According to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the two extreme positions of the luffing axis, the WGS-84 coordinates of the ground center point of the tower base and the two extreme positions of the luffing axis are obtained.

[0084] The RTK coordinates of the coordinate origin of the amplitude axis are (WE, SN, (HR0+HR1) / 2). Under normal circumstances, HR0 and HR0 are basically equal.

[0085] Among them, the coordinates of point P of the tower base ground center in the WGS-84 coordinate system are calculated based on WE and SN as (X, Y, Z), and point P is also the origin of the amplitude axis in the WGS-84 coordinate system. According to the longitude and latitude WER0 and SNR0 at the amplitude axis limit position 1, the coordinates of the amplitude axis limit position 1 in the WGS-84 coordinate system are calculated as (X0, Y0, Z0), and according to the longitude and latitude WER1 and SNR1 at the amplitude axis limit position 2, the coordinates of the amplitude axis limit position 2 in the WGS-84 coordinate system are calculated as (X1, Y1, Z1).

[0086] S2230: Obtain the shortest arm length and the longest arm length of the variable amplitude axis according to the WGS-84 coordinates of the tower base ground center point and the two extreme positions.

[0087] Among them, the shortest arm length and the longest arm length of the variable amplitude axis constitute the axis coordinates of the two extreme positions of the variable amplitude axis.

[0088] The shortest arm length and the longest arm length of the variable amplitude axis are calculated using formula (2).

[0089]

[0090] Among them, R0 is the shortest arm length of the variable amplitude shaft, and R1 is the longest arm length of the variable amplitude shaft.

[0091] S2240: Obtain a calibration relationship of the luffing shaft according to the shaft coordinates of the shaft limit position of the luffing shaft and the encoder count value, so as to obtain the position of the luffing shaft using the encoder count value of the luffing shaft during the movement of the tower crane.

[0092] The calibration relationship of the luffing axis is obtained by using equation (3), so that the position of the luffing axis can be obtained by using the encoder count value of the luffing axis during the movement of the tower crane.

[0093] fR=R0+(NR-NR0)*(R1-R0) / (NR1-NR0) (3)

[0094] Among them, NR is any count value of the amplitude variation shaft counter during the limit period of the amplitude variation shaft, fR is the corresponding position of the amplitude variation shaft, NR0 is the count value of the amplitude variation encoder when the amplitude variation trolley is closest to the cab as defined in step S2210, and NH1 is the count value of the amplitude variation encoder when the amplitude variation trolley is farthest from the cab as defined in step S2210.

[0095] Figure 2C The calibration process of the rotary axis in the second embodiment of a tower crane axis position calibration method is shown, including steps S2310 to S2350.

[0096] S2310: Obtain the RTK coordinates of the center point of the tower base ground, the RTK coordinates of the hook corresponding to the extreme position of the tower crane rotation axis, and the encoder count value corresponding to the extreme position of the tower crane rotation axis.

[0097] Among them, the RTK coordinates of the center point of the tower base are (WE, SN, H), WE and SN are longitude and latitude, and H is the height.

[0098] The limit positions of the slewing axis of the tower crane include two limit positions in the longitude direction (the direction in which the longitude remains unchanged) or the latitude direction (the direction in which the latitude remains unchanged) of the slewing circle passing through the center point of the tower base surface, and the slewing circle is a circle drawn by the luffing arm with the longest arm length as the radius. For example, in this embodiment, the two limit positions that remain unchanged in the latitude direction of the slewing circle passing through the center point of the tower base surface are the limit positions of the slewing axis.

[0099] Among them, the luffing trolley is moved to the farthest end of the arm length, the luffing axis and the lifting axis are kept stationary, and the luffing arm is rotated so that the longitude and latitude (WEANG0, SNANG0) of the RTK coordinates obtained by the positioning device on the luffing trolley has WEANG0 greater than WE and SNANG0 is as close to SN as possible, that is, the latitude is consistent with the center point of the tower base ground and the longitude is the largest, and the value of the rotary encoder count at this time is recorded as NAng0; the luffing arm is continued to rotate so that the longitude and latitude (WEANG1, SNANG1) of the RTK coordinates obtained by the positioning device on the trolley has WEANG1 less than WE and SNANG1 is as close to SN as possible, that is, the latitude is consistent with the center point of the tower base ground and the longitude is the smallest, and the value of the rotary encoder count at this time is recorded as NAng1.

[0100] S2320: According to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the two extreme positions of the rotation axis, the WGS-84 coordinates of the ground center point of the tower base and the two extreme positions are obtained.

[0101] Among them, the coordinates of point P, the center point of the tower base ground in the WGS-84 coordinate system, are calculated based on WE and SN as (X, Y, Z).

[0102] Among them, the two extreme positions of the rotary axis in the WGS-84 coordinate system are qY0 and qY1 respectively. The coordinates of qY0 in the WGS-84 coordinate system calculated according to WEANG0 and ANANG0 are (XAng0, YAng0, ZAng0), and the coordinates of qY1 in the WGS-84 coordinate system calculated according to WEANG1 and SNANG1 are (XAng1, YAng1, ZAng1).

[0103] Among them, the point corresponding to the longitude and latitude WE and SN+ds in the RTK coordinates in the WGS-84 coordinate system is point qX, and the coordinates of point qX are XAng, YAng, ZAng), ds satisfies R calculated by formula (4) and is close to the length of the variable arm (ds is greater than 0 in the northern hemisphere and less than 0 in the southern hemisphere), and the radius of the turning circle is R.

[0104]

[0105] S2330: Obtain the axis coordinates of the two extreme positions of the rotary axis based on the WGS-84 coordinates of the rotary axis origin and the two extreme positions.

[0106] Among them, the angle between the calculated vector pqY0 (XAng0-X, YAng0-Y, ZAng0-Z) (the vector that reaches qy0 from point P) and the vector pqX0 (XAng-X, YAng-Y, ZAng-Z) (the vector that reaches qX from point P) is theta0; the angle between the calculated vector pqY1 (XAng1-X, YAng1-Y, ZAng1-Z) (the vector that reaches qy1 from point P) and the vector pqX0 (XAng-X, YAng-Y, ZAng-Z) is theta1. theta0 and theta1 are approximately 90 degrees. theta1 takes a positive sign, while theta0 takes a negative sign. Therefore, the axis coordinates of the two extreme positions of the rotary axis are -theta0 and thera1.

[0107] S2340: Obtain a calibration relationship of the rotary axis according to the axis coordinates of the axis limit position of the rotary axis and the encoder count value, so as to obtain the position of the rotary axis using the encoder count value of the rotary axis during the movement of the tower crane.

[0108] The calibration relationship of the rotary axis is obtained by using equation (5), so that the position of the rotary axis can be obtained by using the encoder count value of the rotary axis during the movement of the tower crane.

[0109]

[0110] Among them, NAng is the count value of the rotary shaft encoder during any limit period, ftheta is the position of the corresponding rotary shaft, NR0 is the count value of the rotary encoder when the latitude of the variable-length trolley defined in step S2310 is consistent with the center point of the tower base ground and the longitude is maximum, and NH1 is the count value of the rotary encoder when the latitude of the variable-length trolley defined in step S2310 is consistent with the center point of the tower base ground and the longitude is minimum.

[0111] S2350: Obtain the encoder count value of the rotary axis limit position according to the calibration relationship of the rotary axis.

[0112] For example, ftheta at the rotary axis limit position is 0 and 540 degrees, and Nang calculated by formula (5) is the encoder count value of the corresponding rotary axis limit position.

[0113] Combine the following Figure 3 to Figure 4 Various embodiments of a tower crane controller of the present invention are introduced.

[0114] A tower crane controller embodiment 1 performs a tower crane shaft position calibration method. The method described in embodiment 1 has all its advantages.

[0115] Figure 3The structure of a first embodiment of a tower crane controller is shown, including: a data acquisition module 310 , an axis coordinate acquisition module 320 and a coordinate calibration module 330 .

[0116] The data acquisition module 310 is used to obtain the RTK coordinates of the center point of the tower base, the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme positions of each axis of the tower crane. For its working principle and advantages, please refer to step S110 of the first embodiment of a method for calibrating the position of a tower crane axis.

[0117] The axis coordinate acquisition module 320 is used to obtain the axis coordinates of the extreme positions of the tower crane axes according to the RTK coordinates of the center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of the tower crane axes. For its working principle and advantages, please refer to step S120 of the first embodiment of a method for calibrating the axis position of a tower crane.

[0118] The coordinate calibration module 330 is used to obtain the calibration relationship of the tower crane axis position according to the axis coordinates of the extreme positions of each axis of the tower crane and the corresponding count values, so as to obtain the position of each axis of the tower crane by using the encoder count values ​​of each axis during the movement of the tower crane. For its working principle and advantages, please refer to step S130 of the first embodiment of a method for calibrating the axis position of a tower crane.

[0119] A tower crane controller embodiment 2 performs a tower crane shaft position calibration method described in embodiment 1 and 2, with all its advantages.

[0120] Figure 4 The structure of a second embodiment of a tower crane controller is shown, including: a lifting data acquisition module 4110, a lifting axis coordinate acquisition module 4120, a lifting coordinate calibration module 4130, an amplitude variation data acquisition module 4210, an amplitude variation axis coordinate acquisition module 4220, an amplitude variation coordinate calibration module 4230, a rotation data acquisition module 4310, a rotation axis coordinate acquisition module 4320, and a rotation coordinate calibration module 4330.

[0121] The lifting data acquisition module 4110 is used to obtain the RTK coordinates of the center point of the tower base, the RTK coordinates of the hook corresponding to the extreme position of the tower crane lifting axis, and the encoder count value corresponding to the extreme position of the luffing axis. For its working principle and advantages, please refer to the lifting axis calibration step S2110 in the second embodiment of a tower crane axis position calibration method.

[0122] The lifting axis coordinate acquisition module 4120 is used to obtain the axis coordinates of the lifting axis limit position according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the lifting axis limit position of the tower crane. For its working principle and advantages, please refer to the lifting axis calibration step S2120 in the second embodiment of a tower crane axis position calibration method.

[0123] The lifting coordinate calibration module 4130 is used to obtain the calibration relationship of the lifting axis position of the tower crane according to the axis coordinates of the tower crane lifting axis limit position and the corresponding count value, so as to obtain the position of the lifting axis by using the encoder count value of the lifting axis during the movement of the tower crane. For its working principle and advantages, please refer to the lifting axis calibration step S2130 in the second embodiment of a tower crane axis position calibration method.

[0124] The luffing data acquisition module 4210 is used to obtain the RTK coordinates of the center point of the tower base, the RTK coordinates of the hook corresponding to the extreme position of the tower crane luffing axis, and the encoder count value corresponding to the extreme position of the tower crane luffing axis. For its working principle and advantages, please refer to the step S2210 of the luffing axis calibration in the second embodiment of the method for calibrating the tower crane axis position.

[0125] The luffing axis coordinate acquisition module 4220 is used to obtain the WGS-84 coordinates of the tower base ground center point and the two extreme positions of the luffing axis according to the RTK coordinates of the tower base ground center point and the RTK coordinates of the hook corresponding to the two extreme positions of the luffing axis; it is also used to obtain the shortest arm length and the longest arm length of the luffing axis according to the WGS-84 coordinates of the tower base ground center point and the two extreme positions. For its working principle and advantages, please refer to the steps S2220 and S2230 of the luffing axis calibration in the second embodiment of a method for calibrating the position of a tower crane axis.

[0126] The luffing coordinate calibration module 4230 is used to obtain the calibration relationship of the luffing axis according to the axis coordinates of the axis limit position of the luffing axis and the encoder count value, so as to obtain the position of the luffing axis by using the encoder count value of the luffing axis during the movement of the tower crane. For its working principle and advantages, please refer to step S2240 of the luffing axis calibration in the second embodiment of a tower crane axis position calibration method.

[0127] The rotation data acquisition module 4310 is used to obtain the RTK coordinates of the center point of the tower base, the RTK coordinates of the hook corresponding to the extreme position of the tower crane rotation axis, and the encoder count value corresponding to the extreme position of the tower crane rotation axis. For its working principle and advantages, please refer to the step S2310 of the rotation axis calibration in the second embodiment of a tower crane axis position calibration method.

[0128] The rotary axis coordinate acquisition module 4320 is used to obtain the WGS-84 coordinates of the tower base ground center point and the two extreme positions according to the RTK coordinates of the tower base ground center point and the RTK coordinates of the hook corresponding to the two extreme positions of the rotary axis; it is also used to obtain the axis coordinates of the two extreme positions of the rotary axis according to the WGS-84 coordinates of the rotary axis origin and the two extreme positions. For its working principle and advantages, please refer to the steps S2320 and S2330 of the rotary axis calibration in the second embodiment of a method for calibrating the position of a tower crane axis.

[0129] The rotary coordinate calibration module 4330 is used to obtain the calibration relationship of the rotary axis according to the axis coordinates of the axis limit position of the rotary axis and the encoder count value, so as to obtain the position of the rotary axis by using the encoder count value of the rotary axis during the movement of the tower crane; and is also used to obtain the encoder count value of the rotary axis limit position according to the calibration relationship of the rotary axis. For its working principle and advantages, please refer to the steps S2340 and S2350 of the rotary axis calibration in the second embodiment of the calibration method of the tower crane axis position.

[0130] The embodiment of the present invention further provides a computing device, Figure 5 Detailed introduction.

[0131] The computing device 500 includes a processor 510 , a memory 520 , a communication interface 530 , and a bus 540 .

[0132] It should be understood that the communication interface 530 in the computing device 500 shown in this figure can be used to communicate with other devices.

[0133] The processor 510 may be connected to a memory 520. The memory 520 may be used to store the program code and data. Therefore, the memory 520 may be a storage unit inside the processor 510, or an external storage unit independent of the processor 510, or a component including a storage unit inside the processor 510 and an external storage unit independent of the processor 510.

[0134] Optionally, the computing device 500 may further include a bus 540. The memory 520 and the communication interface 530 may be connected to the processor 510 via the bus 540. The bus 540 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus 550 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the figure is represented by only one line, but it does not mean that there is only one bus or one type of bus.

[0135] It should be understood that in the embodiment of the present invention, the processor 510 may adopt a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Alternatively, the processor 510 may adopt one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiment of the present invention.

[0136] The memory 520 may include a read-only memory and a random access memory, and provides instructions and data to the processor 510. A portion of the processor 510 may also include a nonvolatile random access memory. For example, the processor 510 may also store information on the device type.

[0137] When the computing device 500 is running, the processor 510 executes the computer-executable instructions in the memory 520 to perform the operating steps of the method embodiment.

[0138] It should be understood that the computing device 500 according to an embodiment of the present invention can correspond to the corresponding subjects executing the methods according to the various embodiments of the present invention, and the above-mentioned and other operations and / or functions of each module in the computing device 500 are respectively for implementing the corresponding processes of each method of the present embodiment, which will not be repeated here for the sake of brevity.

[0139] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0140] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0141] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0142] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] 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.

[0144] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0145] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it is used to execute the operating steps of the method embodiment.

[0146] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive table) of computer-readable storage media include, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0147] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0148] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0149] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0150] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present invention, all of which belong to the scope of protection of the present invention.

Claims

1. A method for calibrating the position of a tower crane shaft, characterized in that: include: Obtain the RTK coordinates of the center point of the tower base, the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme positions of each axis of the tower crane; Obtaining the axis coordinates of the extreme positions of the axes of the tower crane according to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of the axes of the tower crane, including: obtaining the WGS-84 coordinates of the ground center point of the tower base and the extreme positions of the axes of the tower crane according to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of the axes of the tower crane; obtaining the axis coordinates of the extreme positions of the axes of the tower crane according to the WGS-84 coordinates; Obtaining a calibration relationship of the tower crane axis position according to the axis coordinates and the count value, so as to obtain the position of each axis of the tower crane according to the calibration relationship using the encoder count value of each axis during the movement of the tower crane; Wherein, when calibrating the rotating axis, the two extreme positions of the rotating axis are the two extreme positions in the longitude direction or the two extreme positions in the latitude direction on the rotating circle passing through the center point of the tower base ground when the tower crane arm is at the longest arm length. The axis coordinates of the extreme positions of each axis of the tower crane are obtained according to the RTK coordinates of the center point of the tower base ground and the RTK coordinates of the hook corresponding to the extreme positions of each axis of the tower crane, specifically including: obtaining the axis coordinates of the two extreme positions of the rotating axis according to the RTK coordinates of the center point of the tower base ground and the longitude and latitude coordinates in the RTK coordinates when the rotating axis is at the two extreme positions; the calibration relationship for obtaining the tower crane axis position according to the axis coordinates and the count value specifically includes: obtaining the calibration relationship for the rotating axis position according to the axis coordinates of the two extreme positions of the rotating axis and the count value of the rotating axis encoder when the rotating axis is at the two extreme positions.

2. The method according to claim 1, characterized in that: When calibrating the lifting shaft, The two extreme positions of the lifting axis are the positions of the lifting axis corresponding to the hook being in the highest position and the lowest position; The method of obtaining the axis coordinates of the extreme positions of the axes of the tower crane according to the RTK coordinates of the center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of the axes of the tower crane specifically includes: obtaining the axis coordinates of the two extreme positions of the lifting axis according to the RTK coordinates of the center point of the tower base and the height coordinates of the RTK coordinates of the hook when the lifting axis is at the two extreme positions; The calibration relationship for obtaining the tower crane shaft position according to the shaft coordinates and the count values ​​specifically includes: obtaining the calibration relationship for the lifting shaft position according to the shaft coordinates of the two extreme positions of the lifting shaft and the count values ​​of the lifting shaft encoder when the lifting shaft is at the two extreme positions.

3. The method according to claim 1, characterized in that: When calibrating the variable amplitude axis, The two extreme positions of the luffing axis are the positions of the luffing axis corresponding to the shortest arm length and the longest arm length of the tower arm when the tower crane hook is at the highest position; The step of obtaining the axis coordinates of the extreme positions of the axes of the tower crane according to the RTK coordinates of the center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of the axes of the tower crane specifically includes: obtaining the axis coordinates of the two extreme positions of the luffing axis according to the RTK coordinates of the center point of the tower base and the longitude and latitude coordinates in the RTK coordinates when the luffing axis is at the two extreme positions; The calibration relationship for obtaining the tower crane shaft position according to the shaft coordinates and the count values ​​specifically includes: obtaining the calibration relationship for the luffing shaft position according to the shaft coordinates of the two extreme positions of the luffing shaft and the count values ​​of the luffing shaft encoder when the luffing shaft is at the two extreme positions.

4. The method according to claim 1, characterized in that: When calibrating the slewing shaft of the tower crane, it also includes: obtaining the encoder count value of the slewing shaft corresponding to the limit position of the slewing shaft according to the calibration relationship of the slewing shaft.

5. The method according to claim 1, characterized in that: When calibrating any axis of the tower crane, the other axes are at rest.

6. A tower crane controller, characterized in that: The method of any one of claims 1 to 5 is used to calibrate the position of the tower crane shaft, comprising: A data acquisition module is used to obtain the RTK coordinates of the center point of the tower base, the RTK coordinates of the hook corresponding to the extreme position of each axis of the tower crane, and the encoder count values ​​corresponding to the extreme position of each axis of the tower crane; The axis coordinate acquisition module is used to obtain the axis coordinates of the extreme positions of the axes of the tower crane according to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of the axes of the tower crane, including: obtaining the WGS-84 coordinates of the ground center point of the tower base and the extreme positions of the axes of the tower crane according to the RTK coordinates of the ground center point of the tower base and the RTK coordinates of the hook corresponding to the extreme positions of the axes of the tower crane; obtaining the axis coordinates of the extreme positions of the axes of the tower crane according to the WGS-84 coordinates; The coordinate calibration module is used to obtain a calibration relationship of the tower crane axis position according to the axis coordinates and the count value, so as to obtain the position of each axis of the tower crane according to the calibration relationship using the encoder count value of each axis during the tower crane movement.

7. A computing device, characterized in that include, bus; A communication interface connected to the bus; at least one processor connected to the bus; as well as At least one memory is connected to the bus and stores program instructions, and when the program instructions are executed by the at least one processor, the at least one processor executes the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: Program instructions are stored thereon, and when the program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 5.

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